JP4903532B2 - Wireless operating device for work equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for wireless operation of a working machine capable of surely stopping action of a part to be operated in the working machine even when stopping command is carried out by a single-shot command operation. <P>SOLUTION: In the device for wireless operation of the working machine, a manually operated wireless commanding means 42 which issues multiple kinds of operation commands including stopping command to a machine body side control means of working machine body by wireless signals is composed of command operation means 43 to 50 for carrying out multiple kinds of operation commands, and an output control means 53, when either of multiple kinds of operation commands is directed by the command control means, for outputting wireless signals for commands corresponding to these operation commands, and a machine body side control means is constituted so as to control action of a part to be operated based on operation commands performed by wireless signals for commands and the output control means 53 is constituted so as to output wireless signals for commands corresponding to the stopping command over a set time for output when duration time in which the stopping command is issued is shorter than a set time for determining the duration operation. <P>COPYRIGHT: (C)2008,JPO&amp;INPIT

Description

  The work machine main body is provided with an operated part and machine body side control means for controlling the operation of the operated part, and a plurality of types of operation commands including a stop command for the operation of the operated part. Manual operation type wireless command means for commanding the airframe side control means with a radio signal is provided, wherein the wireless command means commands the plurality of types of operation commands, and the command operation means. When an operation command of any of the plurality of types of operation commands is commanded, an output control unit that outputs a command radio signal corresponding to the operation command is configured. The present invention relates to a wireless operating device for a work machine configured to control the operation of the operated portion based on the operation command commanded by a command radio signal.

  The wireless operating device for the work implement described above is used when the operation of the operated portion of the work implement is operated while the operation portion of the work implement is stopped while being away from the work implement main body. Is.

  Adding the explanation to the example of the wireless operation device in the combine as a work machine, the grain in the grain tank of the combine body is transported using the grain discharge auger as the operated part provided in the combine body When discharging to the loading platform of the vehicle, the operator located in a position away from the combine body, for example, near the loading platform of the grain transporting vehicle, operates the command operation means of the wireless command means and is stored in the storage position. The grain discharge auger is moved up and down and turned to an appropriate turning up and down position corresponding to the position of the loading platform of the grain transporting vehicle, and a discharge start command is issued to start the grain discharge operation. When the amount of grain discharged to the loading platform reaches the capacity of the loading platform, the operation of the grain discharging auger is operated such as commanding the discharge stop command to stop the discharging operation of the grain discharging auger. Is done.

  By the way, in order to set the grain discharge auger stored in the storage position to an appropriate turning up / down position corresponding to the position of the loading platform of the grain carrying vehicle, an automatic turning up / down command is instructed by the wireless command means. In some cases, the turning and raising / lowering operation can be automatically performed by a preset turning and raising / lowering pattern for overhanging. Further, in the case where control based on such an automatic turning up / down command is possible, when the automatic turning up / down command is commanded in a state where the grain discharge auger is not positioned at the storage position, In some cases, the turning and raising / lowering operations can be automatically performed so that the grain discharge auger is positioned at the retracted position in the set turning / lifting pattern.

  Then, when an automatic turning up / down stop command is commanded while the grain discharge auger is turning and raising / lowering by the automatic turning up / down instruction, the turning and raising / lowering operation by the set turning up / down pattern of the grain discharge auger is to be stopped. It is configured to control the turning and lifting operation of the grain discharge auger. Thereby, when the worker senses contact with the obstacle while the grain discharge auger is turning and raising and lowering by the automatic turning elevation command, the turning and raising and lowering operation of the grain discharge auger is stopped, It is possible to avoid damage to the grain discharge auger due to contact.

  As a conventional example of the wireless operating device for a working machine as described above, when the output control means is instructed to stop by the command operating means, it is substantially the same as the time in which the stop instruction is instructed. Some are configured to output the command radio signal corresponding to the stop command over time (see, for example, Patent Document 1).

JP 2006-94728 A (page 13)

  With the above conventional configuration, even if a stop command is commanded by the command operating means, if the command time is short, the corresponding command radio signal is output only for a short time, so the radio wave condition is unstable. In the working environment, the airframe side control means cannot receive the command radio signal, and the operation of the operated part cannot be stopped even though the stop command is issued by the command operation means. There was a risk of a situation.

  In other words, when the operator calms down and operates the command operating means, the command operation is often performed for a sufficiently long time, so that the command radio signal is also output for a sufficiently long time. The above situation is unlikely to occur, but when the operator rushes to command the command operation means, the operation is likely to be a single and short time, so the command radio signal is also a single shot. Therefore, the above situation is likely to occur.

  The present invention has been made in view of the above circumstances, and its purpose is to stop the operation of the operated portion of the work implement as reliably as possible even when a stop command is issued by a single command operation. It is in providing a wireless operating device for a working machine that can be made to operate.

A wireless operating device for a work machine according to the present invention is provided with an operated part and a machine body-side control means for controlling the operation of the operated part on the work machine body, and the operation of the operated part, A manually operated wireless command means is provided for commanding a plurality of types of operation commands including a stop command to the airframe control means by radio signals, and the wireless command means commands the plurality of types of operation commands. When one of the plurality of types of operation commands is instructed to provide a wireless operating device of the work machine by the command operation unit and the command operation unit, a command radio signal corresponding to the operation command is output. Output control means, and the machine-side control means is configured to control the operation of the operated portion based on the operation command commanded by the command radio signal. Wireless operating device
The first characteristic configuration is that the output control means includes:
When the stop command is commanded , if the duration for which the stop command is commanded is shorter than the set time for continuous operation determination, the command radio signal corresponding to the stop command is transmitted over the set time for output. When an operation command other than the stop command is commanded among the plurality of types of operation commands, the command radio signal is output only while the operation command is commanded. in that it is configured to.

  According to the first characteristic configuration of the present invention, when the command operation means commands a stop command whose commanded duration time is shorter than the set time for continuous operation determination, the output control means outputs a command corresponding to the stop command. Since the radio signal is output for the set time for output, the setting for output is performed so that the command radio signal is output for a sufficiently long time so that the airframe side control means can receive the stop command reliably. By setting the time to an appropriate time, even when a stop command is commanded by a single command operation, a stop command can be commanded to the airframe side control means continuously over the set time for output. .

  Therefore, when a stop command is issued by a single command operation in a work environment where the radio wave condition is unstable, even if the radio wave condition at the time of command operation is bad, the radio wave condition does not change during the set time for output. If it recovers temporarily, a stop command will be commanded to the airframe side control means at that time, and the operation of the operated part can be stopped.

  Thus, according to the first characteristic configuration of the present invention, even when a stop command is commanded by a single command operation, the working machine capable of stopping the operation of the operated part of the work machine as reliably as possible. A wireless operating device was obtained.

  According to a second feature configuration of the present invention, in the first feature configuration of the present invention, the output control means is configured to make a misjudgment in which a duration time during which the stop command is commanded is set shorter than the set time for determining the continuous operation. When it is shorter than the separate prevention setting time, the command radio signal corresponding to the stop command is not output.

  According to the second characteristic configuration of the present invention, when the duration time in which the stop command is commanded is shorter than the setting time for erroneous discrimination prevention set shorter than the set time for continuing operation discrimination, it corresponds to the stop command. Since the command radio signal is not output, a command radio signal corresponding to the stop command is not output even if a stop command is issued for an extremely short time that is difficult to appear by the operator's command operation.

  Therefore, even if a stop command is commanded for a very short time due to the impact or vibration applied to the wireless command means, a command radio signal corresponding to the stop command is not output. Therefore, it can be avoided that the operation of the operated portion stops against the intention of the operator.

  Thus, according to the second feature configuration of the present invention, even when a stop command is commanded by a single command operation, the operation of the operated portion of the work implement can be stopped as reliably as possible, It came to obtain the wireless operating device of the working machine which can avoid that the operation of a to-be-operated part stops against an operator's intention.

  A third characteristic configuration of the present invention is that, in the first or second characteristic configuration of the present invention, the output setting time is set to be substantially the same as the continuous operation determination setting time.

  According to the third characteristic configuration of the present invention, the command radio signal output when the duration time during which the stop command is commanded is shorter than the continuous operation determination setting time is substantially the same as the continuous operation determination setting time. The command radio signal that is output when the duration for which the stop command is commanded is output is equal to or longer than the set time for determining the continuous operation is the duration for which the stop command is commanded Is output continuously.

  Therefore, even if the duration time for which the stop command is commanded differs in length, the command radio signal corresponding to the stop command is output at least for substantially the same time as the set time for determining the continuous operation. By setting a time during which the stop command can be reliably commanded as the set time for determination, the length in which the command radio signal corresponding to the stop command with a short duration can be output.

As described above, according to the third characteristic configuration of the present invention, the command radio signal corresponding to the stop command having a short duration can be output at an appropriate length.
According to a fourth feature configuration of the present invention, in any one of the first to third feature configurations of the present invention, the command operation means commands an operation command other than the stop command, and The operation switch for operation which commands the operation command for operation for operating the said to-be-operated part only during entry operation is provided.

According to a fifth characteristic configuration of the present invention, in any one of the first to fourth characteristic configurations of the present invention, the output control means starts outputting the command radio signal corresponding to the stop command. And when the operation command other than the stop command is commanded by the command operation means until the elapsed time reaches the set time for output, and the output of the command radio signal corresponding to the stop command If the other operation command that is commanded until the elapsed time from the start of the operation reaches the output setting time continues even after the output setting time is reached, it corresponds to the other operation command. The command radio signal is not output.

According to the fifth characteristic configuration of the present invention, when another operation command is issued while the command radio signal corresponding to the stop command is output, or the command radio signal corresponding to the stop command is output. When the other operation command issued during the operation continues even after the output of the command radio signal corresponding to the stop command is completed, the command radio signal corresponding to the other operation command is not output, After the output of the command radio signal corresponding to the stop command is stopped, the command radio signal corresponding to the other operation command is not output unless another command is newly issued. When another operation command is issued while the wireless signal is being output, or when another command is started while the command wireless signal corresponding to the stop command is being output, the stop command Of command radio signal corresponding to When the other operation command continues even after the force is finished, the operation of the operated part is controlled based on the other operation command after the output of the command radio signal corresponding to the stop command is finished. There is nothing.

  In other words, when an operator commands another operation command until the output of the command radio signal corresponding to the stop command is completed after commanding a stop command with a duration shorter than the set time for determining the continuous operation Or, after issuing a stop command with a duration shorter than the set time for determining the continuous operation, start another command to stop until the output of the command radio signal corresponding to the stop command is completed. If the other operation command is continuously commanded even after the output of the command radio signal corresponding to the command is completed, the operation of the operated part is started when the other operation command command is started. Without being controlled, the operation of the operated portion is not controlled with a time lag from the time when the command of the other operation command is started.

  Therefore, there is a difference between the time when the operator starts to issue another operation command to operate the operated part and the time when the fuselage-side control means starts controlling the operation of the control operation part based on the other operation command. Thus, it is possible to avoid the disadvantage that the operated part is operated at a timing not intended by the operator.

  Then, another operation command for the operation of the operated portion is newly commanded after the output of the command radio signal corresponding to the stop command is completed, so that the operated portion is based on the other operation command. Therefore, the operator can operate the operated portion at a desired timing.

Thus, according to the fifth feature configuration of the present invention, even when a stop command is commanded by a single command operation, the operation of the operated portion of the work implement can be stopped as reliably as possible, The inconvenience that the operation of the operated part is controlled at a timing not intended by the operator is avoided, and a wireless operating device for a working machine that can operate the operated part at a desired timing has been obtained.

According to a sixth feature of the present invention, in any one of the first to fifth feature configurations of the present invention, a grain discharge auger as the operated portion swivels into a combine main body as the work machine main body. The command operating means of the wireless command means is capable of commanding an automatic swivel raising / lowering command for turning and raising / lowering the grain discharge auger in a set swivel raising / lowering pattern as the operation command, In addition, as the stop command, an automatic turning up / down stop command for stopping the turning and raising / lowering operation by the set turning up / down pattern of the grain discharge auger can be commanded freely. When commanded, in order to position the grain discharge auger at the target swivel raising / lowering position, the grain discharge auto is operated in the form of turning and raising / lowering in the set turning / lifting pattern. When the automatic turning up / down stop command is instructed, the turning of the grain discharge auger is stopped in order to stop the turning and the raising / lowering operation by the set turning up / down pattern of the grain discharge auger. And it is in the point comprised so that a raising / lowering operation | movement may be controlled.

According to the sixth characteristic configuration of the present invention, the automatic turning up / down command is commanded by the command operating means of the wireless command means, so that the grain discharge auger provided in the combine body is set to the target turning up / down position. Can be automatically turned and raised and lowered. Then, after commanding the automatic turning up / down command and the grain discharge auger starts turning and raising / lowering operation, until the target turning up / down position is reached and automatically stopped, the command operating means of the wireless command means By commanding the automatic turning up / down stop command, the turning and raising / lowering operation of the grain discharge auger can be stopped.

  Therefore, after predicting the contact between the grain discharge auger and the obstacle after the operator commands the automatic turning up / down command, the automatic turning up / down stop command is issued to turn the grain discharging auger and perform the turning operation of the grain discharging auger. Stop and avoid contact with obstacles.

  In addition, even if the operator who foreseen contact with an obstacle rushes to perform a command operation, even if the duration of the command for commanding the automatic swing up / down stop is shortened, the automatic swing up / down stop is performed at least for the set output time. Since the command radio signal corresponding to the command is output, it is possible to reliably stop the grain discharge auger that is automatically swiveled and lifted by the set swivel lift pattern.

Thus, according to the sixth feature configuration of the present invention, a preferred embodiment of the present invention has been obtained.

According to a seventh feature configuration of the present invention, in any one of the first to sixth feature configurations of the present invention, a grain discharge auger as the operated portion is a grain on the combine main body as the work machine main body. It is provided to be switchable between a discharge operation state for discharging grains and a discharge stop state for not discharging grains, and the command operation means of the wireless command means operates the discharge operation of the grain discharge auger as the operation command. A discharge start command for making a state can be freely commanded, and a discharge stop command for placing the grain discharge auger in the discharge stop state can be freely commanded as the stop command. When the command is commanded, the grain discharge auger is set in the discharge operation state, and when the discharge stop command is commanded, the grain discharge auger is set in the discharge stop state. In that it is configured to control the grain discharge operation.

According to the seventh characteristic configuration of the present invention, the grain delivery vehicle is set in the discharge operation state by instructing the discharge start command by the command operating means of the wireless command means, and the grain transport vehicle The grain can be discharged to a discharge target location such as a cargo bed. And after instructing the discharge start command and starting the discharge of the grain, by instructing the discharge stop command with the command operation means of the wireless command means, the grain discharge auger is set in the discharge stop state and the The discharge can be stopped.

  Therefore, after the operator issues a command to start discharging, it is predicted when the amount of grain that will be allowed will be discharged to the location to be discharged, or the amount of kernel that has already exceeded the allowable amount has been discharged. If it is found that it is trapped, a discharge stop command can be issued to stop the discharge operation of the grain discharge auger to avoid discharging an excessive amount of kernel to the discharge target location it can.

  In addition, the operator who discovers that the amount of grain exceeding the allowable amount has been discharged to the discharge target location, hurriedly, in order to stop the grain discharge immediately, the command operation means of the wireless command means Even if the duration of commanding the discharge stop command is shortened, the command radio signal corresponding to the discharge stop command is output for at least the output setting time. The grain discharge auger that is discharging the grain can be surely switched to the discharge stop state to stop the grain discharge operation.

Thus, according to the seventh characteristic configuration of the present invention, a preferred embodiment of the present invention has been obtained.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of a wireless operating device for a working machine according to the present invention will be described based on the drawings with an example applied to a combine as a working machine.

  As shown in FIGS. 1 and 2, the combine is attached to the front part of the machine body V provided at the upper part of the pair of left and right crawler travel devices 1 in a state in which the cutting part 3 can swing around the horizontal axis. In the machine body V, the control unit 2, the threshing unit 4 for threshing and sorting the harvested cereal, the grain tank 5 for storing the grains sorted and recovered by the threshing unit 4, and the grain tank 5 are stored. A grain discharge auger 9 for discharging the grain out of the machine is equipped. The grain discharge auger 9 corresponds to the operated portion of the present invention.

  A bottom screw conveyor 7 is provided at the bottom of the grain tank 5 along the front-rear direction, and a vertical feed screw conveyor 8 is extended from the conveying terminal end of the bottom screw conveyor 7 in a state where the bevel gear is linked upward. The grain discharge auger 9 is swingable around the horizontal axis P1 and swiveled around the vertical axis P2 at the upper part of the vertical feed screw conveyor 8 in a state where the bevel gear is interlocked. Equipped.

  FIG. 2 shows a state in which the grain discharge auger 9 is swung to the storage turning position HP, and the grain discharge auger 9 is lowered and held for storage in the state of turning to the storage turning position HP. The grain discharge auger 9 is stored by being received by the receiving tool 30 as a tool. The receiving device 30 is provided with a storage switch 31 constituted by a micro switch, and the lower end surface of the outer case 9B of the grain discharge auger 9 is brought into an on state by abutting the storage switch 31. It can detect that the grain discharge auger 9 is located at the storage position.

  An output pulley 13 </ b> A of a belt tension type discharge clutch 13 that intermittently transmits power to the bottom screw conveyor 7 from the engine E provided at the right front part of the machine body is attached to the conveyance start end of the bottom screw conveyor 7. Further, the vertical feed screw conveyor 8 includes a vertical conveyor screw 8A linked to the bottom screw conveyor 7 via a bevel gear, and a cylindrical case 8B that covers and is connected to the grain tank 5 in communication.

  The grain discharge auger 9 (hereinafter simply referred to as an auger) includes an auger screw 9A and an outer case 9B covering the auger screw 9A. The outer case 9B is connected in communication with the cylindrical case 8B of the vertical conveyor screw 8A via the rotary case 6. The rotary case 6 is relative to the cylindrical case 8B of the vertical feed screw conveyor 8 around the vertical axis P2. It is connected so as to be rotatable, and is connected to the outer case 9B of the grain discharge auger 9 so as to be relatively rotatable around the horizontal axis P1.

  An electric motor M1 for clutch operation (see FIG. 5) for switching the discharge clutch 13 between the on state and the off state is provided, and this electric motor M1 for clutch operation (hereinafter abbreviated as a clutch motor). Is driven in the forward direction so that the discharge clutch 13 is switched to the engaged state, and the clutch motor M1 is driven in the reverse direction to switch the discharge clutch 13 to the disconnected state.

  When the discharge clutch 13 is switched to the on state, the bottom screw conveyor 7, the vertical screw conveyor 8 and the auger 9 are driven by the power of the engine E transmitted via the discharge clutch 13 and stored in the grain tank 5. When the discharged grain is discharged from the grain outlet 10 at the tip of the auger 9 and the discharge clutch 13 is switched to the disengaged state, the driving of the bottom screw conveyor 7 and the vertical screw conveyor 8 is stopped. Thus, the grain is configured to be in a discharge stopped state in which the grain is not discharged from the grain outlet 10 at the tip of the auger 9.

  The drive structure for the turning operation of the auger 9 will be described. As shown in FIG. 3, as shown in FIG. An electric motor M2 for turning which rotates 12 is fixed to the vertical feed screw conveyor 8, and as the electric motor M2 for turning (hereinafter abbreviated as a turning motor) is driven forward and backward, the auger 9 is moved along the vertical axis. A turning operation is performed around P2, and the turning is stopped when the turning motor M2 is stopped. In the figure, Ry is a turning position detection sensor using a multi-rotation type potentiometer for detecting the turning position of the auger 9 and rotates simultaneously with the large-diameter gear 11 for turning driving by a gear 12 driven by a turning motor M2. It is designed to be operated dynamically.

  As shown in FIG. 2, a turnable range is set in advance, and the auger 9 has reached the left limit position LE and the right limit position RE of the turnable range based on the detection information of the turn position detection sensor Ry. In some cases, the turning motor M2 is controlled so that the turning of the auger 9 is automatically stopped.

  Next, the drive configuration of the raising / lowering operation of the auger 9 will be described. As shown in FIG. 3, a raising / lowering hydraulic cylinder 15 is provided between the base end portion of the auger 9 and the rotating case 6. As the hydraulic cylinder 15 is extended, the auger 9 is lifted around the horizontal axis P1, and as the lifting hydraulic cylinder 15 is shortened, the auger 9 is lowered around the horizontal axis P1. It is configured. An upper limit switch 14 that is turned on when the auger 9 is at the upper limit position UE of the lifting operation range is provided.

  As described above, this combine is provided with the auger 9 as the operated portion so that the auger 9 can be swung and raised and lowered, and can be switched between the discharging operation state and the discharging stop state. A swing motor M2 and a lifting hydraulic cylinder 15 as drive means, and a clutch motor M1 as discharge drive means for switching between a discharge operation state and a discharge stop state are provided.

  The control unit 2 is provided with a lever-type operation unit 20 for instructing operation commands for turning and raising / lowering the auger 9. The operation unit 20 on the combine body side will be described. As shown in FIG. 4, an operation lever 20A that is urged so as to return to the center position and can be swung in the front-rear direction and the left-right direction is provided. When the operating lever 20A is tilted forward, the ascending command switch S1 is turned on to issue a command for raising the machine, and when the operating lever 20A is tilted forward, the descending command switch S2 is turned on. When the machine lowering command is commanded and the operation lever 20A is tilted to the left, the right turn command switch S3 is turned on to issue the machine right turn command, and when the operation lever 20A is tilted to the right, the left turn The turn command switch S4 is turned on and a left turn command is issued for this machine (see FIG. 5). Further, in the state where the operation lever 20A is returned to the center position, commands for turning operation and raising / lowering operation of the auger 9 are not instructed. By releasing the finger from the center, it can be returned to the center position, and the machine up command, the machine down command, the machine left turn command, and the machine right turn command can be stopped.

  As shown in FIGS. 2 and 5, an automatic switch 21 for instructing a machine automatic turning up / down command for automatically moving the auger 9 to the storage position or the target discharge position is provided near the operation unit 20. And a stop switch 22 for instructing a movement stop command for stopping the auger 9 during movement, a discharge position setting volume 23 for setting the target discharge position, and a command to start the grain discharge operation of the auger 9 And a clutch on / off switch 24 composed of a two-position switching toggle switch for instructing a discharge start command for instructing this machine or a stop stop command for instructing a stop of the grain discharge operation of the auger 9.

  The clutch on / off switch 24 commands a control command to maintain the discharge clutch 13 in the disengaged state when it is in the off position, and issues a control command to maintain the discharge clutch 13 in the on state when it is located in the on position. It comes to command. Therefore, the machine discharge start command is instructed by switching the clutch on / off switch 24 from the off position to the on position, and the discharge stop command is instructed by switching the clutch on / off switch 24 from the on position to the off position. Can be done.

  The combine main body is provided with a microcomputer-based control device H as the machine body side control means, and the control device H includes the turning position detection sensor Ry, the upper limit switch 14, the storage switch 31, and the operation unit 20. Signals of the command switches S1, S2, S3, S4, the automatic switch 21, the stop switch 22, the discharge position setting volume 23, and the clutch on / off switch 24 are input through signal lines, and the command switches It is configured to execute control corresponding to the operation.

  In other words, when the operation lever 20A is tilted forward, the control device H is operated so that the ascending command switch S1 is turned on and the ascending command for this machine is commanded, the ascending / descending hydraulic cylinder 15 is operated to raise the auger 9. When the operation lever 20A is tilted rearward and the lowering command switch S2 is turned on to issue a lowering command for the main unit, the lifting hydraulic cylinder 15 is moved to lower the auger 9. When the operation lever 20A is tilted to the left side and the right turn command switch S3 is turned on and the right turn command is commanded, the auger 9 is turned right. When the turning motor M2 is actuated to the right side, the operation lever 20A is tilted to the right side, the left turn command switch S4 is turned on, and the left turn command is commanded, the auger 9 is turned left. In order to actuate the swing motor M2 to the left turning side.

  Further, when the automatic turning / lifting command for the machine is commanded, the control device H determines whether or not the auger 9 is located at the storage position based on the detection information of the storage switch 31 and then determines the position of the auger 9. In response to this, the operation of the elevating hydraulic cylinder 15 and the swing motor M2 is controlled to automatically move the auger 9 to the retracted position or the target discharge position.

  That is, when the automatic switch 21 is pushed and a command for automatic turning up / down of this machine is commanded, the control device H, when the auger 9 is located at the storage position (when the storage switch 31 is on), In order to move the auger 9 to the target discharge position, the lifting hydraulic cylinder 15 and the swing motor M2 are operated, and when the auger 9 is positioned at the discharge position for discharge work (when the storage switch 31 is off), the auger 9 is In order to move to the retracted position, the lifting hydraulic cylinder 15 and the turning motor M2 are operated.

  Further, the control device H sets the clutch so as to place the auger 9 in the discharge operation state when the machine discharge start command is issued, and to place the auger 9 in the discharge stop state when the discharge stop command is issued. It is configured to control the operation of the motor M1.

  That is, when the clutch on / off switch 24 is switched from the off position to the on position and a discharge start command is issued for this machine, the control device H rotates the clutch motor M1 in the forward direction so that the auger 9 is in the discharge operation state. When the clutch on / off switch 24 is switched from the on position to the off position and a discharge stop command is instructed, the clutch motor M1 is driven in the reverse direction so that the auger 9 is in the discharge stop state.

  In this combine, a plurality of types of operation commands regarding the turning up and down operation and the grain discharging operation of the auger 9 and the calling operation of the calling alarm 16 for calling the worker provided in the control unit 2 on the machine side. A wireless remote controller 42 is provided as a manually operated wireless command means for commanding the operation command with a wireless signal. This wireless remote controller 42 is used when an operator near the grain transporting vehicle N operates the auger 9 or the call alarm 16 while performing the grain discharging operation to the grain transporting vehicle N. It is.

  More specifically, as shown in FIGS. 6 and 7, the wireless remote controller 42 is configured as a small and lightweight device so that the operator can easily carry it, and a plurality of commands that are commanded by the following command switches. A radio signal based on a frequency modulation in which the frequency of the carrier wave is changed based on a command code corresponding to each of a terminal up command, a terminal discharge start command, a terminal stop command, etc. (details will be described later) It is configured to transmit as a signal.

  The wireless remote controller 42 has an ascending command switch 43 for instructing a terminal ascending command for raising the auger 9, a descending command switch 44 for instructing a terminal lowering command for lowering the auger 9, and a left turning operation of the auger 9. A left turn command switch 45 for instructing a terminal left turn command, a right turn command switch 46 for instructing a terminal right turn command for causing the auger 9 to perform a right turn operation, and the auger 9 are automatically moved to the storage position or the target discharge position. An automatic switch 47 for instructing a terminal automatic turning up / down command (corresponding to an automatic turning up / down command of the present invention) to be executed, a call switch 48 for instructing a call command for ringing a call alarm 16 provided in the control unit 2 of the combine body, an auger A discharge switch 49 for instructing a terminal discharge start command (corresponding to a discharge start command of the present invention) for starting the grain discharge operation of 9; A stop switch 50 for instructing a terminal stop command (corresponding to a stop command of the present invention, an automatic swing up / down stop command, and a discharge stop command) for stopping the turning up / down operation of the auger 9 and stopping the grain discharging operation of the auger 9; A power switch 51 is provided for switching a power control circuit 56 described later between a power supply state and a power cut-off state.

  Each of these switches is configured to be urged to return to an off state so that it is turned on when a finger is pressed and turned off when the finger is released. The power switch 51 is provided with a pilot lamp 52 that lights up when the power control circuit 56 is in a power supply state.

  In addition, when the radio remote controller 42 transmits a signal having a constant frequency as a carrier wave, outputs the signal as a radio wave having a constant output via the transmission antenna 54, and each of the command switches is operated, Output control means for oscillating a modulated signal obtained by modulating the frequency of the carrier wave based on a command code set differently for each switch and outputting the signal as a constant output radio wave via the transmission antenna 54 And a battery 55 that supplies power to the signal transmitter 53 and the power supply control circuit 56.

  The battery 55 and the signal transmitter 53 are connected via a power supply control circuit 56. When the power supply control circuit 56 is in a power supply state, power is supplied from the battery 55 to the signal transmitter 53, and the signal transmitter. 53 becomes a command reception state, and a state where a carrier wave or a modulated wave obtained by modulating the carrier wave is output as a radio signal. When the power control circuit 56 is in a power cut-off state, power is supplied from the battery 55 to the signal transmitter 53. Not supplied, the signal transmitter 53 enters a command rejection state and does not output a carrier wave or a modulated wave obtained by modulating the carrier wave as a radio signal.

  The power supply control circuit 56 is switched between the power supply state and the power cut-off state by turning the power switch 51 on and off. Specifically, when the power control circuit 56 is in the power cut-off state, if the power switch 51 is pressed and held for 0.5 [seconds] or longer, the power control circuit 56 switches to the power supply state, and the power control When the circuit 56 is in the power supply state, if the power switch 51 is pressed and held for 0.5 [seconds] or longer, the power control circuit 56 switches to the power cut-off state.

  The power supply control circuit 56 is configured to control the supply of power for turning on the pilot lamp 52 so that the pilot lamp 52 is turned on when the power supply control circuit 56 is in a power supply state. The lamp 52 is turned on in response to a power switch on operation and turned off in response to a turn off operation.

  The signal transmitter 53 performs no-operation time monitoring processing in the command acceptance state, and monitors the time during which the above-mentioned no-operation state continues based on the presence / absence of the above-described operation command. If it continues for the set time (3 minutes in the present embodiment), it is determined that the wireless remote control 42 is not being used, and a command to switch the power control circuit 56 to the power cut-off state is sent to the power control circuit 56. By giving a command, the signal transmitter 53 can be switched to a command rejection state by switching the power supply control circuit 56 to a power cut-off state based on a command commanded by the signal transmitter 53 itself.

  According to the configuration as described above, the signal transmitter is automatically generated even when the operator consciously turns off the power switch 51 and also when no operation state is operated for 3 minutes without any operation switch being operated. 53 can be switched to the command rejection state, and when the wireless remote controller 42 is not operated, it is possible to prevent the operation of the auger 9 from being accidentally operated due to an erroneous operation, and to reduce the power consumption of the wireless remote controller 42. Can be achieved.

  Next, the operation of the wireless remote controller 42 when the operation switches of the wireless remote controller 42 are commanded will be described. As described above, the signal transmitter 53 of the wireless remote controller 42 basically receives a command corresponding to an operation command as a command radio signal corresponding to the operation command when an operation command is commanded by each operation switch. A modulated wave obtained by modulating the carrier wave based on the code is output.

  Specifically, when the up command switch 43 is pressed and turned on with a finger, the terminal up command is instructed by transmitting a radio signal modulated in response to the terminal up command, and the up command switch 43 When the switch is turned off, the transmission of the radio signal modulated in response to the terminal ascent command is terminated, and the terminal ascent command is stopped.

  When the lowering command switch 44 is pressed and turned on, a radio signal modulated in response to the terminal lowering command is transmitted to instruct the terminal lowering command. When the lowering command switch 44 is released and turned off, Then, the transmission of the radio signal modulated in response to the terminal lowering command ends, and the terminal lowering command stops.

  When the left turn command switch 45 is turned on by pushing it with a finger, a terminal left turn command is instructed by transmitting a radio signal modulated in response to the terminal left turn command. When it is turned off, the transmission of the radio signal modulated in response to the terminal left turn command ends, and the terminal left turn command stops.

When the right turn command switch 46 is pressed and turned on with a finger, the terminal turns right command is instructed by transmitting a radio signal modulated in response to the right turn command. When the finger is released and turned off, the transmission of the radio signal modulated in response to the terminal right turn command ends, and the terminal right turn command stops.
Accordingly, the ascending command switch 43, the descending command switch 44, the left turn command switch 45, and the right turn command switch 46 are used for commanding an operation command for operating the operated portion only while the turning operation is being performed. Configure the operation switch.

  The left turn command switch 45 is provided on the right side facing the front of the wireless remote controller 42, and the right turn command switch 46 is provided on the left side facing the front of the wireless remote control 42 and is displayed on both command switches. The contents of each are opposite to the installation position of each command switch. This is because the turning direction in the right turning operation and the left turning operation is defined based on a reference in which the forward direction of the combine is the 12 o'clock direction, and the turning direction that is turned by each command switch is based on the definition of the turning direction. On the other hand, when the operator who uses the wireless remote controller 42 commands the turning operation of the auger 9 from the distal end side of the auger 9 at a position away from the combine main body, the operator actually turns by the turning command to be commanded. This is because each command switch is arranged at a position where it is easy to intuitively grasp the direction.

  When the automatic switch 47 is pressed and turned on by a finger, a terminal automatic turning up / down command is instructed by transmitting a radio signal modulated in response to the terminal automatic turning up / down command, and the automatic switch 47 is released. When turned off, the transmission of the radio signal modulated in response to the terminal automatic turning up / down command ends, and the terminal automatic turning up / down command stops.

  When the call switch 48 is pushed and turned on, a call command is issued by transmitting a radio signal modulated in response to the call command. When the call switch 48 is released and turned off, the call command is changed. The transmission of the radio signal correspondingly modulated is terminated and the calling command is stopped.

  When the discharge switch 49 is pressed and turned on with a finger, the terminal discharge start command is instructed by transmitting a radio signal modulated in response to the terminal discharge start command. Then, the transmission of the radio signal modulated in response to the terminal discharge start command ends, and the terminal discharge start command stops.

  When the stop switch 50 is pressed and turned on with a finger, the terminal stop command is instructed by transmitting a radio signal modulated in response to the terminal stop command, and when the finger is released from the stop switch 50, the terminal is turned off. Transmission of the radio signal modulated in response to the stop command ends, and the terminal stop command stops.

  As described above, the wireless remote controller 42 includes a terminal up command, a terminal down command, a terminal left turn command, a terminal right turn command, a terminal automatic turn up / down command, a terminal discharge start command, and a terminal stop as a plurality of operation commands. As command operation means for commanding, ascending command switch 43, descending command switch 44, left turn command switch 45, right turn command switch 46, automatic switch 47, discharge switch 49, and stop switch 50, as described above A plurality of types of operation commands including a stop command for the operation of the auger 9 as the operated portion are configured including a signal transmitter 53 that outputs a radio signal modulated based on a command code corresponding to the operation command. It is configured to instruct the control device H of the combine main body with a radio signal.

  Then, the signal transmitter 53, when the duration Ton for which the terminal stop command is commanded by the stop switch 50 is shorter than the set duration Tth for continuous operation determination (in this embodiment, 2 [s]). The modulated wave corresponding to the terminal stop command is configured to be output over the output set time Tmin. In this embodiment, the output setting time Tmin is substantially the same as the continuous operation determination setting time Tth, and is set to 1.96 [s], which is shorter than the continuous operation determination setting time Tth by an erroneous determination prevention setting time Tn described later. Is set.

  In addition, the signal transmitter 53 has a setting time Tn for preventing erroneous determination in which the duration Ton for which the terminal stop command is commanded by the stop switch 50 is set shorter than the setting time Tth for determining the continuous operation (this embodiment) If it is shorter than 40 [ms], the modulated wave corresponding to the terminal stop command is not output.

  In other words, when the stop switch 50 is turned on by pushing the finger with a finger, the duration Ton for which the terminal stop command is commanded by the stop switch 50 (hereinafter also referred to as the “on time Ton”) is set to prevent misidentification. When the time Tn (40 [ms]) is reached, output of a modulated wave corresponding to the terminal stop command is started. Thereafter, while the on state of the stop switch 50 continues, the output of the modulated wave corresponding to the terminal stop command continues, and the on time Ton of the stop switch 50 reaches the set time Tth (2 [s]) for the continuous operation determination. Then, when the finger is released from the stop switch 50 to turn it off, the output of the modulated wave that has been continued until that time is turned off. However, the on-time Ton of the stop switch 50 is the set time Tth (2 [ s]), the output of the modulated wave does not stop even if the finger is released from the stop switch 50 and turned off, and the output of the modulated wave corresponding to the terminal stop command is not generated even after the stop switch 50 is turned off. The output of the modulation wave is stopped when the output set time Tmin (1.96 [s]) elapses after the output of the modulation wave is started. The relationship between the ON time Ton of the stop switch 50 and the duration of the modulated wave corresponding to the output terminal stop command is as shown in the graph of FIG.

  Further, the signal transmitter 53 has the ascending command switch 43 and the descending command switch until the elapsed time after starting the output of the modulated wave corresponding to the terminal stop command reaches the output set time Tmin (1.96 [s]). 44, when a left turn command switch 45, a right turn command switch 46, an automatic switch 47, or a discharge switch 49 is used to issue another operation command that is not a terminal stop command. Other operation commands that have been commanded until the elapsed time since the start of the output of the modulated wave reaches the output setting time Tmin (1.96 [s]) are output at the output setting time Tmin (1.96 [s]). If it continues even after reaching, the other operation command is newly issued after the modulation wave corresponding to the other operation command is not output and the output of the modulation wave corresponding to the terminal stop command is stopped. If any other operation command is And it is configured to output a modulated wave to respond.

  In other words, the signal transmitter 53 of the wireless remote controller 42 includes a microcomputer-based controller. The controller includes an up command switch 43, a down command switch 44, a left turn command switch 45, and a right turn command switch 46. , A command monitoring process for monitoring whether any one of the automatic switch 47, the call switch 48, the discharge switch 49, and the stop switch 50 is pressed and turned on. When it is detected that any one of the switches is turned on, an interrupt process is executed, and a modulated wave modulated based on a command code indicating an operation command corresponding to the switch is output.

  Since the command monitoring process is not executed until the interrupt process for outputting the modulated wave is completed, for example, once the modulated wave output corresponding to the terminal stop command is started, the modulated wave output is terminated. Even if a switch for commanding another operation command is turned on by the time the modulated wave based on the other operation command is not output, after the modulation wave corresponding to the terminal stop command is output, the modulation is not performed. A carrier wave that is not applied is output.

  In addition, since the command monitoring process monitors whether or not each of the switches is turned on, for example, a switch that commands another operation command is turned on during the output of the modulated wave corresponding to the terminal stop command, and Even when the output of the modulated wave corresponding to the terminal stop command is completed, even if the switch that commands the other operation command is maintained in the ON state, the switch that commands the other operation command is not turned on again. As long as the other operation command is not recognized by the command monitoring process executed after the output of the modulated wave corresponding to the terminal stop command is finished, the output of the modulated wave corresponding to the terminal stop command is finished. Will output only unmodulated carrier waves.

  Next, the operation of the wireless remote controller 42 when the stop switch 50 of the wireless remote controller 42 is commanded will be described based on the flowchart of FIG.

  When the stop switch 50 of the wireless remote controller 42 is pushed and turned on, it is detected by the command monitoring process that the stop switch 50 is turned on, and the terminal stop command output control shown in the flowchart of FIG. 12 is executed as the above-described interrupt process. The

  In the terminal stop command output control, counting of the on-time Ton is started in Step # D1, and when the on-time Ton reaches the setting time Tn for erroneous discrimination prevention, it is judged as Yes in Step # D3, and vibration or Assuming that the stop switch is turned on due to an artificial push operation rather than an erroneous signal due to an impact, output of a modulated wave corresponding to the terminal stop command is started (step # D4). If the stop switch 50 is turned off before the on-time Ton reaches the setting time Tn for preventing erroneous determination, it is determined Yes in Step # D2, and stopped due to an erroneous signal due to vibration or shock, which has been artificially pressed. Assuming that the switch 50 is not turned on, the interrupt process is terminated without starting the output of the modulated wave, and the process returns to the command monitoring process.

  At the same time as the output of the modulated wave is started at step # D4, the counting of the output time Tout is started at step # D5. Then, until the stop switch 50 is turned off, it waits in a state where the modulated wave is continuously output (step # D6). When the stop switch 50 is turned off, the on time Ton at that time is checked at step # D7.

  If the on-time Ton is equal to or longer than the set time Tth for determining the continued operation, it is determined that the modulated wave corresponding to the terminal stop command has been output for a sufficient period of time, it is determined Yes in step # D7, and step # D9 The modulation wave output is stopped at. If the on-time Ton is shorter than the set time Tth for determining the continuous operation, it is determined that the modulated wave output time Tout corresponding to the terminal stop command is not sufficient, and No is determined in Step # D7, and the modulation corresponding to the terminal stop command is performed. The process proceeds to step # D8 while maintaining the state of outputting a wave.

  In Step # D8, the process waits in a state in which a modulated wave is output until the output time Tout reaches the output setting time Tmin. When the output time Tout reaches the output set time Tmin, it is determined Yes in step # D8, the process proceeds to step # D9, and the output of the modulated wave corresponding to the terminal stop command is stopped.

The relationship between the on / off change of the stop switch 50 and the output state of the modulated wave is illustrated in the timing chart as shown in FIGS. When the on-time Ton of the stop switch 50 is longer than the setting time Tn (40 [ms]) for preventing erroneous determination and shorter than the setting time Tth (2 [s]) for continuing operation determination, FIG. As shown in the figure, the modulated wave is output from the point in time when the erroneous discrimination prevention set time Tn has elapsed since the stop switch 50 was turned on, and then the modulated wave is output until the output set time Tmin has elapsed. When the on-time Ton of the stop switch 50 is longer than the set time Tth (2 [s]) for determining the continuous operation, as shown in FIG. The modulated wave is output from the time point when the time Tn has elapsed, and then the modulated wave is output until the stop switch 50 is turned off.

  As shown in FIG. 1 and FIG. 2, a receiving antenna 57 and a receiver 58 for receiving a radio signal by radio waves transmitted from the radio remote controller 42 are provided in the vicinity of the operation unit 20 of the combine main body. The signal processing device 59 (see FIG. 5) that demodulates the modulated radio signal received by the device 58, extracts a command code indicating an operation command included in the radio signal, and outputs the command code to the control device H. Is provided.

  Then, an operation command is input to the control device H via a signal processing device 59 using a modulated wave transmitted from the wireless remote controller 42, and the control device H is supplied from the operation unit 20 of the combine main body. Based on the operation command from the wireless remote controller 42 in addition to the operation command, the operation of the lifting hydraulic cylinder 15, the swing motor M2, the clutch motor M1, and the calling alarm 16 is controlled.

  That is, when the terminal raising command is commanded by the ascending command switch 43, the control device H operates the lifting hydraulic cylinder 15 to the ascending side and moves the terminal downward by the descending command switch 44 in order to raise the auger 9. When the command is issued, the lifting hydraulic cylinder 15 is actuated downward to lower the auger 9, and when the terminal left turn command is commanded by the left turn command switch 45, the auger 9 is turned left. Therefore, when the turning motor M2 is operated to the left side and the terminal right turning command is instructed by the right turning command switch 46, the turning motor M2 is turned to the right to operate the auger 9 to the right. Operate to the side.

  When the automatic switch 47 is instructed by the automatic switch 47, the control device H determines whether or not the auger 9 is located at the storage position based on detection information such as the turning position detection sensor Ry. In order to automatically move the auger 9 to the retracted position or the target discharge position in accordance with the position of the auger 9, the turning and raising / lowering operation of the auger 9 is controlled in a form of turning and raising / lowering by a set turning / lifting pattern. In addition, when a terminal stop command is instructed by the stop switch 50, the turning and raising / lowering operations of the auger 9 are controlled to stop the turning and raising / lowering operations of the auger 9.

  That is, when the automatic switch 47 is pushed and a terminal automatic turning up / down command is commanded, the control device H moves the auger 9 when the auger 9 is located at the storage position (when the storage switch 31 is on). When the lifting hydraulic cylinder 15 and the swing motor M2 are operated to move to the target discharge position according to the set swivel lift pattern, and the auger 9 is positioned at the discharge position (when the storage switch 31 is off), the auger 9 When the lifting hydraulic cylinder 15 and the turning motor M2 are operated so that the stop switch 50 is pushed and a terminal stop command is instructed, the turning operation and the lifting operation of the auger 9 are stopped. Then, the lifting hydraulic cylinder 15 and the turning motor M2 are stopped. That is, the target discharge position and the storage position correspond to the target turning up / down position of the present invention.

  The control device H is configured to control the discharge operation of the auger 9 so that the auger 9 is in a discharge operation state when a terminal discharge start command is instructed by the discharge switch 49, and the stop switch 50 When a terminal stop command is instructed, the discharge operation of the auger 9 is controlled to stop the discharge operation of the auger 9. That is, when the discharge switch 49 is pushed and a terminal discharge start command is issued, the control device H drives the clutch motor M1 in the forward rotation direction so that the auger 9 is in the discharge operation state, and the stop switch 50 is When a terminal stop command is issued after being pushed, the clutch motor M1 is driven in the reverse direction to stop the discharging operation of the auger 9.

  The set turning up-and-down pattern of the auger 9 will be described with reference to the moving space coordinates of the auger 9 shown in FIG. First, the set turning / lifting pattern when the terminal automatic turning / lifting command is instructed when the auger 9 is located at the storing position (when the storing switch 31 is ON) will be described. As shown in FIG. 8 (a), the auger 9 in the storage position is located at the coordinate A1. When the terminal automatic turning up / down command is instructed, the auger 9 moves up from the coordinate A1 to the upper limit position UE (position of the coordinate A2) based on the detection information of the upper limit switch 14. During this time, the turning position HP is maintained as the turning position. When the auger 9 is moved up to the coordinate A2, the left turning operation or the right turning operation is started, and the turning position (coordinate A3) corresponding to the set value of the discharge position setting volume 23 is based on the detection information of the turning position detection sensor Ry. Swivel to the position). When the auger 9 is positioned at the coordinate A3, the turning operation is stopped, and the turning up / down operation to the target discharge position based on the terminal automatic turning up / down command is finished. Incidentally, FIG. 8 (A) illustrates the case where the right turn operation is performed, but depending on the set value of the discharge position setting volume 23, the left turn operation may be performed and the automatic turn raising / lowering operation may end. After the position at the coordinate A3, the operator finely adjusts the position of the auger 9 by instructing a terminal lowering command using the wireless remote controller 42.

  Next, the set turning / lifting pattern when the terminal automatic turning / lifting command is instructed when the auger 9 is located at the work discharge position (when the retractable switch 31 is off) will be described. As shown in FIG. 8B, the auger 9 at the work discharge position is located at the coordinate B1. When the terminal automatic turning up / down command is instructed, the auger 9 moves up from the coordinate B1 to the upper limit position UE (position of the coordinate B2) based on the detection information of the upper limit switch 14. During this time, the turning position is maintained at the start of the ascending operation. When the auger 9 is raised to the coordinate B2, the left turning operation or the right turning operation is started, and the turning operation is performed to the storage turning position HP (position of the coordinate B3) based on the detection information of the turning position detection sensor Ry. When the auger 9 is positioned at the coordinate B3, the turning operation is stopped, and the lowering operation is performed from the coordinate B3 to the storage position (position of the coordinate B4) based on the detection information of the storage switch 31. When the auger 9 is positioned at the coordinate B4, the lowering operation is stopped, and the turning up / down operation to the storage position based on the terminal automatic turning up / down command is finished. Incidentally, in FIG. 8 (B), the case of the left turning operation is illustrated, but depending on the position of the auger 9 when the turning up and down operation to the storage position based on the terminal automatic turning up and down command is started, the auger 9 In some cases, after the ascending operation to the upper limit position UE, the right-turning operation is performed.

  The control device H is configured to control the operation of the call alarm 16 so as to sound the call alarm 16 when a call command is issued. That is, the control device H sounds the call alarm 16 when a call command is instructed by the call switch 48.

  Hereinafter, the control operation of the control device H based on the operation commands for the turning up / down operation and the discharge operation of the auger 9 by the wireless remote controller 42 will be described based on the flowchart shown in FIG. 9.

  The control operation of the control device H when various operation commands for the auger 9 are instructed by the wireless remote controller 42 will be described. The receiver 58 receives the modulated wireless signal output from the wireless remote controller 42, the signal processing device 59 demodulates the modulated wave, and outputs a command code indicating an operation command included in the modulated wave to the control device H. To do. And the control apparatus H performs the following control operations according to the input command code, as shown in FIGS.

  As shown in FIG. 9, while the modulated wave corresponding to the terminal ascent command is received and the command code is input to the control device H by demodulation, the auger 9 is raised (steps # A1 and # A2). Similarly, while the command code indicating the terminal lowering command is input, the auger 9 is lowered (steps # A3 and # A4), and the command code indicating the terminal left turn command is input. Causes the auger 9 to turn left (step # A5 and step # A6), and while the command code indicating the terminal right turn command is input, the auger 9 turns right (step # A7 and step # A6). # A8).

  Note that the control operation based on the operation commands of the above-described terminal up command, terminal down command, terminal left turn command, and terminal right turn command stops when the command code indicating the operation command is not input to the control device H. It will be. Specifically, the received signal level is temporarily reduced when the modulated wave is interrupted, for example, when the wireless remote controller 42 ends the output of the modulated wave, or even when the modulated wave is received, the radio wave condition deteriorates. When the demodulation fails due to the decrease, the operation code is not input to the control device H, and the turning and lifting operation of the auger 9 based on the operation command is stopped.

  When a command code indicating a terminal discharge start command is input, discharge start control shown in the flowchart of FIG. 10 is performed (step # A9 and step # A10). When a command code indicating a terminal automatic turning up / down command is input, automatic turning up / down control shown in the flowchart of FIG. 11 is performed (step # A11 and step # A12).

  When a command code indicating a terminal stop command is input, if the auger 9 is turning and raising / lowering based on the terminal automatic turning / raising / lowering command, the turning / raising / lowering operation is stopped and the auger 9 is set to the terminal discharge start command. If the discharge operation is performed based on this, the discharge operation is stopped (step # A13 and step # A14). If a command code indicating a terminal stop command is input to the control device H and the control device H recognizes the command code, then the control device H does not receive the command code indicating the terminal stop command. Since the turning and raising / lowering operations based on the automatic turning / elevating command 9 are stopped and the discharging operation based on the terminal discharge start command is stopped, the signal processor 59 can extract a command code indicating the terminal stop command (for example, If the modulated wave is modulated by the FSK method, the modulated wave corresponding to the terminal stop command is received over at least the time obtained by multiplying the modulation period by the number of bits of the command code. Thus, the operation of the auger 9 can be stopped.

  Next, the control operation of the control device H in the discharge start control will be described based on the flowchart of FIG. As shown in FIG. 10, if the storage switch 31 is not on (step # B1), the control device H assumes that the auger 9 is not positioned at the storage position but is positioned at the work discharge position. If it is not in the discharge operation state (step # B2), it is switched to the discharge operation state (step # B3). In step # B2, the determination is made based on detection information of a clutch sensor (not shown) that detects the engagement state of the discharge clutch.

  Next, the control operation of the control device H in the automatic turning up / down control will be described based on the flowchart of FIG. As shown in FIG. 11, if the storage switch 16 is not ON in step # C1, the control device H assumes that the auger 9 is not at the storage position but at the discharge position for a predetermined work, and positions the auger 9 at the storage position. Step # C2 to Step # C12 are executed, and if the storage switch 16 is turned on in Step # C1, the auger 9 is assumed to be in the storage position and the auger 9 is positioned at the target discharge position. The processes of # C13 to step # C19 are executed.

  When the auger 9 is positioned at the storage position, as described above, the control device H turns the auger 9 in a set turning up / down pattern as shown by a locus from the coordinate B1 to the coordinate B4 in FIG. And the turning and raising / lowering operation of the auger 9 is controlled in the form of raising / lowering operation. Specifically, the following processing is executed.

  That is, the auger 9 at the work discharge position is started to rise while maintaining the turning position (step # C4), and the raising operation is continued until the upper limit switch 14 is turned on (step # C5). When is turned on, the ascending operation is stopped (step # C6). Next, the turning operation is started (step # C7), the turning operation is continued until the turning position reaches the storage turning position HP (step # C8), and the turning operation is stopped when the turning position reaches the storage turning position HP. (Step # C9). Then, the auger 9 at the storage turning position HP is started to descend while maintaining the turning position (step # C10), and the lowering operation is continued until the storage switch 31 is turned on (step # C11). When 31 is turned on, the lowering operation is stopped (step # C12).

  When the auger 9 is positioned at the target discharge position, as already described, the control device H uses a set turning up / down pattern such that the auger 9 is indicated by a locus from the coordinates A1 to the coordinates A3 in FIG. The turning and raising / lowering operations of the auger 9 are controlled in the form of turning and raising / lowering operations. Specifically, the following processing is executed.

  That is, in step # C13, the set value of the discharge position setting volume 23 is read, and the turning position corresponding to the set value is set as the target turning position. Then, the auger 9 in the storage position is started to rise while maintaining the turning position at the storage turning position HP (step # C14), and the raising operation is continued until the upper limit switch 14 is turned on (step # C15). When the upper limit switch 14 is turned on, the ascending operation is stopped (step # C16). Next, the turning operation is started (step # C17), the turning operation is continued until the turning position reaches the target turning position (step # C18), and the turning position is set to the target based on the detection information of the turning position detection sensor Ry. When the turning position is reached, the turning operation is stopped (step # C19).

[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In the above embodiment, when the duration Ton for which the terminal stop command is commanded by the stop switch 50 is shorter than the erroneous determination prevention set time Tn set shorter than the continuous operation determination set time Tth. Exemplifies the one configured so as not to output the modulated wave corresponding to the terminal stop command, but instead, when the terminal stop command is commanded by the stop switch 50, the command is continued. Even when the time Ton is shorter than the misidentification prevention set time Tn, the modulated wave corresponding to the terminal stop command may be output.

(2) In the above embodiment, an example is shown in which the output of the modulated wave is started when the misidentification setting time Tn elapses after the terminal stop command is commanded by the stop switch 50. However, the present invention is not limited to this, and the output of the modulated wave is started when a time longer than the setting time Tn for preventing misidentification has elapsed since the terminal stop command was commanded by the stop switch 50. There may be.

(3) In the above embodiment, the output set time Tmin is set to be substantially the same as the continuous operation determination set time Tth. However, the present invention is not limited to this, for example, the output set time Tmin. However, it may be set to the same length as the continuous operation determination setting time Tth, and the continuous operation determination setting time Tth and the output setting time Tmin are not necessarily substantially the same length. The misclassification prevention setting time Tn exemplified in the above embodiment, 40 [ms], the continuous operation determination setting time Tth of 2 [s], and the output setting time Tmin of 1.96 [s] can be appropriately changed. .

(4) In the above embodiment, the command operation means for instructing the terminal stop command instructed by the wireless remote controller 42 is exemplified by the stop switch 50. Instead, the wireless remote controller 42 includes an auger. 9 is a push button switch for discharging stop command for instructing a terminal discharging stop command as a stop command for stopping the grain discharging operation of 9, and a terminal swiveling lifting stop command as a stop command for stopping the swiveling lifting operation of the auger 9 is commanded And a push button switch for turning and raising / lowering stop command to be provided, and when the signal transmitter 53 is instructed by the push button switch for discharge stop command, the terminal discharge stop command is transmitted to the control device. H is commanded by a radio signal, and when the terminal turning up / down stop command is instructed by the push button switch for turning up / down stop command, the terminal turning up / down stop command is transmitted to the control device H. It may also be constructed to direct at radio signal.

(5) In the above embodiment, the turning up / down driving means is constituted by an electric motor and a hydraulic cylinder, and the discharge driving means is constituted by an electric motor. However, the present invention is not limited to this. Instead of this, a configuration using a hydraulic motor or a configuration using an electric motor, an electric cylinder or the like instead of the hydraulic cylinder may be adopted.

(6) In the above embodiment, it has been described that the signal transmitter 53 of the wireless remote controller 42 outputs a modulated wave obtained by modulating a carrier wave based on a command code indicating an operation command. As a specific example of the modulated wave, a carrier having a specific frequency fc according to a command code (bit string) encoded differently for each operation command by a combination of a mark (for example, “1”) and a space (for example, “0”). In addition to a modulation wave subjected to frequency modulation by the FSK method that changes the signal to the mark frequency fm and the space frequency fs, various things such as an FM modulation wave using an analog signal as a baseband signal, an AM modulation wave, etc. Can be considered.

(7) In the above-described embodiment, the signal transmitter 53 of the wireless remote controller 42 outputs a modulated wave obtained by modulating a carrier wave based on a command code indicating an operation command, and transmits it as a command radio signal with a constant output radio signal. 54, and when an operation command is not commanded, the carrier wave of a single frequency that is not modulated is output and transmitted via the transmission antenna 54 with a constant output radio signal, Instead, the signal transmitter 53 of the wireless remote controller 42 oscillates a signal of a specific single frequency set correspondingly for each operation command and outputs the signal as a command radio signal with a constant output. When a radio signal is transmitted through the transmitting antenna 54 and an operation command is not commanded, a signal having a specific single frequency different from any frequency of the command radio signal is oscillated to make the signal constant. Or it may be configured to transmit via the transmission antenna 54 at the power of the radio signal.

(8) In the above embodiment, details of the power supply control circuit 56 as the operation state switching control means are omitted, but as an example, latching is performed so that the electrical connection between the signal transmitter 53 and the battery 55 is interrupted. A relay is provided, and an operation command by the power switch 51 and a terminal stop command by the stop switch 50 are used as latch relay set inputs, and a control signal output by the signal transmitter 53 having a pause command by the power switch 51 and a no-operation state for 3 minutes. An electric circuit configured to be a reset input of the latch relay is conceivable, but is not limited to this, and may be configured using a transistor, a microcomputer, etc. Is possible.

(9) In the above embodiment, an example in which plural types of operation commands are for a single operated part is exemplified, but multiple types of operation commands are for the operation of multiple operated units. It may be.

(10) In the above embodiment, the work machine is configured by a combine that is an example of a farm work machine. However, the work machine is not limited thereto, and the work machine may be a construction machine, a machine tool, or the like.

Combine side view Overall plan view of combine Enlarged side view of the main part showing the operation configuration for turning and raising / lowering the auger Plan view of the operation unit on the combine body side Control block diagram of the control device on the combine body side Perspective view of wireless remote control Wireless remote control block diagram Explanatory drawing of the set swivel lift pattern in the automatic swivel lift operation of the auger Flow chart of auger operation control by wireless remote control Flow chart of discharge start control Flow chart of automatic swing up / down control Flow chart of terminal stop command output control Wireless remote control stop switch and modulated wave output timing chart Graph showing relationship between stop switch ON time and modulation wave output time

Ton duration time Tn False discrimination prevention setting time Tth Continuous operation discrimination setting time Tmin Output setting time H Machine side control means A3, B4 Target swivel raising / lowering position 9 Operated part, grain discharge auger 42 Wireless command means 43, 44, 45, 46, 47, 49, 50 Command operation means
43, 44, 45, 46 Operation switch 53 for operation Output control means

Claims (7)

The work machine main body is provided with an operated part, and a machine body side control means for controlling the operation of the operated part,
Regarding the operation of the operated part, a manually operated wireless command means for commanding a plurality of types of operation commands including a stop command to the airframe side control means with a radio signal is provided,
The wireless command means
When a command operation unit that commands the plurality of types of operation commands and any one of the plurality of types of operation commands are commanded by the command operation unit, a command radio signal corresponding to the operation command is output. Output control means,
The aircraft-side control means is
A wireless operating device for a work machine configured to control the operation of the operated part based on the operation command commanded by the command radio signal,
The output control means is
When the stop command is commanded , if the duration for which the stop command is commanded is shorter than the set time for continuous operation determination, the command radio signal corresponding to the stop command is transmitted over the set time for output. When an operation command other than the stop command is commanded among the plurality of types of operation commands, the command radio signal is output only while the operation command is commanded. A wireless operating device for a work machine configured as described above.   When the output control means has a duration for which the stop command is commanded, which is shorter than a setting time for erroneous determination prevention set shorter than the set time for continuous operation determination, the output control means corresponds to the stop command. The wireless operating device for a work machine according to claim 1, wherein the wireless operating device is configured not to output a command radio signal.   The wireless operation device for a working machine according to claim 1 or 2, wherein the output setting time is set to be substantially the same as the continuous operation determination setting time. The operation switch for instructing an operation command for operating the operated part only while the command operation means commands an operation command other than the stop command and is operated to enter. The wireless operating device for a work machine according to claim 1, comprising: The output control means is
When another operation command other than the stop command is commanded by the command operating means until the elapsed time from the start of the output of the command radio signal corresponding to the stop command reaches the output set time And the other operation command that is commanded until the elapsed time from the start of the output of the command radio signal corresponding to the stop command reaches the output set time is the output set time. The wireless operation of the work machine according to any one of claims 1 to 4 , wherein when the operation is continued even after reaching, the command wireless signal corresponding to the other operation command is not output. apparatus. The combine main body as the work machine main body is provided with a grain discharge auger as the operated portion so as to be able to turn and ascend and descend,
The command operating means of the wireless command means is capable of commanding an automatic turning up / down command for turning and raising / lowering the grain discharge auger in a set turning up / down pattern as the operation command, and as the stop command, An automatic turning up / down stop command for stopping turning and raising / lowering operation by the set turning up / down pattern of the grain discharge auger is freely configured,
The aircraft-side control means is
When the automatic turning up / down command is commanded, turning and raising / lowering operation of the grain discharge auger in a form of turning and raising / lowering operation according to the set turning / lifting pattern to position the grain discharge auger at a target turning / lifting position Control and
When the automatic turning up / down stop command is commanded, the turning and raising / lowering operations of the grain discharging auger are controlled to stop the turning and raising / lowering operations by the set turning / lifting pattern of the grain discharging auger. The wireless operating device for a work machine according to any one of claims 1 to 5 . In the combine main body as the work machine main body, the grain discharge auger as the operated part is provided to be switchable between a discharge operation state in which the grain is discharged and a discharge stop state in which the grain is not discharged,
The command operating means of the wireless command means is
As the operation command, a command to start discharging the grain discharge auger in the discharge operation state can be freely commanded, and as a stop command, a command to stop discharging to put the grain discharge auger in the discharge stop state can be commanded freely Composed of
The aircraft-side control means is
When the discharge start command is commanded, the grain discharge auger is set in the discharge operation state, and when the discharge stop command is commanded, the grain discharge auger is set in the discharge stop state. The wireless operation device for a work machine according to any one of claims 1 to 6 , wherein the operation device is configured to control a grain discharge operation of the grain discharge auger.

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