JP2541711Y2 - Work vehicle remote control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial application field) The present invention relates to a remote control device for a work vehicle.

(Prior Art) Conventionally, this type of remote control device is used for a working vehicle such as a crane truck or an aerial working vehicle. Hereinafter, a case where the present invention is applied to a crane truck will be described with reference to FIGS. 4 and 5.
FIG. 4 shows a portable operation signal transmitter A. The operation signal transmitter A includes an operation unit 11 including 1 to 9 manual operation switches and one manual potentiometer 10, and an operation from the operation unit 11. A signal generation unit 12 composed of a microcomputer which takes in signals sequentially and sequentially arranges the signals in time, adds a start bit signal as a start signal at the beginning of one cycle of this signal, and periodically outputs the start bit signal. A signal from the signal generator 12 is superimposed on a reference radio wave from the oscillator 13 by a frequency modulation method, and then amplified by an amplifier 14 and transmitted by an antenna 15 to a radio wave transmitter 16 for transmitting a radio wave from an antenna 15. It is configured.

The manual operation switches 1 to 8 of the operation unit 11 sequentially command winch winding, winch lowering, boom extension, boom contraction, boom raising, boom falling boom right turn, and boom left turn. It is. The manual operation switch 9 is a power switch for receiving and turning off the power supply from the battery 17 provided in the operation signal transmitter A. The manual potentiometer 10 commands the operation of the accelerator of the engine for driving the hydraulic pressure generating pump of the crane truck.

The signal generation unit 12 includes manual switches 1 to 8 of the operation unit 11.
Signal from the manual potentiometer 10 of the operation unit 11 through the A / D converter 27 and the gate 28 in order.
It is configured to take in the PU26. The CPU 26 includes a ROM 29 storing arithmetic means and a RAM temporarily storing data during the arithmetic operation.
30 and an address decoder for controlling the opening and closing of each of the gates
31 and operates according to the arithmetic means of the ROM 29.
That is, the gate 18 via the address decoder 31,
19, 20, 21, 22, 23, 24, 25, and 28 are opened in this order, and the signals passing through each gate are sequentially aligned and stored at predetermined addresses of the RAM 30. If data has already been stored at the corresponding address in the RAM 30, this is rewritten. Next, the CPU 26
The data stored in the memory 30 is sequentially read, and the read result is sent to the radio wave transmitter 16 via an output line 32. CPU26
Repeats this calculation procedure periodically, for example, with a cycle of 0.5 seconds. As a result, an operation signal converted into an on / off code is periodically generated at an output line 32 of the signal generation unit 12 at intervals of 0.5 seconds. In FIG. 4, signal lines between the address decoder 31 and each gate are omitted.

The radio wave transmitting section 16 receives the signal from the signal generating section 12, amplifies the signal with an amplifier 33, and inputs the amplified signal to the modulating means. The modulating means 34 modulates the frequency of the reference radio wave transmitted from the oscillator 13 based on the signal from the amplifier 33, amplifies the modulation result, and transmits the radio wave from the antenna 15.

FIG. 5 shows an operation signal receiver B. The operation signal receiver B is provided with a reception antenna 35, tunes and detects the radio wave received by the reception antenna 35 by a tuned detection means 36, and transmits the operation frequency of the operation signal transmitter A. After taking out the radio wave of the band and amplifying it by the amplifying means 37 and guiding it to the demodulation means 38, the demodulation means 38 takes in the signal superimposed on the received radio wave and takes in the signal received and demodulated by the radio wave receiving unit 39. A signal restoring unit 40 outputs an electric signal to the control device C of the crane vehicle based on the operation information of the operation signal included in the signal.

The signal restoring unit 40 is constituted by a microcomputer, and includes a CPU 41, a ROM 42 storing a calculation procedure, a RAM 43 temporarily storing data during calculation, and a plurality of output gates 44 to 5.
2. It is composed of an address decoder 53 for issuing a command signal to the plurality of output gates under a command from the CPU 41, and a D / A converter 56. When receiving the signal from the radio wave receiving unit 39, the CPU 41 calculates this signal in a predetermined calculation procedure and outputs the result to the output gates 44 to 52. The outputs of the output gates 44 to 51 are given directly to the control device C via the D / A converter 56. The CPU 41 executes the following arithmetic processing according to the arithmetic means stored in the ROM 42. The CPU 41 receives the signal from the radio wave receiving unit 39, uses the start bit signal added at the beginning of one cycle of the signal as a start signal, and converts the operation signal taken over to the start bit signal into an RA signal.
The data is sequentially aligned and stored at a predetermined address of M43. If data is already stored at the corresponding address in the RAM 43, it is rewritten.

The CPU 41 then sequentially reads out the operation signals stored in the RAM 43 and outputs them to the respective output gates 44 to 52, and controls to open the corresponding output gate via the address decoder 53 in accordance with the readout timing. .
As a result, signals corresponding to the operation states of the manual switches 1 to 8 and the manual potentiometer 10 of the operation unit of the operation signal transmitter A are output from the output gates 44 to 52. CPU41
Executes the above calculation procedure periodically. The output gate
The signal passing through 52 is output via a D / A converter 56.

The outputs of the output gates 44 to 51 and the D / A converter 56 are output to the control device C of the crane vehicle.

In the case of this example, the control device C includes a four-way three-position switching valve 57 for controlling the hoisting and lowering of the winch, a four-way three-position switching valve 58 for controlling the extension and reduction of the boom, and the raising of the boom.・ Four-way three-position switching valve 59 for controlling lodging, right of boom
Four-way three-position switching valve 60 for controlling left turn and each of the valves 57
And an accelerator control device 61 for controlling an accelerator of an engine that drives a hydraulic pump for supplying pressure oil to the hydraulic pump. Each of the valves 57 to 60 is a double solenoid spring center type four-way three-position switching valve.
Is constituted by an actuator that controls the rotation of the engine and, consequently, the discharge amount of the hydraulic pump in accordance with the supply voltage. The outputs of the gates 44 to 51 of the signal restoring unit 40 are supplied to the four-way three-position switching valve via power transistors 62 to 69, respectively.
The output voltage of the D / A converter 56 is connected to the accelerator control device 61 via the amplifier 70.

(Problems to be Solved by the Invention) The conventional remote control device for a work vehicle configured as described above,
When the operation unit 11 of the operation signal transmitter A outputs an abnormal operation signal due to a failure or the like, there is a risk that an operation may be continued without being noticed and an accident may be caused. For example, it is assumed that one of the manual operation switches 1 to 8 is broken and remains ON. If the user turns on the manual switch 9 (power switch) without noticing this, the operation of the crane truck corresponding to the broken switch may start immediately, leading to an accident. Also, if any of the manual operation switches 1 to 8 is broken during operation and remains ON, the operation of the crane corresponding to the broken switch may be continued, leading to an accident. There was also.

It is an object of the present invention to provide a new work vehicle remote control device that solves the above-mentioned problems.

(Means for Solving the Problems) In order to achieve the above object, a work vehicle remote control device according to the present invention includes a portable operation signal transmitter that superimposes an operation signal from an operation unit on a radio wave and transmits the signal. An operation signal receiver provided at an appropriate position of the work vehicle and receiving an electric wave transmitted from the operation signal transmitter and outputting an operation signal superimposed on the electric wave to a drive control device of the work vehicle; In the operation device, the operation signal transmitter includes an operation unit abnormality signal detection unit that detects an abnormal operation signal from the operation unit, and detects an abnormal state of the operation unit based on the signal from the operation unit abnormality signal detection unit. Is configured to be added to the transmission radio wave as an identification signal in addition to the operation signal, the operation signal receiver is an identification unit for identifying the identification signal superimposed on the reception radio wave, and the identification unit is an operation unit of the operation unit. Abnormal It is characterized in that a regulating means for regulating the driving informing means or service vehicle to alert when certified.

(Operation) The working vehicle remote control device of the present invention configured as described above operates as follows. That is, the operation signal transmitter is
When the operation unit abnormal signal detection unit detects that an abnormal operation signal is output from the operation unit, that is, that an operation switch of the operation unit is broken and an abnormal operation signal is output, In addition to the operation signal, an identification signal indicating an abnormal state of the operation unit is superimposed and transmitted. On the other hand, when the operation signal receiver identifies the identification signal superimposed on the received radio wave by the identification means and confirms the abnormality of the operation section, the operation section notifies the operation section of the operation section in an abnormal state by the notification section, or the control section by the restriction section. The driving of the work vehicle is regulated. The working vehicle remote control device of the present invention that operates in this way can be immediately notified by the notification means when the operation switch or the like is broken and an abnormal operation signal is output from the operation unit, or the work is controlled by the restriction means. Since it is possible to restrict the driving of the car, it is possible to eliminate the risk of an accident by continuing to operate the vehicle without noticing it.

(Embodiment) Hereinafter, an embodiment of a remote control device for a work vehicle according to the present invention will be described with reference to FIGS. 1 to 3.

The remote control device for the work vehicle according to the present invention is only partially added to the conventional remote control device shown and described in FIGS. 4 and 5, and the components of the conventional remote control device are the same. The description is omitted using the reference numerals. In FIG. 1, 71
Is a voltage detector that outputs a signal when the voltage of the battery 17 becomes equal to or lower than a predetermined voltage. 72 is the address decoder 31
This is a gate that allows the signal of the voltage detector 71 to be taken into the CPU 26 via. The calculation procedure stored in the ROM 29 is programmed as follows. Immediately after the manual switch 9 (power switch) is turned on, the manual switches 1 to 8 are turned off, the manual potentiometer 10 is not operated (the idling state of the crane car engine), and the capacity of the battery 17 is equal to or more than a predetermined value. It is programmed to first check whether or not there is, and then to check the operation state of the manual switch 9 and the manual potentiometer 10 to finish the first cycle. For the second and subsequent cycles,
It is checked whether the operation states of the manual switch 9 and the manual potentiometer 10 are the same for a predetermined time (for example, 5 minutes) and whether the capacity of the battery 17 is equal to or more than a predetermined value. It is programmed to check 10 operation states, complete one cycle, and repeat this. Also ROM29
Has manual switches 1-8, manual potentiometer 10,
Signals for normal and abnormal states of the battery 17 are stored, and when a normal signal is detected, a normal identification signal is detected, and when an abnormal signal is detected, any of the manual switches 1 to 8, the manual potentiometer 10, and the battery 17 are determined. An identification signal that can be identified as abnormal is stored for each abnormality.

The operation signal transmitter A thus configured operates as follows. First, when the manual switch 9 (power switch) is turned on, the CPU 26 checks each of the manual switches 1 to 8, the potentiometer 10, and the battery 17 in accordance with the arithmetic program in the ROM 29 in order to check whether each of them is in a normal state. The gates are opened in the order of the gates 18 to 25, 28, and 72, and the signals that have passed through the gates are sequentially stored at predetermined addresses in the RAM 30 and stored. Next, the operation signals of the manual switches 1 to 8 and the manual potentiometer 10 are again transmitted to the gates 18 to 2 respectively.
The gates are opened in the order of 5, 28, and 72, and the signals passing through the gates are sequentially aligned and stored at the next address of the RAM 30. And CPU26
Read the data first taken and stored in M30,
It is compared with the data stored in advance in the OM 29 to check whether the manual switches 1 to 8, the potentiometer 10, and the battery 17 are normal. If the result is normal, the identification signal indicating that the operation is normal is read from the ROM 29, aligned after the start bit signal, and thereafter, the operation signal stored in the RAM 30 is read and aligned in the RAM 30 in a predetermined order. If abnormal, the identification signal corresponding to the abnormal part is aligned after the start bit signal, and after this, RAM3
The operation signal stored in 0 is read and aligned in the RAM 30 in a predetermined order. The data aligned in the RAM 30 in this manner is read by the CPU 26, and the result is sent to the radio wave transmitting unit 16 through the output line 32. Up to this point, generation of a signal in the first cycle has been described.

Next, generation of signals in the second and subsequent cycles will be described.
From the second cycle onward, since the manual switches 1 to 8 and the manual potentiometer 10 have already been operated, it is not known what the state is depending on the operation state. Therefore, here, it is checked whether the manual switches 1 to 8 and the manual potentiometer 10 maintain the same operation state for a predetermined time (for example, 5 minutes). When a predetermined time (for example, 5 minutes) is maintained, it is determined that there is an abnormality. That is, the CPU 26 opens the gates in the order of the gates 18 to 25 and 28 in accordance with the arithmetic program of the ROM 29, and sequentially stores signals passing through the gates at predetermined addresses of the RAM 30. Then, a comparison is made with the data previously stored in the RAM 30 to check whether or not the data has changed. And if there is no change RA further
The data stored in the M30 is compared with the data to check whether or not the data has changed. If there is no change, this calculation is performed retroactively up to the data stored a predetermined time (for example, 5 minutes). As a result of the operation in this way,
If there is a change within a predetermined time (for example, 5 minutes), an identification signal indicating normality is read from the ROM 29, and if there is no change, an identification signal corresponding to an abnormal portion is read from the ROM 29 and aligned after the start bit signal. Next, the latest data on the power supply voltage stored in the RAM 30 is read out from the RAM 30 via the voltage detector 71 and the gate 72,
29 is compared with the data stored in advance to check if it is normal, and the identification signal corresponding to the result is returned to the RO
M29, added after the identification signal, and then read the latest operation signal stored in the RAM 30 and read
The AM30 is arranged in a predetermined order. In this way RAM30
CPU 26 reads out the data arranged in the order, and sends the result to the radio wave transmitting section 16 through an output line 32. RAM30
Is always stored up to data stored a predetermined time (for example, 5 minutes), and data stored before that is sequentially rewritten. The CPU 26 periodically generates an identification signal and an operation signal (arranged in a predetermined order) obtained by ON / OFF-encoding the operation procedure at intervals of, for example, 0.5 seconds (see FIG. 3). .

It should be noted that an operation unit abnormal signal detection means (described in the claims for utility model registration) for detecting an abnormal operation signal from the operation unit 11 is implemented during the calculation procedure so far. That is,
As for whether or not the manual operation switches 1 to 8 and the potentiometer 10 are abnormal, each operation result at a specific time is detected, each operation result at that time is stored in the ROM 29 in advance, and both are compared and detected. And does not have a special detector. In addition, a configuration is also embodied in which an abnormal state of the operation unit 11 is superimposed on a transmission radio wave as an identification signal in addition to an operation signal.

The signal generated by the signal generation unit 12 in this manner is modulated by the above-described radio wave transmission unit 16 to the frequency of the reference radio wave and transmitted from the antenna 15 by radio waves.

Next, the operation signal receiver B will be described with reference to FIG. The operation signal receiver B is also substantially the same as that shown in FIG. 5 and described in the related art, except that it is provided with a means for identifying the identification signal and a notification means. Therefore, in the following description, only this difference will be described. The ROM 42 storing the operation procedure of the signal restoring unit 40 has the following operation procedure different from that of the conventional one. The identification signal of the signal from the radio wave receiving unit 39 is identified, and it is checked whether or not the operation signal transmitter A is in an abnormal state. In addition, in order to identify the identification signal of the signal transmitted from the radio wave receiving unit 39, the manual switches 1 to 8, the manual potentiometer 10, and the normal and abnormal signals of the battery 17 of the operation signal transmitter A are stored in advance. An identification signal that is normal when a normal signal is detected and an identification signal that can identify which of the manual switches 1 to 8, the manual potentiometer 10, and the battery 17 are abnormal when an abnormal signal is detected are respectively located at abnormal points. They are stored separately. Reference numeral 73 denotes a notification unit, which includes an address latch 74, a voice synthesizer 75, an amplifier 76, and a speaker 77. When the CPU 41 identifies an abnormal state of the operation signal transmitter A from the identification signal by the CPU 41, the address latch 74 receives a signal distinguished for each abnormal location from the CPU 41, and can output a sound for each abnormal location. This is to select and output a voice suitable for an abnormal part from a voice synthesizer 75 prepared in advance. The audio signal output from the audio synthesizing device 75 is amplified by the amplifier 76, and a warning can be issued from the speaker 77.

The operation signal receiver B configured as described above operates as follows. An identification signal and an operation signal in which the radio wave received by the receiving antenna 35 is superimposed on the reference frequency by the radio wave receiving unit 39 are extracted. When receiving the signal from the radio wave receiving unit 39, the CPU 41 temporarily stores the identification signal and the operation signal sequentially arranged after the start bit signal in the RAM 43. Then, the identification signal stored in the RAM 43 is compared with the identification signal stored in the ROM 42 in advance to determine whether the identification signal is an identification signal indicating an abnormal state of the operation signal transmitter A. At the same time, when the abnormal state of the operation signal transmitter A is notified, which part of the operation signal transmitter A is abnormal is identified by an identification signal stored in advance in the ROM 42 for each abnormality location. Compare and identify. In the calculation procedure so far, an identification means (described in the utility model registration claims) for identifying the identification signal superimposed on the received radio wave is embodied. Then, the CPU 41 sends to the address latch 74 a signal that distinguishes the abnormal state of the operation signal transmitter A for each abnormal location. The voice synthesizing device 75 receives a signal from the address latch 74, selects and outputs a voice suitable for an abnormal part. And the speech synthesizer 75
The output audio signal is amplified by the amplifier 76 and an alarm is issued from the speaker 77. After that, the CPU 41 reads out the operation signal stored in the RAM 43 and outputs it to each output gate.
Output is performed to the output gates 44 to 52 and the corresponding output gate is opened via the address decoder 53 in accordance with the read timing. As a result, each output gate 44-52
From the manual switch 1 of the operation unit of the operation signal transmitter A
8 and a signal corresponding to the operation state of the manual potentiometer 10 are output. The CPU 41 periodically executes the above calculation procedure. And the output gates 44 to 51 and the D / A converter 56
Is output to the control device C of the crane truck. The description of the control device C is the same as that shown in FIG. 5 and operates in the same manner, so that the description is omitted.

With such an operation, the remote control device for a work vehicle according to the present invention eliminates the risk of causing an accident even if the operation signal transmitter A is in an abnormal state and continues to operate without being noticed. be able to. For example, it is assumed that one of the manual operation switches 1 to 8 is broken and remains ON. Even if the user does not notice this and turns on the manual switch 9 (power switch), the operation signal transmitter A detects whether the manual operation switches 1 to 8 are in a normal state by the operation unit abnormal signal detection means. The fact that the switch is broken is superimposed on the transmission radio wave as an identification signal in addition to the operation signal. And the operation signal receiver B
It is possible to confirm that the switch is broken by the identification means, and to know that the switch is broken by the notification means of the operation signal receiver B. Therefore, it is possible to eliminate the possibility that the operation of the crane vehicle corresponding to the broken switch starts immediately and leads to an accident.

Also, when any one of the manual operation switches 1 to 8 is broken during the operation and remains in the ON state, if the manual operation switches 1 to 8 are in the same state for a predetermined time (for example, 5 minutes). For example, since the signal is input to the identification signal as abnormal, the operation of the crane corresponding to the broken switch can be maintained, and there is no possibility of causing an accident.

The operation signal transmitter A is used as a power source for the operation signal transmitter A.
When the capacity of the battery 17 is reduced, the operation signal transmitter A inputs a signal indicating the reduction of the capacity of the battery 17 to the identification signal, and the operation signal receiver B notifies the notification means of the reduction in the capacity of the battery 17. it can. Therefore, since the capacity of the battery 17 can be known before the operation signal cannot be transmitted from the operation signal transmitter A as the capacity of the battery 17 decreases, the operation of the crane vehicle is interrupted on the way and the suspended load is reduced. There is no danger of being lifted. And battery 17
Since the operation signal receiver B informs the operation signal receiver B of the decrease in capacity, the notification means further consumes the battery 17 whose capacity has decreased, as compared with the case where the operation signal transmitter A informs the decrease. In addition, the reduction in the capacity of the battery 17 is not further accelerated.

In the above-described embodiment, when the operation signal receiver B confirms an abnormal state of the operation signal transmitter A, a notification unit that issues an alarm by voice is used. When an abnormal state is confirmed, the CPU 41 may use a restricting unit that does not open the output gates 44 to 52 to restrict the driving of the work vehicle.

(Effects of the Invention) Since the present invention is constructed and operates as described above, even if the operation signal transmitter is in an abnormal state, even if the operator does not notice it and continues to operate it, there is no danger of causing an accident. The effect is great.

[Brief description of the drawings]

1 and 3 are explanatory diagrams of a remote control device for a work vehicle according to the present invention. FIG. 1 is an explanatory diagram of an operation signal transmitter, and FIG. 2 is an explanatory diagram of an operation signal receiver. FIG. 3 is an explanatory diagram of a signal generated by a signal generation unit of the operation signal transmitter. 4 and 5 are explanatory diagrams of a conventional remote control device for a work vehicle, FIG. 4 is an explanatory diagram of an operation signal transmitter, and FIG. 5 is an explanatory diagram of an operation signal receiver. . A: Operation signal transmitter, B: Operation signal receiver

Claims (1)

(57) [Scope of request for utility model registration] 1. A portable operation signal transmitter for transmitting an operation signal from an operation section superimposed on a radio wave, and a radio wave transmitted from the operation signal transmitter provided at an appropriate position of a work vehicle and received by the radio wave. An operation signal receiver that outputs the superimposed operation signal to a drive control device of the work vehicle, wherein the operation signal transmitter detects an abnormal operation signal from the operation unit. An operation unit abnormality signal detection unit configured to superimpose an abnormality state of the operation unit as an identification signal on the transmission radio wave in addition to the operation signal based on a signal from the operation unit abnormality signal detection unit; The apparatus includes identification means for identifying the identification signal superimposed on the received radio wave, and notification means for giving an alarm when the identification means confirms an abnormality of the operation unit or regulation means for regulating the driving of the work vehicle. And a remote control device for a working vehicle.