JP2772485B2 - Steering alerting device for remote work vehicles - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering notification device for a remotely operated traveling vehicle such as a tractor or a combine, which is remotely controlled by wireless transmission.

[Problems to be Solved by the Prior Art and the Invention] Today, in such a working vehicle, as one means for ensuring the safety of work, an operator is required to use radio waves such as radio waves and light at a place away from the running vehicle. Remote control using transmission means has been proposed. By the way, when performing such a remote control, the operator operates the radio while confirming the movement of the traveling vehicle from a distance. However, when the traveling body is wirelessly controlled, for example, when the traveling body is traveling in a direction approaching the operator, when the ore-peter outputs, for example, a right steering signal, the traveling body receiving this steering signal moves in the traveling direction. In contrast to the right steering, the operator steers to the left from the viewpoint of the operator. Therefore, it is required to be fully aware of this and perform the steering operation by radio.However, in practice, it is necessary to change the consciousness every time the aircraft changes its direction, going forward and returning. There is a problem that it is extremely troublesome and erroneous operations often occur.

Therefore, when a steering signal is received, it is proposed to recognize whether the steering signal is the left or right steering signal and to display the steered side based on this. ,
In this case, it is good to steer to the left or right from the straight-ahead state.However, if a reverse-side steering signal is output to return the traveling body to the straight-ahead state, then the reverse-side maneuver is performed based on this signal. There is a problem that the operator cannot recognize whether or not the steered wheels have returned to the straight running state just by looking at the steering indication without being allowed to make the steering indication. It is.

Means for Solving the Problems In view of the above-described circumstances, the present invention has been made with the object of providing a steering notification device for a remotely operated traveling vehicle that can eliminate these disadvantages. And a remote steering control unit for inputting a remote steering signal from the transmitter and outputting a steering control command to steering means based on the input remote steering signal. In the remote steering control unit, a steering notifying unit that notifies a left-right steering direction of the aircraft and a steering detection unit that detects a steering state of the aircraft are connected, and the remote steering control unit includes A steering state instructing means for outputting a signal of an instructing instruction to the steering informing means on the steered side when a detection signal from the steering detecting means is determined to be in an aircraft steering state. It is characterized by the following.

Also, the present invention provides a remote operation control device comprising a remote steering control unit for inputting a remote steering signal from a transmitter side and outputting a steering control command to steering means based on the input remote steering signal. In the traveling vehicle, the remote steering control unit is connected with steering notifying means for notifying the left-right steering direction of the fuselage, and steering angle detecting means for detecting the steering angle of the fuselage. When the steering angle detection signal from the steering angle detection unit is determined to be in the steering state, the control unit notifies the steering notification unit on the steering side of the magnitude of the detected steering angle. In addition, a steering state command means for outputting a signal of a notification command in which the notification state is changed correspondingly is provided.

Further, the present invention provides a remote operation control device comprising a remote steering control unit for inputting a remote steering signal from a transmitter side and outputting a steering control command to steering means based on the input remote steering signal. In the traveling vehicle, the remote steering control unit is connected to a steering notifying unit for notifying the left-right steering direction of the fuselage and a steering detecting unit for detecting a steering state of the fuselage. The unit, when the detection signal from the steering detection unit is determined to be in the steering state, a steering state command unit that outputs a signal of an instruction command to the steering notification unit on the steering side, When it is determined that the detection signal from the steering detection means is in a straight-ahead state and that the input of either the left or right remote steering signal has been received, a remote control which outputs a signal of a steering-side notification command to the steering notification means. A steering command means is provided.

Furthermore, the present invention provides a remote steering control unit which receives a remote steering signal from a transmitter and outputs a steering control command to steering means based on the input remote steering signal. In the working vehicle, the remote steering control unit is connected with steering notifying means for notifying the left-right steering direction of the fuselage and steering detecting means for detecting the steering state of the fuselage. The control unit includes a steering state command unit that outputs a first notification command signal to the steering side notification unit based on receiving a detection signal from the steering detection unit; The direction signal is determined based on a new input or a continuous input, and the left or right side of the remote control signal is determined.
When it is determined that the remote steering signal is a new input, the steering on the side determined to be left or right for a predetermined timer time in preference to the notification command of the steering notification means by the steering state command means. Remote steering command means for outputting a signal of a second notification command to the notification means is provided.

According to the present invention, it is possible to determine whether the aircraft is in the steering state or in the straight traveling state by these configurations, and when it is determined that the aircraft is in the steering state, the aircraft is steered to the left or right side. It is possible to easily check whether the connection is established.

In carrying out the present invention, the steering notification means includes:
As in the following embodiment, a direction indicator lamp (a turn signal lamp) necessary for traveling on the road can be used as it is, but the present invention is not limited to this, and a dedicated information lamp may be provided. Therefore, it is possible to avoid confusion with the turn signal, and if this is developed in the fourth aspect, the turn signal is displayed by the turn signal, and the steering state is displayed by the dedicated notification light, so that the operator can receive the signal. There is an advantage that confusion can be avoided more reliably.

Further, the steering notifying means may be any means that notifies the operator, and is not limited to the following embodiment, and may be a sound notification such as "during right turn" or "during left turn". May be displayed, and display by color change (notification)
Alternatively, a display (notification) based on the intensity of light may be used. There is also an advantage that the display based on the light intensity can be handled as the same display as the display based on the change in the blinking time.

First Embodiment Next, a first embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling body of an agricultural tractor, and a rotary tilling type working unit 2 is connected to a rear portion of the traveling body 1 via a lifting link mechanism so as to be able to vertically move up and down. Are as before.

Reference numeral 3 denotes a hydraulic pump for power steering. In the embodiment, the hydraulic oil from the hydraulic pump 3 is supplied to a so-called integral type power steering mechanism 4 to steer a front wheel (steering wheel) 5. A steering hydraulic cylinder 6 for steering the front wheels 5, and left and right steering solenoids 7 and 8 for extending and retracting the hydraulic cylinder 6 to perform left and right steering. A member device such as a switching valve 9 provided is provided and constitutes steering means.

On the other hand, reference numeral 10 denotes a remote control transmitter.
The left and right brake switches 11, 12, the steering switch 13, the working unit elevating switch 14, the forward / reverse switching switch 1
5, various switches such as a clutch switch 16, a mode switching switch 17, an engine stop switch 18 and the like are provided, and a switching signal of these switches is transmitted from a transmission unit 20 via a transmission control unit 19 built in the transmitter 10. The data is transmitted to the receiving unit 21 of the traveling body 1.

Further, the traveling body 1 is equipped with a remote control unit 22 (which includes the remote steering control unit of the present invention) which is configured using a microcomputer. 22, a signal received by the receiving unit 21,
And a hydraulic cylinder 6 for detecting the steering state and the steering angle of the front wheel 5 based on the length of expansion and contraction of the steering hydraulic cylinder 6.
Detection signals from a stroke sensor (corresponding to the steering detection means and the steering angle detection means of the present invention) 23 provided in the apparatus, and a control signal required based on these input signals is provided. Is output to each corresponding actuator. That is, in addition to the left and right steering solenoids 7 and 8,
Various solenoids, such as a running clutch solenoid 24, left and right brake solenoids 25 and 26, and left and right direction indicators 27 and 28
Various notification means such as a buzzer 29 and the like, as well as switches and the like are connected, and are configured to output control signals necessary for them.

The direction indicator lamps 27 and 28 (corresponding to the steering notifying means of the present invention) are provided on the left and right fenders 30 of the traveling body 1, and indicate the directions in which the body turns left and right when manned on a road. Next, a description will be given of a steering notification control system for the direction indicator lights 27 and 28 when the vehicle travels remotely in a field, with reference to a flow chart and a timing chart.

First, it is determined whether or not the mode switching switch 31 has been switched to the field traveling mode. If it is determined that the mode is the field traveling mode, the steering information control of the present invention is performed together with the field traveling control. Will be.

In the steering information control, first, a detection signal from the stroke sensor 23 is input, and whether the input detection signal is neutral, that is, whether the vehicle is in a straight running state, in a left steering state, or in a right steering state. A decision is made. When it is determined that the vehicle is in the straight traveling state, the left and right direction indicators 27 and 28 are kept off, but when it is determined that the vehicle is in the right steering or left steering state, From the input detection signal, the ratio of the blinking time of the direction indicator lamp 27 or 28, that is, the ratio of the lighting time a to the blinking time T to the blinking time T (a /
b) is calculated such that the larger the detected steering angle is, the larger the ratio of the lighting time a becomes (for example, the maximum steering angle can be set up to 100% lighting), and based on the calculated result Direction indicator light 27 or 28 on the steering side
A turn-on signal is output to the driver, whereby the direction indicator lamp 27 or 28 on the steering side is turned on and displayed to notify the operator.

In the embodiment of the present invention configured as described above, the traveling body 1 is remotely steered by operating the transmitter 13 at a location away from the traveling body 1, and at this time, the operator Means that the steering state of the traveling aircraft 1 can be confirmed by visually recognizing the turn indicator lamps 27 or 28 that are turned on. That is, the operator operates the steering switch 13 of the transmitter 10 to be gripped to the left and right, thereby outputting a steering signal. Based on this, the steering hydraulic cylinder 6 expands and contracts, and the steering operation of the front wheels 5 is performed. The steering state and the steering angle of the front wheel 5 are detected by the stroke sensor 23 detecting the expansion and contraction displacement of the steering hydraulic cylinder 6, and based on this, the steering side is detected. Turn indicator light 27 or 28 lights up. Therefore, by visually recognizing this, the operator can immediately confirm what kind of steering state the traveling body 1 is in, and can perform a steering operation based on this. In addition, the turning on of the direction indicator lights 27 or 28 is performed in accordance with the state in which the aircraft 1 is actually being steered. Without being caught
Since the operation is performed based on the actual steering state of the aircraft, erroneous operation is more reliably avoided.

Moreover, the blinking time of the lighting indication of the direction indicators 27 and 28 changes based on the steering angle of the front wheel 5. That is, the lighting time a becomes longer as the steering angle of the front wheel 5 is larger, and the lighting time a becomes shorter as the steering angle of the front wheel 5 is smaller, so that the operator can recognize the magnitude of the steering angle of the aircraft 1 as a sense even when remote. Thus, more detailed steering operation can be performed.

Second Embodiment Further, the present invention can be carried out by developing the above-described embodiment. That is, as in the second embodiment shown in FIGS. 9 and 10, it is also possible to turn on the direction indicator 27 or 28 on the steering operation side based on the steering operation of the wireless device 10. That is, in this case, the input stroke sensor 23
The detection signal detects whether the aircraft 1 is in the straight traveling state or in the left or right steering state, but when it is detected that the aircraft 1 is in the straight traveling state, the radio device 10 switches to the left or right. Is determined whether or not the remote steering signal has been input. In this case, if there is no remote steering signal input, the left and right direction indicators 27 and 28 remain off, but if it is determined that the left remote steering signal is present, If the left direction indicator lamp 27 outputs a specific lighting signal, for example, a lighting display signal that blinks three times during the blinking cycle time T, and when it is determined that the vehicle is in the straight traveling state, ,
The lighting display of the direction indicator 27 based on the remote steering signal from the wireless device 10 is given priority. When it is determined that the vehicle is not in the straight traveling state, that is, the vehicle is in either the left or right steering state, the steering angle is based on the steering angle described in the first embodiment without being caught by the remote steering signal from the wireless device 10. The configuration is such that the steering notification control of the direction indicator lamp 27 or 28 is prioritized.

As described above, in the second embodiment, when the aircraft 1 is in a steering state, the steering direction indicator 27 or 28 on the steering side is illuminated and displayed based on this, and the steering state of the aircraft 1 is changed. When the airframe 1 is in a straight-ahead state, if either the left or right remote steering signal is issued, the direction indicator light 27 or 28 on the operation side is turned on based on the signal. become. Therefore, the operator can recognize which direction the steering hydraulic cylinder 6 is to be steered at the signal transmission stage before the airframe 1 is actually steered due to the expansion and contraction of the steering hydraulic cylinder 6. When the lights 27 or 28 are turned on, the steering switch 13 of the wireless device 10 may be immediately returned to the neutral position, or the steering switch 13 may be operated to the opposite side. As a result, it is possible to avoid the disadvantage that the determination can be made only after the actual steering, as in the case of the above-described embodiment, and it is possible to confirm the steered side at an early point.

Moreover, when the aircraft 1 is steered,
The lighting of the direction indicator lamp 27 or 28 is performed based on the detection signal from the stroke sensor 23 regardless of the remote steering signal from the wireless device 10, so that the aircraft 1 Even if the steering switch 13 of the wireless device 10 is operated in the opposite direction while the vehicle is being steered, the direction indicator 27 on that side is operated.
Or, 28 does not light up, and occurrence of erroneous operation can be prevented.

In this embodiment, the lighting display signal indicating the steering state of the aircraft 1 is different from the lighting display signal indicating that the remote steering signal has been received. Thus, the display signal can be identified and the operability can be improved. However, even when the display signal is the same (for example, a state where only continuous lighting is performed), it can be used without any trouble.

Third Embodiment The present invention can be further developed to another embodiment. That is, in the third embodiment, the same steering state notification control as that described in the first embodiment is performed, but the remote steering notification control is performed prior to this control. I'm sorry. That is, in this device, it is first determined whether the left or right side of the remote steering signal has been input, and if it is determined that the left or right side of the remote steering signal has been input, the same remote control signal as the previous time has been determined. It is determined whether or not the input of the steering signal has been received, and when it is determined that the remote steering signal was not input the previous time and the input of the new remote steering signal is performed,
During a predetermined timer time, a second lighting display signal different from the lighting display signal of the steering state notification control (for example, blinking three times during the lighting cycle time T as in the second embodiment) Signal). On the other hand, when it is determined that the remote steering signal is not a new signal and is continuous, it is set so that the steering state notification control is performed as in the case where the remote steering signal is not input. It was done.

In the case of the third embodiment, when the actual steering state of the aircraft 1 is illuminated and displayed by the direction indicator lights 27 and 28, and the steering switch 13 of the wireless device 10 is operated for further steering operation. The direction indicator light 27 or 28 on the operated side is lit for a timer time by a second light-on display signal which is distinguished from the first light-on display signal for indicating the steering state. As a result, the operator performs the steering operation on the side of the traveling body 1 by determining whether the steering operation has been performed on the side on which the steering operation has been performed from the wireless device 10 in the straight traveling state or in the steering state. Can be recognized. Moreover, this second lighting display is performed only during the timer time, and thereafter, the steering state is notified by the first lighting display signal, and the second lighting display is performed while recognizing the steering state of the aircraft 1. The steering operation can be performed.

[Effects] In summary, according to the present invention, the operator who remotely operates the vehicle directly recognizes the actual steering state of the airframe by the notification of the steering notification means. Therefore, a reliable steering operation based on this can be performed. In addition, the notification of the steering notification means
This is done in response to the actual steering of the aircraft, so even if the steering operation is performed on the opposite side to return to the straight running state, the aircraft will not be caught by this Therefore, it is possible to prevent erroneous operation.

Further, in the configuration as described in the second aspect, the notification of the steering state of the fuselage by the steering notification means changes the notification state based on the magnitude of the steering angle of the fuselage.
Therefore, the operator can recognize the magnitude of the steering angle of the aircraft as a sensation from the change in the notification state of the steering notification means, and can perform a more detailed steering operation.

Further, in the case of the third aspect, when the aircraft is in the steering state, the steering according to the actual steering state of the aircraft is performed in the same manner as described in the first or second aspect. By the notification by the steering notification means on the opposite side, the operator is made to recognize the steering state of the aircraft, but when the remote steering signal is transmitted to either the left or right while the aircraft is in the straight traveling state,
Based on this, the steering notifying means on the steering operation side notifies. Therefore, the operator can recognize to which side the vehicle is to be steered at the signal transmission stage before the aircraft actually enters the steering state, and when the steering notification unit on the opposite side notifies by mistake, Thus, the steering operation of the wireless device is immediately stopped, which can greatly contribute to prompt avoidance of erroneous operation.

Furthermore, in the case of the construction as claimed in claim 4, while the actual steering state of the aircraft is notified by the steering notifying means, and further, when the remote steering operation is performed by the wireless device, the operation is performed. The steering notification means on the side that has performed the notification is for the timer time based on the signal of the second notification command that is distinguished from the signal of the first notification command for the notification of the steering state. As a result, the operator can recognize whether the side on which the steering operation has been performed from the wireless device is actually the left or right side, not only in the straight traveling state but also in the steering state. In addition, the signal of the second notification command is provided only for the timer time from the stage at which the remote steering operation is newly added, and thereafter, the initial steering state is notified by the signal of the first notification command. This means that it is possible to perform fine-grained remote steering operation while recognizing the steering state of the aircraft.

[Brief description of the drawings]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows an embodiment of a steering notifying device in a remotely operated traveling vehicle according to the present invention. FIG. 1 is a schematic rear view of a traveling body, and FIG. 3A and 3B are a front view and a sectional view of a transmitter, FIG. 4 is a block diagram of a control mechanism, FIG. 5 is a flowchart showing a control system of a traveling vehicle, and FIGS. 6A and 6B. , C, D, E
FIG. 7 is an explanatory view showing a steering state of a front wheel and a lighting state of a direction indicator lamp in the first embodiment. FIG. 7 is a flowchart of a steering notification control system in the first embodiment. FIG. 8 is a timing chart of the same. , FIG. 9 is a flow chart of the steering information control system in the second embodiment, FIG. 10 is a timing chart of the same as in the above, FIG. 11 is a flow chart of the steering information control system in the third embodiment, FIG. The figure is a timing chart of the above. In the figure, 1 is a traveling body, 10 is a transmitter, 22 is a remote control unit, 23 is a stroke sensor, and 27 and 28 are direction indicators.

Claims (4)

(57) [Claims] 1. A remote operation comprising a remote steering control unit for receiving a remote steering signal from a transmitter and outputting a steering control command to steering means based on the input remote steering signal. In the traveling vehicle, the remote steering control unit is connected to a steering notifying unit for notifying the left-right steering direction of the fuselage and a steering detecting unit for detecting a steering state of the fuselage. The unit includes a steering state commanding unit that outputs a notification command signal to the steering side notifying unit when the detection signal from the steering detection unit is determined to be the aircraft steering state. A steering notification device for a remotely operated traveling vehicle, which is provided. 2. A remote operation comprising a remote steering control unit for receiving a remote steering signal from a transmitter and outputting a steering control command to steering means based on the input remote steering signal. In the traveling vehicle, the remote steering control unit is connected with steering notifying means for notifying the left-right steering direction of the fuselage, and steering angle detecting means for detecting the steering angle of the fuselage. When the steering angle detection signal from the steering angle detection unit is determined to be in the steering state, the control unit notifies the steering notification unit on the steering side of the magnitude of the detected steering angle. A steering notification device for a remotely operated traveling vehicle, comprising a steering status command means for outputting a notification command signal in which a notification status is changed correspondingly. 3. A remote operation comprising a remote steering control section for inputting a remote steering signal from a transmitter side and outputting a steering control command to steering means based on the input remote steering signal. In the traveling vehicle, the remote steering control unit is connected to a steering notifying unit for notifying the left-right steering direction of the fuselage and a steering detecting unit for detecting a steering state of the fuselage. The unit, when the detection signal from the steering detection unit is determined to be in the steering state, a steering state command unit that outputs a signal of an instruction command to the steering notification unit on the steering side, When it is determined that the detection signal from the steering detection means is in a straight-ahead state and that the input of either the left or right remote steering signal has been received, a remote control which outputs a signal of a steering-side notification command to the steering notification means. Steering notification device for a remote working vehicle, comprising a steering command means. . 4. A remote operation comprising a remote steering control section for inputting a remote steering signal from a transmitter and outputting a steering control command to steering means based on the input remote steering signal. In the traveling vehicle, the remote steering control unit is connected to a steering notifying unit for notifying the left-right steering direction of the fuselage and a steering detecting unit for detecting a steering state of the fuselage. A steering state commanding means for outputting a signal of a first notification command to the steering notification means on the steering side based on receiving a detection signal from the steering detection means; Determine whether the signal is due to a new input or a continuous input and determine whether the signal is a left or right side remote steering signal.If it is determined that the remote steering signal is a new input, At the time of a predetermined timer prior to the notification command of the steering notification means by the steering state command means Only, steering notification device at a remote work vehicle, characterized in that a and remote steering command means for outputting a second signal of the notification command to the right and left discriminated side of the steering informing means.