JP2018000005A - Remote steering device of farm work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To steer a farm work vehicle safely in a remote steering device of a farm work vehicle that can perform farm work while a worker outside a field steers a farm work vehicle with a remote controller.SOLUTION: A farm work vehicle can be steered by a worker boarding a vehicle body 1 and operating a boarding operation device HM and can also be steered by a worker separate from the vehicle body 1 and operating a remote controller RC, thereby controlling a steering device 30 of the vehicle body 1. The farm work vehicle includes a monitoring device 78 imaging a periphery of the vehicle body 1. An image imaged by the monitoring device 78 is transmitted to the remote controller RC and imaged on a monitor RM. The vehicle body 1 can be steered while the monitor RM is viewed. The steering device 30 is controlled not to be beyond a predetermined range when operation with the remote controller RC exceeds a predetermined reference.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a remote control device for a farm vehicle that enables a worker away from the machine body to control the farm vehicle in farm work using a farm vehicle in a field.

  Japanese Patent Application Laid-Open Publication No. 2004-228688 discloses a remote control device for a farm vehicle that performs farm work in a farm field.

  Patent Document 1 provides a boarding operation mode in which a farmer performs a farming operation while traveling the aircraft, and a remote control operation mode in which the operator operates by remote control at a position away from the aircraft. Both operation modes can be switched by a selection switch provided on the side.

JP 2005-229831 A

  In remote control operation mode, an operator who is away from the aircraft controls the aircraft's control device with a remote controller while watching the running state of the aircraft, but because it is away from the aircraft, it is difficult to notice obstacles in the field. The aircraft may lean over and become dangerous.

  SUMMARY OF THE INVENTION An object of the present invention is to enable a farm vehicle to be safely operated in a remote control device for a farm vehicle in which an operator outside the field can perform farm work while manipulating the farm vehicle with a remote controller.

  The problems of the present invention are solved by the following technical means.

  According to the first aspect of the present invention, an operator can get on the vehicle body 1 and operate the boarding operation device HM to operate and operate the remote control device RC away from the vehicle body 1 to operate the operation device 30 of the vehicle body 1. In a farm vehicle that can be controlled and steered, a monitoring device 78 that reflects the surroundings of the vehicle body 1 is provided on the farm vehicle, and an image reflected by the monitoring device 78 is transmitted to the remote controller RC and displayed on the monitor RM. Agricultural work characterized in that the vehicle body 1 can be controlled while looking at the monitor RM, and the control of the control device 30 is not exceeded a predetermined range when the operation with the remote control operation device RC exceeds a predetermined reference. A remote control device for cars.

  According to the second aspect of the present invention, the shift input tool S11 and the steering input tools S10L and S10R provided in the remote controller operating device RC output a pulse signal at a predetermined interval and receive the pulse signal to determine the shift speed of the control device 30. The remote control device for an agricultural work vehicle according to claim 1, wherein the turning speed is controlled.

  The invention described in claim 3 is characterized in that a front communication antenna 80F and a rear communication antenna 80R for receiving radio waves from the remote controller operating device RC are provided at the front and rear of the vehicle body 1. A remote control device for agricultural vehicles.

  The invention described in claim 4 is provided with a separation detecting means F for detecting the distance between the vehicle body 1 and the remote control operating device RC and an altitude detecting means E for detecting the altitude of the vehicle body 1 with respect to the remote control operating device RC. 2. The remote control device for an agricultural vehicle according to claim 1, wherein when the vehicle body is higher than the vehicle body 1, the vehicle body 1 is not caused to travel toward the remote control device RC within a predetermined interval.

  The invention according to claim 5 is characterized in that the reception sensitivity from the remote controller operating device RC is monitored on the vehicle body 1 side, and when the reception becomes difficult, the running is stopped or the engine 10 is stopped. A remote control device for agricultural vehicles.

  According to the first aspect of the present invention, the operator can board the vehicle body 1 and directly operate the boarding operation device HM while looking directly at the farm field, and the image moved away from the vehicle body 1 to the monitoring device 78 is displayed on the monitor M. However, it is also possible to check the surroundings of the vehicle body 1 and control the steering device 30 of the vehicle body 1 with the remote control device RC to control the vehicle 1, and when operating with the remote control device RC, the operator directly controls the vehicle. Although the field of view around the vehicle body 1 displayed on the monitor M is narrower than the case, even if the operator makes a sudden shift or turn with the remote control operation device RC, changes in the traveling speed, the turning speed, etc., are caused by the control device 30. Therefore, the risk of runaway or falling due to an erroneous operation of the remote control device RC is reduced.

  According to the second aspect of the present invention, a pulse signal is output at a predetermined interval even when an operator quickly operates a speed change input tool and a steering input tool provided in the remote controller operating device RC. The device 30 is safe because it controls the vehicle body 1 at a predetermined shift speed and turning speed.

  According to the third aspect of the present invention, since the transmission radio wave from the remote controller operating device RC is received by the front communication antenna 80F and the rear communication antenna 80R that are emitted before and after the vehicle body 1, communication is performed using obstacles such as a spot or a building. Is less obstructed and stable remote control can be performed.

  In the invention according to claim 4, when the vehicle body 1 is at a position higher than the remote controller operating device RC, that is, the worker and the interval is closer than the predetermined interval, the vehicle body 1 is not caused to travel toward the remote controller operating device RC side. In this case, the vehicle body 1 is prevented from slipping unexpectedly on a sloping ground and entering a dangerous state.

  According to the fifth aspect of the present invention, it is possible to prevent the control signal from the remote controller operating device RC from reaching the control device 30 of the vehicle body 1 and running away.

It is a side view of a rice transplanter. It is a top view of a rice transplanter. It is a top view of a principal part same as the above. It is the top view (a) and side view (b) of HST. It is a control block circuit diagram. It is a control block circuit diagram. It is a block diagram of a wireless unit. It is a display panel figure of a remote control. It is a top view which shows the operation interlocking mechanism of the steering mechanism of a right-and-left front wheel and the left-right rear wheel side clutch. It is a side view of a principal part same as the above. It is a control block circuit diagram of an example. It is a flowchart. It is a control block circuit diagram of an example. It is a side view of an antenna frame.

  Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings. In the description of the embodiment, the left and right directions in the forward direction of the aircraft are referred to as left and right, respectively, the forward direction is referred to as forward, and the backward direction is referred to as rear. However, the configuration of the present invention is not limited.

  FIGS. 1 and 2 show an 8-row Ueda transplanter as an example of an agricultural work vehicle. A pair of left and right front wheels 2 and 2 and rear wheels 3 and 3 are installed on the front and rear of a vehicle body 1 as a traveling wheel. Yes. An operation box 4 having an operation panel 4a on the upper surface and a steering device 30 having a steering handle 5 and the like are installed at the front upper part of the vehicle body, and a seedling planting part 6 that can be moved up and down is equipped at the rear part of the vehicle body. . A driver's seat 9 is installed on the rear side of the control device, and an engine 10 that transmits power to each part of the rice transplanter is mounted below the driver's seat 9.

  The steering handle 5 is steered by steering the left and right front wheels 2 and 2 via an output shaft 17, a pitman arm 18, a steering rod 19 and the like that are decelerated and rotated from the steering shaft 16 by the turning operation. It has become.

  The rotational power of the engine 10 is transmitted to a counter shaft 32 that is a drive shaft of the hydraulic pump 22 through a belt 31, and further from the counter shaft 32 through a belt 33 to a hydraulic continuously variable transmission (HST) 23. It is transmitted to the input shaft 35 and transmitted from the output shaft 36 of the HST 23 to the mission input shaft 34 of the mission case 24 via a belt. A main clutch 37 is provided on the mission input shaft 34.

  The front wheels 2, 2 are pivotally supported by front wheel support cases 25, 25 that can be turned to the side of the transmission case 24, and the rear wheels 3, 3 are attached to the left and right ends of the rolling support rod 26. Further, the rear wheel support cases 27 and 27 are pivotally supported so that power is transmitted from the transmission device in the transmission case 24 via the rear wheel transmission shaft 38. The rolling support rod 26 is pivotally supported by a rolling shaft 29 supported by a horizontal frame 28a that connects the rear ends of the left and right main frames 28, 28 so as to be tiltable in the left-right direction.

  An HST lever 39 is disposed on the lateral side of the driver's seat 9 and is configured to drive the HST 23 by operating the HST lever 39 in the front-rear direction to control forward and backward movement of the airframe.

  The seedling planting portion 6 is mounted on the rear portion of the vehicle body through a lifting link mechanism 7 so as to be able to be lifted and lowered by a telescopic operation of the lifting hydraulic cylinder 8. The elevating hydraulic cylinder 8 is controlled to extend and contract by a hydraulic elevating valve 20. The rotation angle of the lift link mechanism 7 is detected by a lift link sensor 21.

  In addition, the seedling planting unit 6 includes a two-row planting device 13 and 13 having a seedling tank 11 that reciprocates left and right, and a planting basket 12 that cuts out one seedling and transplants it into the soil. ,... Are provided with floats (side floats) 14 and 14 for leveling while sliding on the seedling planting surface, sensor floats (center floats) 14S and 14S, and the like.

  The seedling loading tank 11 is provided with seedling feeding belts 11a for feeding the mat seedlings toward the planting side at positions corresponding to the two-row planting devices 13, 13.

  The planting transmission shaft 41 to the seedling planting unit 6 is configured to be linked so that the power of the fertilizer driving case 42 to the fertilizer application device 15 is branched and transmitted to the seedling planting unit.

  When the finger up lever 43 disposed below the steering handle 5 is operated in the vertical direction, the lever switch is operated, and the planting clutch motor 44 output from the control unit activates the fertilizer drive case 42. The fertilizer 15 and the seedling planting section 6 are provided so that the fertilizer / planting clutch can be turned on and off, and the hydraulic lift valve 20 is operated by the seedling planting section lifting means of the control section. The seedling planting part can be moved up and down manually.

  Reference numeral 45 denotes a main clutch pedal, which is configured to stop the traveling of the machine body and the driving of the seedling planting portion 6 when the main clutch pedal 45 is depressed. 45a is a dismounting clutch lever that stops traveling of the airframe in conjunction with the main clutch lever 45. The disengaging clutch lever 45a is provided at the lower front side of the operation box 4 so that the operator can easily operate from the front of the airframe even when the operator gets off the vehicle body. It is possible to use it when loading on a truck or when going over a fence. Reference numeral 46 denotes a side clutch pedal, and 47 denotes an accelerator lever. A center mascot 48 is provided at the center of the front end of the vehicle body.

  Further, as shown in FIG. 4, the HST 23 rotates and drives the HST motor 49 according to the detection result of the HST lever sensor 40 that detects the operation rotation angle of the HST lever 39, and the pinion gear 49a of the motor and the pinion gear The HST trunnion shaft 23a is driven and operated via a trunnion operating arm 50 having a sector gear 50a meshing with 49a.

  The rice transplanter includes a GPS control device 70 (see FIG. 5) that acquires the position information of the rice transplanter by GPS (Global Positioning System). The vehicle body 1 includes a receiving antenna 71 that constitutes the GPS control device 70. Is arranged. The receiving antenna 71 is provided as a position information acquisition device that acquires position information on the earth at predetermined intervals by acquiring GPS coordinates at predetermined time intervals. The reception antenna 71 is attached to an upper portion of an antenna frame 72 that is a support column surrounding the driver's seat 9 in the front-rear direction.

  FIG. 14 is a side view of the antenna frame 72. An antenna attached to a front column 73 standing upright from the left and right front ends of the vehicle body 1 by a telescopic mounting portion 74a and attached to a rear column 75 standing from the left and right center of the vehicle body 1 by an expansion mounting portion 75a. The frame 72 is connected to the left and right center of the front upper frame 74.

  The front column 73 is supported by a reinforcing frame 76 that extends forward and upward from the mounting portion of the operation box 4, and a monitor 77 that displays the position of the vehicle body 1 is mounted on the front side of the HST lever 39 above the right front column 73.

  As a monitoring device 78 for viewing the surroundings of the vehicle body 1, a front camera 78F that projects the front side of the vehicle body 1 is provided on the front side of the antenna frame 72, and side cameras 78S and 78S that project the left and right sides of the vehicle body 1 are provided on the left and right sides. A rear camera 78R that projects the fertilizer device 15 and the seedling planting unit 6 at the rear of the vehicle body 1 is provided at the rear. Images projected by the front camera 78F, the side camera 78S, and the rear camera 78R are transmitted to a remote controller operating device RC described later and displayed on the monitor M.

  In addition, the front communication antenna 80F is provided on the front side of the antenna frame 72, and the rear communication antenna 80R is provided on the rear side, so that communication with the remote controller operating device RC is less likely to be interrupted in the shade.

  The height of the receiving antenna 71 can be changed by adjusting the telescopic mounting portion 73a of the front upper frame 73 and the telescopic mounting portion 75a of the rear support column 75 up and down, and the receiving sensitivity can be adjusted. 1 can be easily stored in the barn.

  As described above, in an agricultural machine that performs farm work while traveling the aircraft, the HST motor 49 is operated by the operation of the boarding operation device HM that is boarded on the aircraft and operated by the operator, that is, for example, by the operation of the HST lever 39. The HST 23 is driven to control the forward / backward movement of the airframe, and by operating the finger up lever 43, the lifting hydraulic cylinder 8 is driven to drive the raising / lowering of the seedling planting section and the planting clutch motor 44 to plant. The control device 51 is provided with boarding operation means A for controlling on / off of the attached clutch.

  Further, by operating a remote control device RC (FIG. 7) operated by remote control at a position away from the aircraft, forward / reverse control, traveling speed control, turning control of the aircraft to be controlled in the same manner as the boarding operation means A, and The control device 51 is provided with remote control operation means B for performing raising / lowering control of the seedling planting part and on / off control of the planting clutch.

  Further, the control device 51 (FIG. 5) is provided with mode selection means C in the form of a control program for switching between a boarding operation mode and a remote control operation mode by a mode selection switch 52 provided on the aircraft side. Further, when the boarding operation device HM is operated when the remote control operation mode is selected by the mode selection switch 52, there is provided manual priority means D that prioritizes the operation. Therefore, since this control means is prioritized manually, even when the remote controller is operated, when a danger is felt, it can be dealt with immediately by human operation. In other words, when a danger is felt during traveling by remote control, the aircraft can be stopped by returning the HST lever 39 to neutral, or can be stopped suddenly by operating the main clutch pedal 45 or the getting-off clutch lever 45a. .

  Further, the control device 51 is provided with altitude detection means E for recognizing the altitude of the vehicle body 1 by the GPS control device 70, and compared with the altitude of the remote control operation device RC detected by the GPS control device that the remote control operation device RC is uniquely provided. The altitude of the vehicle body 1 with respect to the remote control device RC is determined. Further, the control device 51 is provided with a separation detecting means F for detecting the distance between the vehicle body 1 and the remote control device RC based on the strength of radio waves from the remote control device RC.

  FIG. 8 shows an example of a display panel of the remote control device RC. Press the travel forward switch S1 to advance the aircraft, press the travel neutral switch S2 to stop the aircraft, press the reverse travel switch S3 to reverse the aircraft, and press the right turn switch S10R to turn the vehicle body 1 to the right. When the left turn switch S10L is pressed, the vehicle body 1 turns to the left, and when the speed dial S11 is turned, the traveling speed is changed. When the planting raising switch S4 is pressed, the seedling planting unit 6 is raised, and when the planting lowering switch S5 is pushed, the seedling planting unit 6 is lowered. Further, if the planting switch S6 is pressed, the seedling planting clutch is turned on, and if the planting cutting switch S7 is pressed, the seedling planting clutch is turned off.

  By pressing the left turn switch S10L and the right turn switch S10R, the vehicle body 1 turns left and right, and the traveling speed is changed by the speed dial S11. The turn speed and the turn angle are set so that the vehicle body 1 does not become unstable. The speed is suppressed, and the shift traveling speed is also suppressed to a low speed. The turning speed and traveling speed are lower than when the boarding operation device HM is operated, and the operation of the left turning switch S10L, the right turning switch S10R, or the speed dial S11 does not make a sudden turn or increase / decrease in the traveling speed. Therefore, even if an operator who is away from the vehicle body 1 is operated by the remote control device RC, the vehicle body 1 can travel stably.

  The pulse signals output from the left turn switch S10L, the right turn switch S10R, and the speed dial S11 are constant, so that the control device 51 that receives the pulse signals does not rapidly increase the traveling speed or perform high-speed turning. You can also make it.

  Even when the left turn switch S10L, the right turn switch S10R, and the speed dial S11 are tilted left and right or back and forth, the operation side, the turn angle, and the turn speed are not changed at the tilting speed. Like that.

  Further, the control device 51 controls the distance detection means F so that the distance from the remote control operation device RC does not approach within a certain distance by automatic control, but the altitude detection means E causes the vehicle body 1 to be higher than the remote control operation device RC. If it is in the position, the distance that does not approach the remote controller operating device RC is increased to eliminate the risk that the vehicle body 1 slides down to the operator side on the slope.

  Further, when the traveling speed of the vehicle body 1 exceeds the traveling speed controlled by the control device 51, the emergency automatic stop is performed. If the travel start operation is performed during this emergency automatic stop, a buzzer sounds to warn.

  As shown in FIG. 6, when switching to the remote control operation mode, the identification (orange / green) or blinking pattern of the center mascot 48 is changed to make it easy to understand, and a nearby person is operating in the remote control mode. Is informed.

  Further, a rolling tilt sensor 53 is provided in the airframe, and when the vehicle body 1 tilts at a certain angle or more during remote control operation, an alarm is issued by the buzzer 54 or the horn according to the detection result of the rolling tilt sensor 53 to prevent overturning. ing. When you are on board the aircraft and you are manipulating it, you can feel the tilt of the aircraft, so you can know to some extent whether it is a dangerous state, but in the case of remote control operation you do not know it well, causing a dangerous state Sometimes. Therefore, the above-mentioned alarm can prevent the fall.

  The fall alarm is configured to operate in either the boarding operation mode or the remote control operation mode, and based on the detection of the rolling tilt sensor 53, the alarm is issued at a tilt angle smaller than that in the boarding operation mode in the remote control operation mode. It is good also as composition to do. As a result, it is possible to issue a tipping warning early in the remote control operation mode in which it is difficult to determine the danger, and safety can be improved. In the above, the tilt angle to be alarmed is different between the remote control operation mode and the boarding operation mode. However, in the configuration in which the overturn alarm is given when the tilt angle is equal to or greater than a predetermined value and the predetermined time has elapsed. The predetermined time may be varied, or the predetermined value may be varied in a configuration in which a change in inclination angle is detected by separately providing an angular velocity sensor or the like and an alarm is issued when the angular velocity exceeds a predetermined value. Good. That is, the control sensitivity of the fall alarm control may be made more sensitive in the remote control operation mode than in the boarding operation mode.

  Further, the control device 51 stops the traveling when the vehicle body 1 approaches a certain distance toward the remote controller operating device RC by the separation detecting means F, but the vehicle body 1 is high by the altitude detecting means E and the remote controller is operated. When the vehicle 1 is inclined toward the device RC, the distance that the vehicle body 1 travels toward the remote controller operating device RC is lengthened so that the risk of the vehicle body 1 falling down can be avoided.

  In addition, the detection of the tilt angle of the vehicle body 1 can be used to regulate travel speed and turning speed.

  Next, a configuration in which the vehicle body is turned sharply by turning the side clutch inside the turn by turning the steering handle more than a predetermined amount will be described with reference to FIGS.

  The side clutch shifter arm 60 for turning on and off the left and right side clutches is linked to an operation rotating body 63 whose left and right end portions reciprocate back and forth around a shaft 61 via left and right shifter rods 64 and 64, The operation rotating body 63 is configured to be rotated through the motor pinion 65a and the fan-shaped gear portion 63a by the rotational drive of the side clutch operation motor 65. The operation rotating body 63 is provided with a motor position sensor 66, and the pitman arm 18 is provided with a steering angle sensor 67 for detecting a steering angle of the steering wheel 5, that is, a turning angle due to a left / right turning operation of the steering wheel. .

  During normal steering control, the vehicle is traveling while steering the left and right front wheels 2 and 2 by turning the steering handle 5 left and right. When the steering wheel is turned sharply, if the steering handle is turned more than a predetermined angle, the side clutch motor 65 is driven based on the detection result of the steering angle sensor 67, thereby turning the left and right rear wheels 3 and 3 inside the turning direction. The side clutch shifter arm 60 is pulled, the left side clutch (or brake) or the right side clutch (or brake) is turned off, and the aircraft turns sharply.

  In this way, in order to turn the aircraft suddenly by turning on and off the left and right side clutches in conjunction with the turning operation of the steering handle 5, the front / rear inclination sensor 68 and the inclination angle setting dial 69 are installed on the aircraft side, When the inclination exceeds the set value, the side clutch is not disengaged even if the steering wheel is operated, and the interlock is turned on and off according to the inclination angle of the machine, so that safety is achieved.

  In other words, when over the ridge or when loading / unloading on a truck, if the steering wheel is operated when the aircraft is tilted greatly, the wheels may slip and be dangerous. In such a case, for example, as shown in the control block diagram of FIG. 11 and the flowchart of FIG. 12, when the sensor value by the front / rear tilt sensor 68 becomes larger than the set value of the tilt angle setting dial 69, the motor position sensor The motor 65 is rotated so that the side clutch is not disengaged so that the value 66 returns to neutral.

  In addition, the left side clutch (or brake) or the right side clutch (or brake) is disengaged even when turning by the remote control device RC so that the aircraft cannot make a sudden turn.

DESCRIPTION OF SYMBOLS 1 Car body 30 Steering device 80F Front communication antenna 80R Rear communication antenna HM Boarding operation device RC Remote control operation device RM Monitor S10L, S10R Steering input tool S11 Shifting input tool

Claims (5)

  An operator can board the vehicle body (1) and operate the boarding operation device (HM) to operate the vehicle body (1) and operate the remote control operation device (RC) away from the vehicle body (1) to operate the vehicle body (1). In a farm vehicle that can also be operated by controlling the device (30), the farm vehicle is provided with a monitoring device (78) that reflects the surroundings of the vehicle body (1), and an image projected by the monitoring device (78) is displayed. The remote control device (RC) is transmitted to the monitor (RM), and the vehicle body (1) can be operated while watching the monitor (RM), and the remote control device (RC) can be operated. A remote steering device for a farm vehicle, wherein the control of the steering device (30) does not exceed a predetermined range when a predetermined reference is exceeded.   A shift input tool (S11) and a steering input tool (S10L, S10R) provided in the remote control device (RC) output pulse signals at predetermined intervals, and receive the pulse signals to change the speed of the control device (30). The remote control device for a farm vehicle according to claim 1, wherein the turning speed is controlled.   The front communication antenna (80F) and the rear communication antenna (80R) for receiving radio waves from the remote control device (RC) are provided at a front portion and a rear portion of the vehicle body (1). Remote control device for farm vehicles.   Separation detection means (F) for detecting the distance between the vehicle body (1) and the remote control operation device (RC) and altitude detection means (E) for detecting the altitude of the vehicle body (1) relative to the remote control operation device (RC) When the remote control device (RC) is higher than the vehicle body (1), the vehicle body (1) is not caused to travel toward the remote control device (RC) within a predetermined interval. The remote control apparatus of the agricultural vehicle as described in 1.   Agricultural work according to claim 1, wherein the vehicle body (1) monitors the reception sensitivity from the remote control device (RC) and stops traveling or stops the engine (10) when reception becomes difficult. Car remote control device.

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