JP3343386B2 - Follow-up traveling vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a configuration of a traveling vehicle that starts and stops following an operator's work or walking.

[0002]

2. Description of the Related Art Conventionally, a technique of operating a traveling vehicle driven by a motor, an engine, or the like by operating a steering wheel, a lever, or a remote controller by an operator, and causing the traveling vehicle to travel in accordance with the walking of the operator is known. It is known, for example, Japanese Patent Application Laid-Open No. 63-2936.
No. 13, JP-A-1-135505.

[0003]

However, in the above-mentioned prior art, an operation by an operator or a control signal from the operator is required each time the vehicle starts and stops. For example, when the traveling vehicle is used as a transport vehicle for crop harvesting work or when used for crop control work, the operation of the traveling vehicle and the work cannot be performed at the same time. There was a problem that the other could not be done completely and the work efficiency deteriorated. Therefore, the present invention constitutes a traveling vehicle that can automatically start and stop following an operator's movement without requiring start and stop operations by the operator.
For vehicles on the train, the equipment equipped by the operator
It is intended to be a type .

[0004]

Means for Solving the Problems As means for solving the above problems, the present invention is constituted as follows. Ultrasonic transmitter and battery on the running vehicle side,
Providing a radio receiver, an ultrasonic receiver on the operator side,
Providing an electric wave transmitter and dry batteries, transmitting ultrasonic waves on the traveling vehicle side
The machine sends out ultrasonic signals,
Signal received by the operator's ultrasonic receiver
And the operation through the controller C2 on the operator side.
Transmits signals by radio waves from the transmitter antenna on the transmitter side
The signal from this radio wave is sent to the radio receiver on the traveling vehicle side.
To receive the signal, transmit the signal by the ultrasonic wave, and then
Is received by the controller C on the traveling vehicle side.
The distance between the traveling vehicle and the operator is calculated by the comparison processing of 1.
Is detected, and the distance is transmitted to the controller C1 of the traveling vehicle.
When the preset value is reached, the drive motor
To generate drive and stop signals .

[0005]

Next, the operation of the embodiment using ultrasonic waves as one signal and radio waves as the other signal will be described. The transmitter (speaker) 9 of the transceiver B1 on the traveling vehicle A transmits a signal by ultrasonic waves, and the signal by the ultrasonic wave is received by the receiver (microphone) 7 of the transceiver B2 on the operator S side. , A signal by a radio wave is transmitted from the transmitter (antenna) 6 via the controller C2,
The signal by this radio wave is received by the receiver (antenna) 32 of the transceiver B1 on the traveling vehicle A side. The controller C1 of the transceiver B1 compares the time of receiving the signal from the radio wave after receiving the signal from the ultrasonic wave, detects the distance between the transceiver B1 and the transceiver B2, and sets the distance in the controller C1 in advance. When the value reaches the set value, the controller C1 issues a drive and stop signal to the drive motor M. That is, the operator S and the traveling vehicle A
When the distance from the vehicle falls within the set range, the traveling vehicle A stops, and when the distance exceeds the set range, the traveling vehicle A starts.

[0006]

Next, an embodiment in which an ultrasonic wave is used as one signal and a radio wave is used as the other signal will be described. 1 is a side view of the traveling vehicle A, FIG. 2 is a front view thereof, FIG. 3 is a side view of the operator S and the traveling vehicle A, and FIG.
FIG. 5 is a perspective view of a belt T to which the transceiver B2 is attached, FIG. 6 is a perspective view of a vest U to which the transceiver B2 is attached, and FIG.
FIG. 8 is a perspective view of the vest V to which the transceiver B2 is attached.
FIG. 9 is a block diagram of a control circuit of the transceiver B1 on the traveling vehicle A side and the transceiver B2 on the operator S side.
And FIG. 10 is a control block diagram of the same.

FIG. 1 shows an embodiment of a following type traveling vehicle according to the present invention .
· Described in FIGS. 2 and 3. Are arranged on the lower side of the body of the traveling vehicle A. The traveling wheels 1.1 are driven by electric power supplied from the battery 21. It is configured to be driven by a motor M for use. A transceiver B1 is provided in front of the traveling vehicle A, and the transceiver B1 is provided with a receiving antenna 8 and a speaker 9. As shown in FIG. 8, the receiving antenna 32 and the speaker 9 are connected to a controller C1, and the driving of the driving motor M is controlled by the controller C1.

The operator S carries a transceiver B2 having a control box as shown in FIG. 4, and the transceiver B2 is provided with a transmitting antenna 6 and a microphone 7. The transmitting antenna 6 and the microphone 7
Is connected to a controller C2 as shown in FIG. 8. The controller C2 has a power switch 22, a forward switch 23,
The reverse switch 24 and the automatic changeover switch 25 are connected.

The operator S carries the transceiver B2 by attaching the transceiver B2 to the belt T shown in FIG. 5 and carrying the transceiver B2 on the waistcoat U shown in FIG.
2 or a method of carrying the transceiver B2 mounted on the vest V shown in FIG. 7, and the belt T, the vest U and the vest V are transmitted from the traveling vehicle A respectively. A plurality of auxiliary microphones 7 ′, 7 ′,... For receiving ultrasonic signals are provided at appropriate positions, so that ultrasonic waves having high directivity can be received from any direction. Auxiliary microphone 7 '
.. Are connected to the controller C2.

At the center of the traveling vehicle A, a handle 10 having a U-shape in a side view and a substantially gate-like shape in a front view is pivotally mounted in a front-rear direction via pivot shafts 10a at both ends. And
A lock mechanism is provided on the pivot shaft 10a of the handle 10, and the handle 10 can be fixed at the front, rear, and center positions by the lock mechanism. A switch box 11 is provided at the upper center of the handle 10. The switch box 13 is provided with an automatic operation switch 14, a forward switch 15, a reverse switch 12, and a stop switch 13.

A steering wheel 2 is housed in the body of the front part of the traveling vehicle A. The steering wheel 2 rotates a steering pedal 17 downward and travels the traveling wheels 1.1. It is constructed so that it can be taken out further downward and fixed via a lock mechanism provided on the rotation shaft of the steering pedal 17, and thus the steering wheel 2 is moved from the traveling wheels 1.1. It is configured such that the steering operation of the traveling vehicle A can be performed by taking out and fixing downward. Steering wheel 2
Is configured to be able to be stored by rotating the storage pedal 16 downward to release the lock mechanism.

On the upper surface of the traveling vehicle A, there are provided frames 18, 18 protruding from front, rear, left and right portions of the body.
A mounting section 20 surrounded by 19 and 19 is configured,
For example, the traveling vehicle A can be used as a transport vehicle by placing the container 30 and the like on the placing section 20 described above. A front bumper 3 is disposed below the front portion of the traveling vehicle A, and a rear bumper 4 is disposed below the rear portion. The front bumper 3 and the rear bumper 4 are moved during traveling of the traveling vehicle A. When an impact is received, the traveling vehicle A automatically stops.

Then, as shown in FIG.
A signal by ultrasonic waves is transmitted from the speaker 9 of the transceiver B1 on the side, and a signal by radio waves is transmitted from the transmission antenna 6 of the transceiver B2 on the operator S side. This is because the transmitter / receiver B1 for transmitting the ultrasonic waves requires a large amount of power consumption to increase the transmission output, and is therefore provided on the traveling vehicle A side, and its power source is the battery 21.
It is made to be supplied from. Since the transmitter / receiver B2 for transmitting radio waves requires only a low voltage, the power can be supplied from a dry battery or the like, and the power supply circuit is a lightweight power supply circuit. Therefore, it is arranged on the operator S side.

When the ultrasonic signal is received by the microphone 7 of the transceiver B2 on the operator S side, a signal is transmitted from the transmitting antenna 6 via the controller C2, and the signal based on the electric wave is transmitted to the traveling vehicle A. The receiving / receiving antenna 8 of the transceiver B1 on the side is configured to receive the signal. The distance between the traveling vehicle A and the operator S is determined by comparing and detecting the distance from the time from when the ultrasonic signal is emitted to when the radio wave is received, and the distance is preset in the controller C1. When the value reaches the predetermined value, the driving motor M is driven and stopped by a signal from the controller C1.
However, the two types of signals may be such that an ultrasonic wave is emitted from the traveling vehicle A and received by the operator S. However, in the case of only the sound wave method, accurate signals may be generated due to a temperature change, a voltage, and the like. This is because setting a proper distance becomes difficult.

With the above configuration, the distance between the operator S and the traveling vehicle A is set in the controller C1 in advance, and the operator S turns on the power switch 8 of the transceiver B1 on the traveling vehicle A side. When the power switch 22 of the transmitter / receiver B2 on the S side is turned on and the automatic changeover switch 25 is turned on to start moving, the traveling vehicle A when the distance between the operator S and the traveling vehicle A exceeds the set value.
Starts traveling, and when the distance between the operator S and the traveling vehicle A is within the set range, the traveling vehicle A stops, and
When the distance between the operator S and the traveling vehicle A again becomes equal to or greater than the set value, the traveling vehicle A starts traveling again. In this way, the operator S and the traveling vehicle A move while maintaining a fixed stopping distance. When the operator S is positioned in the opposite direction of the speaker 9 and cannot receive the ultrasonic signal with the microphone 7 due to the directivity of the ultrasonic wave, the traveling vehicle A is controlled to stop. I have. The signal of the radio wave and the frequency of the ultrasonic wave are not particularly limited.

The driving motor M of the traveling vehicle A in this embodiment is connected to a controller C1, as shown in FIG.
Motor rotation detection coil 26, forward / reverse switch 27
The motor M for driving uses a constant-speed rotation control motor of an automatic variable duty system which detects the number of rotations of the motor by a pulse width by a motor rotation detection coil 26. ,
The driving vehicle M is configured such that the traveling vehicle A can travel at a constant speed even if the load varies due to a difference in the amount of loaded load or a change in the conditions of the traveling road.

Also, in a speed change range such as a high speed, a medium speed, and a low speed set by the rotation variable volume 28, the set rotation range is used as a reference rotation speed, so that the maximum torque is the same for each speed. It is configured as follows. That is, FIG.
0, the controller C1 determines whether the value (N) detected by the motor rotation detection coil 26 is equal to the value set by the rotation variable volume 28 (N-
No) is determined, and when the values are not equal, arithmetic processing is performed so as to be equal, and the signal is transmitted to the output circuit 29 to control the driving motor M.
When an overcurrent condition occurs, each protection circuit 31
Operates, and a control signal is issued to the output circuit 29.

When the traveling vehicle A is manually operated by radio, the power switch 22 of the transceiver B2 on the operator S side is turned on, and the automatic changeover switch 25 is turned on.
Regardless of the OFF state, by operating the forward switch 23 and the reverse switch 24, the forward and reverse operations of the traveling vehicle A can be performed wirelessly with priority over the automatic operation. When the traveling vehicle A is manually operated by the operator S, the power switch 8 of the switch box 11 is turned on, and the forward switch 15 and the reverse switch 12 are operated to manually operate the traveling vehicle A. can do.

[0019]

The present invention is configured as described above.
The following effects are obtained. First , by providing a transmitter / receiver for transmitting high-voltage ultrasonic waves on the traveling vehicle side and a transmitter / receiver for transmitting low-voltage radio waves on the operator side, the output of ultrasonic waves can be improved. Power consumption on the operator side can be reduced.
Second, the range of operability is widened with the improvement of the output of the ultrasonic wave, and the traveling vehicle can reliably start and stop following the operator. Third, since the operator can start and stop the traveling vehicle automatically following the movement of the operator without requiring the operator to start and stop the traveling vehicle, the operator can easily perform other operations and the like. , The traveling vehicle can be operated, and the traveling vehicle can be used in a wide range of applications. Fourth, the transmitter / receiver B1 that transmits the ultrasonic waves starts
Traveling vehicle A because it requires a lot of power consumption to increase power
Side, and its power is supplied from the battery 21.
The transmitter / receiver B2 for transmitting radio waves needs only a low voltage.
The power can be supplied from batteries etc.
Power supply circuit, so place it on the operator S side and
It is possible to make the equipment equipped with the
Because

[Brief description of the drawings]

FIG. 1 is a side view of a traveling vehicle A.

FIG. 2 is a front view of the same.

FIG. 3 is a side view of an operator S and a traveling vehicle A.

FIG. 4 is a perspective view of a transceiver B2 on the operator S side.

FIG. 5 is a perspective view of a belt T to which a transceiver B2 is attached.

FIG. 6 is a perspective view of a vest U to which a transceiver B2 is attached.

FIG. 7 is a perspective view of a vest V to which a transceiver B2 is attached.

FIG. 8 shows a transceiver B1 and an operator S on the traveling vehicle A side.
It is a block diagram of a control circuit of the transceiver B2 of the side.

FIG. 9 is a block diagram of a traveling control circuit of the traveling vehicle A.

FIG. 10 is a control block diagram.

[Explanation of symbols]

 6 Transmitting antenna 7 Speaker 8 Receiving antenna 9 Microphone A Running vehicle B1, B2 Transceiver C1, C2 Controller S Operator

Claims (1)

(57) [Claims] An ultrasonic transmitter and a battery are provided on a traveling vehicle side.
And an electric wave receiver, and the operator side receives ultrasonic waves
, A radio transmitter, and dry batteries, and the supersonic
The wave transmitter sends out a signal by ultrasonic waves,
The signal by the wave is received by the ultrasonic receiver on the operator side
Then, via the controller C2 on the operator side,
A signal by radio waves is emitted from the transmitting antenna on the pererator side.
The signal of this radio wave is transmitted to the radio receiver on the traveling vehicle side.
, And emits a signal by the ultrasonic wave,
The time at which the signal from the
C1 is compared and the distance between the traveling vehicle and the operator is calculated.
The separation is detected, and the distance is detected by the controller C1 on the traveling vehicle side.
When the preset value is reached, the drive motor
And a driving and stopping signal is issued .