JP2013230102A - Remote controller holder - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote controller holder in which when a remote control of a traveling machine cannot be performed by a remote controller, an operator riding in the traveling machine surely carries out an operation of the traveling machine and can surely hear speaker sounds.SOLUTION: A remote controller holder 180 detachably holding a remote controller 200 capable of performing a remote control of a levee-plastering machine for carrying out a levee-plastering operation while advancing with traveling of a traveling machine includes a storage recess 180a detachably holding the remote controller 200, a speaker 181 of a holder side mounted in the remote controller holder 180, a sound pattern receiving part for receiving an audio signal of a sound pattern sent from a levee-plastering machine side, a sound pattern output part for outputting the sound pattern from the speaker of the holder side on the basis of the audio signal of the sound pattern received by the receiving part, and a charge terminal of the holder side to be brought into contact with a charge terminal of a remote controller side of the remote controller 200 in a state in which the remote controller 200 is inserted into the storage recess and is arranged at the levee-plastering machine side.

Description

  The present invention relates to a remote control holder that detachably holds a remote control that can be remotely operated by a farm work machine that is mounted on a travel machine body and performs a predetermined work while proceeding with the travel of the travel 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 lacquering machine forms a culm over the outer edge of a wide field, and has recently been attracting attention as having achieved mechanization of a lacquering operation 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. It is composed of a trimming section that is applied to the old wall 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

  Since such a hull coater is used only a few times a year, when the hull coater performs a hull painting operation on an unworked portion, an operator who has boarded the traveling machine has a method for operating the running hull. You may forget and do not work well.

  In addition, recent traveling machine bodies are excellent in the quiet performance of a driving cabin on which an operator is boarded, and therefore, there is a thing that it is difficult to hear a buzzer sound from a speaker provided in a coater.

  In addition, in recent years, a painter has been developed that allows an operator who has traveled on a traveling machine body to remotely control the painter machine using a remote control. I can't. For this reason, when the worker forgets the operation method of the traveling machine body when the unpainted portion is smeared by the smearing machine, the smearing work may not be performed well as in the case described above. .

  The present invention has been proposed in order to cope with such problems, and when a farm work machine can be remotely operated with a remote controller, it is ensured that an operator who has boarded the running machine operates the running machine. An object of the present invention is to provide a remote control holder capable of listening to the sound of a speaker.

  In order to achieve the above object, the present invention provides a remote control holder that removably holds a remote control that is attached to a traveling machine body and can be remotely operated by a farming machine that performs a predetermined operation while traveling along with the traveling of the traveling machine body. An accommodation recess for detachably holding the remote control, a speaker provided in the remote control holder, a voice pattern receiving unit for receiving a voice signal of a voice pattern transmitted from the agricultural machine side, and a voice pattern receiving unit An audio pattern output unit for outputting an audio pattern from a speaker based on an audio signal of an audio pattern received by the device and a remote control side charging terminal provided in the housing recess and the remote control being inserted into the housing recess And a holder-side charging terminal that is provided on the traveling machine body side (claim 1).

  In addition, the voice pattern transmitted from the agricultural machine side of the present invention is voice guidance regarding a method for operating the traveling machine (claim 2).

  Further, the present invention is a basket coater in which the farm machine forms a basket around the field, and the sound pattern is not left in the field corner when the tip of the traveling machine moves to the field corner. It is voice guidance regarding the operation method of the traveling machine when the painter performs a paintwork operation on the work part (claim 3).

  According to the offset working machine according to the present invention, having the above characteristics, when the agricultural working machine can be remotely operated by a remote controller, the operator who has boarded the traveling machine body can reliably operate the traveling machine body. Also, it is possible to provide a remote control holder that can reliably hear the sound from the speaker.

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 audio | voice control part of the control apparatus of a glazing machine, and a remote control holder. It is explanatory drawing of the position sensor provided in the glazing machine. It is a front view of a remote control holder and a remote control held by the remote control holder. It is a perspective view of a remote control holder. The remote control holder is shown, in which FIG. (A) is a rear view of the remote control holder, and (b) is a cross-sectional view taken along the line VI-VI in FIG. 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 driving | running | working vehicle body turning 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 holder 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, an example of a basket coater that arranges baskets as an example of a farm work machine will be described.

  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 smearing machine 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, an input shaft having a path shown in the figure connected to the PTO shaft of the traveling machine body 190 through a transmission joint such as a universal joint is provided, and the power transmitted to the input shaft is transmitted to the transmission mechanism of the connecting portion 130. A transmission mechanism is provided in the support member 113.

  The connecting portion 130 is supported at one end side 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 shown in the figure. 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, and an offset frame 132 having winding transmission means for transmitting power to the working portion 120 side. It has.

  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 power transmission mechanism that distributes the power transmitted to the power transmission shaft 132B to the pre-processing unit 121 and the power control unit 122.

  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 a configuration of the control device 160 of the glazing machine 100. 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 are set in the storage unit 161 in advance in order for the control device 160 to perform 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 crosses the line orthogonal to the traveling direction of the traveling machine body 190, X passes through the axes of the transmission shafts 132A and 132B, and the axis of the transmission shaft 132B. Assuming that the center axis of rotation of the straightening portion 122 passing through the center is Z, the swing is provided on the transmission shaft 132A and detects the swing angle α (angle formed by the straight lines X and Y) of the offset frame 132 with respect to the support member 113. An angle sensor 178a and a rotation angle sensor 178b that is provided on the transmission shaft 132B and detects a rotation angle β (an angle formed by the straight lines X and Z) of the working unit 120 with respect to the support member 113 are included. 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. 10 (a), the posture determination unit 173 has 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 attitude sensor 178 corresponding to the attitude of the working unit 120 (hereinafter referred to as “D1”), and as shown in FIG. 11D, 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. 11 (f), the traveling machine body 190 is As shown in FIG. 11G, 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 at the part Hn. 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 ridge corner in a state where the traveling machine body 190 is stopped at the corner Hn of the farm field (hereinafter, "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 audio signal of the audio pattern selected by the audio pattern selection output unit 174 is wirelessly transmitted by the audio pattern transmission unit 175, and converted into an audio signal of a buzzer sound by the audio pattern output unit 176, and is transmitted from the work machine side speaker 170. Output as a buzzer sound.

  The audio signal wirelessly transmitted from the audio pattern transmitting unit 175 is transmitted to a remote control holder 180 (see FIG. 1) provided in the traveling machine body 190 described later, and the traveling machine body is transmitted from the holder side speaker 181 provided in the remote control holder 180. A voice guidance of the operation method 190 is played. Details of the voice guidance flowing from the remote control holder 180 will be described later.

  When the automatic square filling control mode is set by turning on the automatic square filling control switch 166, the control device 160 as described above operates the work direction reference value Ao, the wrinkle formation position, and the work position of the work unit 120 in FIG. Adjustment driving of the offset cylinder 140 and the direction cylinder 141 is performed so as to maintain the reference value Xo. 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.

  The remote control holder 180 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. As shown in FIGS. 4 and 5, the remote control holder 180 is formed in a box shape extending in the vertical direction, and an accommodation recess 180a for detachably holding the remote control 200 that can be remotely operated is formed above the remote control holder 180. Has been. The housing recess 180a is opened on the front side and the upper side of the remote control holder 180 to facilitate the insertion and removal of the remote control 200.

  A charging connector 182 connected when charging the remote controller 200 is provided at the bottom of the housing recess 180a so as to protrude into the housing recess 180a. A knob 183 for adjusting the volume of voice guidance flowing from the holder-side speaker 181 is rotatably provided below the remote-control holder 180, and flows from the holder-side speaker 181 below the remote-control holder 180 below the knob 183. A plurality of holes 184 for releasing sound to the outside are provided. A holder-side speaker 181 is provided in the remote control holder 180 inside the plurality of holes 184.

  6A is a rear view of the remote control holder 180, and FIG. 6B is a cross-sectional view corresponding to the view taken along the line VI-VI in FIG. 6A. As shown in FIGS. 2, 6 (a), 6 (b), and 7, the remote control holder 180 is provided with a voice control unit 187 that informs the operation method of the traveling machine body 190 (see FIG. 1) by voice. It has been. The voice control unit 187 receives a voice pattern reception unit 185a that receives a voice signal of a voice pattern transmitted from the control device 160 (see FIG. 1), and holds the voice signal of the voice pattern received by the voice pattern reception unit 185a as a sound. And an audio pattern output unit 186a for outputting from the side speaker 181. The voice pattern receiving unit 185a is provided on the communication board 185 installed in the remote control holder 180, and the voice pattern output unit 186a is provided on the guide board 186 installed in the remote control holder 180. The knob 183 is electrically connected to the knob 183, and the volume from the holder side speaker 181 can be adjusted in accordance with the rotation of the knob 183.

  As shown in FIG. 4, the remote controller 200 is provided with a plurality of operation switches 201 on the surface side, and a power switch that supplies power to the remote controller 200 and cuts off the remote controller 200 every time it is pressed from one side to the other in the longitudinal direction of the surface 202, an automatic square coating control switch 203 that is pressed when automatically painting the corners of the field, an offset switch 204 that is pressed when adjusting the offset position of the working unit 120 (see FIG. 1), and the like. Has been. A remote-control-side connector (not shown) that can contact the charging connector 182 is provided at the speaker-side end of the remote-control 200.

  In the remote controller 200, a communication unit (not shown) that transmits and receives control signals to and from the control device 160 (see FIG. 1) is provided. The operation of the haze coater 100 can be operated simply by pressing the operation switch 201 of the remote controller 200 via this communication unit. In addition, a remote controller-side speaker 205 is provided in the remote controller 200, and voice guidance regarding the operation of the traveling machine body 190 (see FIG. 1) flows from the remote controller-side speaker 205. In this voice guidance, when voice guidance flows from the holder-side speaker 181 provided in the remote control holder 180, the same voice guidance flows almost simultaneously.

  Next, the control content of the control device 160 will be described with reference to FIG. 2, FIG. 7, FIG. 8, and FIG. FIGS. 7 and 8 are flowcharts showing the control contents in the control device 160 of the present embodiment. FIG. 7 shows a control flow in the normal work mode, and FIG. 8 shows a control flow in the automatic cornering control mode. As shown in FIGS. 2 and 7, 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 FIG. 8, the work position reference value Xo and the work direction reference value Ao set at that time are set as the reference values for the automatic cornering control mode. (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 cornering control is terminated (S28).

  FIG. 9 is a control state diagram showing the behavior of the offset angle θ in the automatic cornering control mode described above, and FIGS. 10 and 11 show the control state during turning of the traveling vehicle body in the automatic cornering control mode, and It is the state figure which showed the control state of the haze coating machine.

  For example, as shown in FIGS. 10 (a), 10 (b), and 10 (c), the traveling machine body 190 in which the 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. 9 is obtained. In FIG. 9, the horizontal axis indicates the control time t (s), and the vertical axis indicates the offset angle θ.

  Here, as shown in FIG. 10 (a), the traveling machine body 190 is caused to travel straight along the side L1 of the field in the normal work mode to perform a linear smearing operation, and the leading 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. 9, 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. 9). 11 (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, the offset angle θ gradually increases until the predetermined control time t2 (see FIG. 11 (f)), 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 a corner Hn of the field by a predetermined operation according to the control program 164 selected and set in advance. Here, as shown by the curve B in FIG. 9A, if the offset angle θ is increased, the working unit 120 is made substantially linear to the corner Hn of the field as shown in FIG. 11G. Can be advanced. Then, when the working unit 120 reaches the corner end of the field, the automatic cornering control switch 166 is turned off to end the automatic cornering up to 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 corner Hn of the heel.

  In addition, when the automatic cornering control mode is selected and operated, the hull coater 100 of the present application uses the voice guidance and the buzzer sound on the operation method of the traveling machine body 190 for the worker who has boarded the traveling machine body 190, and the working state of the working unit 120 To inform.

  Next, control contents 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. 12, the operation is first started (S10), and the automatic cornering control switch 166 (the automatic cornering control switch 203 of the remote controller 200 shown in FIG. 4 may be used. ) Is turned on (S21), it is determined whether or not the detected value of the attitude sensor 178 is D1 (S30).

  When it is determined that the detection value of the attitude sensor 178 is D1, a buzzer sound of tone 1 “Peep ...” is emitted from the work machine side speaker 170 (see FIG. 2), and the holder side speaker 181 (FIG. 2). From the remote control speaker 205 (see Fig. 4), "Automatic cornering control mode has been entered. Quickly leave the handle fully turned to the left. If there is no autobrake, lightly press one brake. Voice guidance (1) flows (S31). If it is determined in S30 that the detected value of the attitude sensor 178 is not D1, S30 is repeated until it is determined that it is D1 (S34).

  When the automatic cornering control mode is entered and the traveling machine body 190 turns at the corner Hn of the field (see FIGS. 10B, 10C, and 11D), 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 attitude sensor 178 is D2, the work machine side speaker 170 (see FIG. 2) continuously emits a tone 1 buzzer sound, and the holder side speaker 181. (See FIG. 2) and the remote control side speaker 205 (see FIG. 4), the voice guidance (2) “Prepare to step on the clutch and stop the traveling aircraft” flows (S33). If the detected value of the attitude sensor 178 becomes D2 during the voice guidance (1) described above (S34), the process proceeds to S33, and the voice guidance is forcibly changed from the voice guidance (1). It is switched to (2).

  When voice guidance (2) flows from the holder side speaker 181 and the traveling machine body 190 further turns (see FIG. 11E), 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, a buzzer sound of tone 1 “Peep ...” is continuously emitted from the work machine side speaker 170, and the holder side speaker 181 and the remote control side speaker 205 are also heard. From (see FIG. 4), voice guidance (3) “3” “2” “1” flows. When the detected value of the attitude sensor 178 becomes D3 during the voice guidance (2) described above (S37), the process proceeds to S36 and the voice guidance is forcibly changed from the voice guidance (2) to the voice guidance. It is switched to (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, the work implement side speaker 170 (see FIG. 2) changes to a buzzer sound (tone 2) having a tone different from the tone 1 of “Pipipip ...”, and From the holder side speaker 181 and the remote control side speaker 205 (see FIG. 4), a voice guidance (4) is played (S39), saying “It is a stop. The handle and travel lever are neutral and the clutch is released”. When the detected value of the posture sensor 178 becomes D4 during the voice guidance (3) described above (S40), the process proceeds to S39 and the voice guidance is forcibly changed from the voice guidance (3) to the voice guidance. It is switched to (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 control mode, and the working unit 120 moves linearly to the end of the field corner Hn. Then, the glazing operation is performed (see FIG. 11G).

  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 detected value of the posture sensor 178 is D5, a buzzer sound of tone 2 “pipi-pi” is continuously emitted from the work machine side speaker 170, and the holder side speaker 181 and the remote control side speaker 205 are also heard. From (see FIG. 4), a voice guidance (5) flows saying "Step on the clutch and press the automatic cornering control switch when the corner is painted" (S42). It should be noted that whether the working unit 120 has moved to the end of the corner Hn of the field is visually determined by an operator on the traveling machine body 190, or after a predetermined time has elapsed since the automatic cornering control mode has ended. It may be determined that it has moved.

  When the automatic cornering control switch 166 (or automatic cornering control switch 203) is turned off (S43), the work machine side speaker 170 is muted, and the holder side speaker 181 and the remote control side speaker 205 (see FIG. 4). ) Will give a voice guidance (6) saying "Automatic cornering is complete. Thank you for your work."

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

  As described above, when the automatic square filling control mode is selected, the brush coater 100 of the present invention uses the holder-side speaker 181 and the remote-control-side speaker 205 provided on the remote-control holder 180 according to the detection value of the attitude sensor 178. The operation method of the traveling machine body 190 is guided by voice. For this reason, even when an operator who has boarded the traveling machine body 190 forgets how to operate the traveling machine body 190, voice guidance flows in the driving cabin. It is possible to reliably carry out the glazing operation of the part. In addition, even when the driving cabin of the traveling machine body 190 has excellent quiet performance and the worker in the driving cabin cannot hear the buzzer sound of the work machine side speaker 170, the operation is performed by voice guidance flowing in the driving cabin. A person can operate the traveling machine body 190 with certainty.

  Further, since the voice guidance of the operation method of the traveling machine body 190 also flows from the remote controller 200, when the remote control holder 180 breaks down and the voice guidance does not flow from the remote control holder 180, the remote controller 200 is brought into the driving cabin to A person can know the operation method of the traveling machine body 190 by voice guidance flowing from the remote controller 200.

  In addition, although the above-mentioned Example demonstrated the hull coater 100, this invention is applicable not only to this but another agricultural working machine (for example, a tilling work machine, 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 Spider coater (agricultural machine)
180 Remote control holder 180a Housing recess 181 Holder-side speaker 182 Charging connector (holder-side charging terminal)
185a voice pattern receiving unit 186a voice pattern output unit 190 traveling machine body 200 remote control

Claims (3)

A remote control holder for detachably holding a remote control capable of remote operation of a farm work machine that is attached to a traveling machine body and performs a predetermined work while proceeding with traveling of the traveling machine body,
An accommodating recess for holding the remote control in a removable manner;
A speaker provided in the remote control holder;
An audio pattern receiving unit for receiving an audio signal of an audio pattern transmitted from the agricultural machine side;
An audio pattern output unit for outputting the audio pattern from the speaker based on an audio signal of the audio pattern received by the audio pattern receiving unit;
A holder-side charging terminal that contacts the remote-control-side charging terminal of the remote controller in a state where the remote controller is provided in the receiving recess and is inserted into the receiving recess;
A remote control holder provided on the traveling machine body side. The remote control holder according to claim 1, wherein the voice pattern transmitted from the farm machine side is voice guidance regarding an operation method of the traveling machine body. The farming machine is a basket coater that forms a basket around the field,
The voice pattern relates to a method for operating the traveling machine body when the padding machine performs a scouring operation on an unworked portion remaining in a field corner when the tip of the traveling machine body moves to a corner of the field. The remote control holder according to claim 2, wherein the remote control holder is voice guidance.

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