JP6159764B2 - Agricultural work machine remote control device - Google Patents

Description

  The present invention relates to a remote control device for a farm work machine that transmits a command signal for remotely operating a farm work machine provided with a wireless communication control device including an electronic board for controlling operation.

  Conventionally, when performing farm work such as padding work and grooving work, a farm machine corresponding to these farm work is attached to the rear part of the traveling machine body, the working part is moved to the offset position on the side of the traveling machine body, and the traveling machine body These farming operations are performed by advancing the farming machine along with the traveling. Some of these agricultural machines are configured such that an operator who has boarded the driver's seat of the traveling machine body can adjust the offset position of the working unit by remote control (see Patent Document 1).

  A control unit that enables this remote operation is provided in the agricultural machine. A remote control device (operation unit) that transmits an operation signal to the control unit is disposed in the vicinity of the driver's seat of the traveling machine body, and the remote control device and the control unit are electrically connected via an electric wire or the like.

  The remote control device is provided with an operation knob member that can set the offset work position of the working unit in accordance with the width dimension of the traveling machine body. The operation knob is configured to be adjustable in stages, and when the operation knob is rotated in each stage, the working unit moves from the storage position to a preset offset position.

JP 2008-193905 A

  This conventional remote control device can move the working unit to an appropriate offset position according to the size of the traveling aircraft, but the setting method is preset because the work method of the hulling work differs depending on the worker who rides on the traveling aircraft. The amount of offset of the work part that has been made is not always appropriate.

  For this reason, the operator needs to finely adjust the offset amount again, and needs to finely adjust the offset amount for each basket. Such an adjustment operation of the offset amount is troublesome for the operator.

  The present invention has been made to solve such a problem, and provides a remote control device for an agricultural machine that can easily move a working unit to a position having an offset amount suitable for an operator. With the goal.

  In order to achieve the above object, a remote control device for an agricultural working machine according to the present invention includes a working unit that is attached to a rear portion of a traveling machine body and is arranged so that an offset position can be adjusted at a position lateral to the traveling position of the traveling machine body. Agricultural machine equipped with a communication unit that transmits a radio wave including a command signal to a wireless communication control device that controls the operation of the agricultural machine according to a command signal included in the radio wave that is provided in the agricultural machine and received by an antenna. Remote control device, a work position storage switch for sending a command signal for storing the offset position moved by the working unit, a command switch for sending a command signal for controlling various operations of the agricultural work machine, and various operations When one of the storage unit storing the command signal data to be controlled, the work position storage switch, and the command switch is turned on, the command corresponding to the turned on switch When the command switch is turned on together with the work position storage switch, the control section stores the offset position of the work section when these switches are turned on. When the work position storage switch is turned on after the command signal data for reading is read from the storage section, the work section is moved from the position of the work section when the work position storage switch is turned on to the offset position of the work section stored. It has a command signal data selection part which reads command signal data for moving the data from a storage part.

  The farm work machine performs work in a state where the working unit is moved to a side position with respect to the running position of the traveling machine body. Specifically, the farming machine is a paddy machine that performs padding work or a groove machine that performs grooving work.

  The “offset position adjustable” of the present invention means that the working unit can be moved in the width direction with respect to the traveling direction of the agricultural working machine in a state where the direction of the working unit is left as it is.

  The “command switch” of the present invention is a switch operated when sending command signals for controlling various operations of the farm work machine. Specifically, a power switch for turning on and off a power supply for supplying power, an offset switch for adjusting the offset amount of the working unit in a stepless manner, a storage switch operated when the working unit is put into a storage state, and a farm work machine There are a drum swivel switch operated when changing the direction of the trimming unit when the is a coater, a spraying switch operated when spraying water on the basket, and the like.

  The “command signal data” of the present invention includes command data for controlling various operations of the agricultural machine and intensity data of radio wave output transmitted from the communication unit.

  According to the remote control device for a farm machine according to the present invention, a work position storage switch for sending a command signal for storing the offset position to which the working unit has moved, and a command for sending command signals for controlling various operations of the farm machine. When one of the switch, the storage unit for storing command signal data for controlling various operations, and the work position storage switch and the command switch is turned on, the command signal data corresponding to the turned on switch is read from the storage unit. When the command switch is turned on together with the work position storage switch, the control unit sends command signal data for storing the offset position of the work unit when these switches are turned on from the storage unit. After reading, when the work position memory switch is turned on, it is recorded from the position of the work section when the work position memory switch is turned on. By having a command signal data selection unit that reads command signal data for moving the work unit to the offset position of the work unit that has been read from the storage unit, an operator who has boarded the traveling machine body has an offset position that suits his work method. After the working unit is moved, this position is stored, and when the working position storage switch is turned on thereafter, the working unit automatically moves to the stored offset position. For this reason, the operator can change and memorize his / her set position by turning off the power switch and then turning on the power switch together with the work position memory switch. The working unit can be automatically moved to an offset position suitable for itself only by turning on the position memory switch. Therefore, the fine adjustment work of the offset amount that is troublesome for the operator can be made unnecessary.

The remote control apparatus of the agricultural machine concerning one Embodiment of this invention is shown, The same figure (a) is a front view of a remote control apparatus, The same figure (b) is a side view of a remote control apparatus. 1 shows a plan view of a coater equipped with a wireless communication control device operated using a remote control device of an agricultural machine according to an embodiment of the present invention. 1 shows a rear perspective view of a rear coater equipped with a wireless communication control device that is operated using a remote control device of an agricultural machine according to an embodiment of the present invention. The top view of the radio | wireless communication control apparatus operated using the remote control apparatus of the agricultural machine concerning one Embodiment of this invention is shown. The functional block diagram of the radio | wireless communication control apparatus operated using the remote control apparatus of the agricultural machine concerning one embodiment of this invention is shown. The functional block diagram of the remote control apparatus of the agricultural machine concerning one embodiment of this invention is shown. The functional block diagram of the control part of the remote control apparatus of the agricultural machine concerning one embodiment of this invention is shown. The flowchart explaining the procedure performed by the control program at the time of starting in the remote control apparatus of the agricultural working machine which concerns on one embodiment of this invention is shown. The flowchart explaining the procedure performed by a control program when each switch in the remote control apparatus of the agricultural working machine which concerns on one embodiment of this invention is pushed is shown.

  Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

First, before explaining the remote control device of the agricultural working machine, a plastering machine equipped with a wireless communication control device will be explained. In the present embodiment, an explanation will be given by taking, as an example, a basket coater that forms baskets on a farm field as an agricultural machine. An example of the farm work machine is not limited to a paddle coater, but may be a ditcher.

  As shown in FIG. 2 (plan view), the hull coater 1 is connected to a three-point link connection mechanism (not shown) provided at the rear portion of the traveling machine body 90 and responds to the forward movement of the traveling machine body 90. It is the one to perform the haze painting work. The wrinkle coater 1 is mounted on the traveling machine body 90 and has a mounting part 10 having an input shaft 4 to which power from the traveling machine body 90 is input, and an offset cylinder 3 provided on the mounting part 10 from the mounting part 10 to the left and right. An offset mechanism 20 that can move in the direction and a rotation fulcrum O that extends in the vertical direction are provided on the moving end side (rear end side) of the offset mechanism 20, and the rotation fulcrum O rotates in the horizontal direction around the rotation fulcrum O. And a working unit 50 that is movably disposed and works at a position offset laterally with respect to the traveling position of the traveling machine body 90 by the power transmitted from the input shaft 4.

  The mounting portion 10 includes a hitch frame 11 that extends in the left-right direction, and a connection frame 13 that is attached to the front side of the hitch frame 11 and can be connected to the three-point link connection mechanism of the traveling machine body 90.

  The offset mechanism unit 20 is rotatably connected to the hitch frame 11 on the front end side and extends rearward. The offset mechanism unit 20 is arranged along the right side of the offset frame 21 and the front end side is the right end portion of the hitch frame 11. And a link member 25 that is pivotably connected to each other. The rear end side of the link member 25 is rotatably provided at a connecting member 23 that is rotatably provided at the rear end portion of the offset frame 21. The offset mechanism unit 20 forms a parallel link mechanism by the offset frame 21, the link member 25, the hitch frame 11, and the connecting member 23.

  The offset frame 21 can swing in the left-right direction by the expansion / contraction operation of the offset cylinder 3 described above that is pivotally connected between the rear end portion and the left end portion of the hitch frame 11. The offset cylinder 3 is a hydraulic telescopic cylinder, and its bottom end is attached to the hitch frame 11 so as to be rotatable and position adjustable. On the left side of the hitch frame 11, two pivot holes 14 and 15 for adjusting the mounting position of the bottom side end of the offset cylinder 3 are provided. These pivot support holes 14 and 15 are provided with a predetermined distance in the front-rear direction, and a bottom end portion of the offset cylinder 3 is inserted into a pin 16 (see FIG. 3) inserted into one of the pivot support holes 14 and 15. The bottom end of the offset cylinder 3 is pivotally supported.

  When the offset cylinder 3 is pivotally supported in the pivot support hole 15 disposed on the rear side of the two pivot support holes 14 and 15, the offset cylinder 3 is pivotally supported on the pivot support hole 14 disposed on the front side. In comparison, the offset amount of the working unit 50 can be increased. The cylinder mounting position when the offset cylinder 3 is pivotally supported by the pivot support hole 15 provided on the rear side is “L”, and the offset cylinder 3 is pivotally supported by the pivot support hole 14 provided on the front side. The cylinder mounting position is described as “M”.

  In this way, by making the mounting position of the bottom side end of the offset cylinder 3 adjustable, for a vehicle (for example, 1600 mm to 1900 mm) having a large width of the traveling machine body 90 (for example, the outer width of the rear wheel of the tractor). The cylinder mounting position is “L”, the width of the traveling machine body 90 is a normal vehicle (for example, 1300 mm to 1600 mm), the cylinder mounting position is “M”, and the working unit 50 is connected to the traveling machine body 90. It can be moved to a predetermined offset position Po.

  A power transmission mechanism is provided in the offset frame 21. The power transmission mechanism includes a driven shaft 29 that is disposed coaxially with the rotation fulcrum O of the working unit 50 on the rear end side of the offset frame 21, and is transmitted from the traveling machine body 90 to the input shaft 4. The power is transmitted to the driven shaft 29. The expansion / contraction operation of the offset cylinder 3 is controlled by a wireless communication control device 70 described later.

  A main shaft 7 is connected to a lower portion of the driven shaft 29 so as to be coaxial with the driven shaft 29 and extend downward. The main shaft 7 rotates with the rotation of the driven shaft 29 and can transmit power to the working unit 50. A spindle case 8 that covers the spindle 7 is disposed outside the spindle 7, and an upper end portion of the spindle case 8 is rotatably connected to a lower portion of the rear end of the offset frame 21. The part 50 is attached in a fixed state.

  The working unit 50 can be rotated with respect to the rotation fulcrum O by expansion and contraction of the turning cylinder 41 connected between the connecting member 23 and the spindle case 8, and the offset mechanism unit 20 is controlled by the expansion and contraction of the turning cylinder 41. The working direction of the working unit 50 is held so as to be parallel to the traveling direction A of the traveling machine body 90 with respect to the rocking motion. In addition, the expansion / contraction operation | movement of the turning cylinder 41 is controlled by the radio | wireless communication control apparatus 70 mentioned later.

  The working unit 50 includes a heaven field processing unit 51 that cuts the upper part of the old fence formed along the periphery of the field, a pre-processing unit 61 that piles up the cut soil, and the old ground that has been cut off And a trimming portion 80 to be applied on the collar.

  The trimming unit 80 includes a polyhedral drum 82 attached to a rotating shaft 81 that extends in the left-right direction and is rotatably supported, and a cylindrical portion 83 that is attached to the right end of the polyhedral drum 82 and extends in the lateral direction. Do it. The trimming unit 80 is connected to and supported by the spindle case 8 via a trimming power transmission case. A straightening power transmission mechanism (not shown) is built in the straightening power transmission case, and this straightening power transmission mechanism is connected to the main shaft 7 so that power from the main shaft 7 can be transmitted to the straightening portion 80. ing.

  The pretreatment unit 61 is connected to and supported by the spindle case 8 via a pretreatment power transmission case 64. In the pretreatment power transmission case 64, a power transmission mechanism having a pretreatment side drive shaft that receives and rotates the power from the main shaft 7 is incorporated. A pretreatment unit 61 is connected to the tip of the pretreatment side drive shaft. The rotation shaft of the pretreatment unit 61 is connected coaxially with the pretreatment side drive shaft. The rotation axis of the preprocessing unit 61 is inclined to the old heel K side in a plan view.

  A plurality of tilling claws are radially attached to the outer periphery of the rotating shaft of the pre-processing unit 61, and the tilling claws rotate together with the tilling shaft to cultivate the cultivated soil in the field and deposit on the old ridge side.

  The heaven processing unit 51 is supported by the preprocessing unit 61 via the heaven power transmission case 54. A plurality of tilling claws 53 are radially attached to the rotation shaft 52 of the heaven field processing unit 51, and the rotation shaft 52 of the heaven field processing unit 51 is arranged to be inclined toward the old ridge K side in a plan view. A power transmission mechanism is provided in the heaven power transmission case 54, and this power transmission mechanism is connected to the tilling shaft of the preprocessing unit 61 and can transmit the power from the preprocessing unit 61 to the heaven processing unit 51. .

  The celestial power transmission case 54 is disposed on the base end side of the celestial processing unit 51 and extends in a direction orthogonal to the rotation axis 52 of the celestial processing unit 51, and this base end portion is a tilling shaft of the preprocessing unit 61. It is attached with respect to the front-end | tip part. For this reason, the heavenly power transmission case 54 is rotatable in the vertical direction with the base end portion as the rotation center.

  Next, the wireless communication control device 70 will be described. The wireless communication control device 70 receives a command signal from the manually operated remote control device 100 that commands an operation command for commanding the operation of the coater 1 by a radio signal, and the coater 1 according to the received command signal. It controls the operation of. That is, the wireless communication control device 70 is a receiving device that receives a command signal from the remote control device 100 and is also a controller device that controls the operation of the hull coater 1 in accordance with the received command signal.

  First, before describing the wireless communication control device 70, the remote control device 100 will be outlined. As shown in FIG. 1 (a) (plan view) and FIG. 1 (b) (side view), the remote control device 100 can be operated by an operator who is on the driver's seat of the traveling machine body 90 (see FIG. 2). A radio signal of an operation command corresponding to a pressing operation of the plurality of operation switches 101 is output. The remote control device 100 has an operation box 102 having a size that can be gripped by an operator, and a plurality of operation button switches 101 are arranged on the surface of the operation box 102. The operation box 102 contains a communication unit that outputs a wireless signal, a battery that supplies power, and the like. When the operation switch 101 is pressed, an operation command (command) corresponding to the operation switch 101 is transmitted with the wireless signal. It is output from the communication unit. For the radio signal, a radio medium such as weak radio waves in the FM wavelength range or infrared rays is used.

  As shown in FIGS. 2, 3 (front perspective view), and FIG. 4 (plan view), the wireless communication control device 70 is attached to the front end of one side in the left-right direction of the hitch frame 11 and fixed to the mounting plate 35. ing. The attachment plate 35 is inclined upward in the vertical direction so that the front side is lower than the rear side in the working state of the coater 1. The attachment plate 35 may be attached to the hitch frame 11 so that the inclination angle thereof can be adjusted.

  A wireless communication control device 70 is mounted on the mounting plate 35. The wireless communication control device 70 is formed in a cap shape having a top plate portion 71 and a side plate portion 72 that is connected to the periphery of the top plate portion 71 and extends downward so as to surround the top plate portion 71, and accommodates an electronic substrate 74 therein. A control box 73 is included. The control box 73 has flange portions 73 a formed at four corners, and bolts 75 inserted through the flange portions 73 a are fastened to the mounting plate 35, and the control box 73 is fixed to the mounting plate 35.

  The side plate portion 72 on the front side in the front-rear direction of the control box 73 is provided with a cylindrical portion 76 having a pair of insertion holes 76 a communicating with the inside of the control box 73. An electric wire connected to the electronic board 74 accommodated in the control box 73 is passed through the insertion hole 76a. The control box 73 is integrally formed of resin, synthetic resin (ABS resin, FRP) or the like, and can transmit a command signal transmitted from the remote control device 100.

  As will be described in detail later, the electronic board 74 accommodated in the control box 73 has an antenna that receives a command signal from the remote control device 100, and a hydraulic offset cylinder 3 and a swivel according to the command signal received by the antenna. A control unit that controls the operation of the actuator such as the cylinder 41 is provided. The antenna is formed on the surface side of the electronic substrate 74, and the length of the antenna is set by the wavelength of the radio wave transmitted from the remote control device 100.

  On the top plate portion 71 of the control box 73, an M state display lamp 73c for notifying the state where the offset cylinder 3 is mounted at the cylinder mounting position “M”, and the offset cylinder 3 are mounted at the cylinder mounting position “L”. An L state display lamp 73b for informing the state and a communication lamp 73d for informing that the communication state is established between the control box 73 and the remote control device 100 are provided.

  Thus, as shown in FIGS. 2 and 3, the electronic board 74 accommodated in the wireless communication control device 70 is oriented toward the worker who is on the traveling machine body 90 in the working state of the coater 1. Therefore, when the worker who has boarded the driver's seat of the traveling machine body 90 faces the agricultural machine, the electronic board 74 in the wireless communication control device 70 faces the worker side. The remote control device 100 can be operated with the 100 facing the electronic substrate 74 side. For this reason, the radio signal transmitted from the remote control device 100 can be more reliably received by the electronic board 74.

  FIG. 5 is a functional block diagram of the wireless communication control device 70. The wireless communication control device 70 includes a control unit 200, a storage unit 201, a communication unit 202, and an I / O unit 203. In FIG. 5, the wireless communication control device 70 is provided with a power supply 204 and a power switch 205, but a battery mounted on the traveling machine body 90 is used as the power supply 204, and a key switch of the traveling machine body 90 is used as the power switch 205. Can be used. The I / O unit 203 is electrically connected with an operation control valve V1 for controlling the expansion / contraction operation of the offset cylinder 3, an operation control valve V2 for controlling the expansion / contraction operation of the swing cylinder 41, and the electric pump P of the spraying device 44. Has been.

  The communication unit 202 receives and demodulates radio waves from the remote control device 100 (see FIG. 1A) via the antenna 207 (which may be infrared rays in addition to radio waves, but will be described in this embodiment by radio waves). Then, the command placed on the radio wave from remote control device 100 is sent to control unit 200. Further, it receives a radio wave when the remote control device 100 is started up, and sends ID information carried on the radio wave to the control unit 200.

  The control unit 200 decodes the command according to the command data stored in the storage unit 201, and operates the operation control valve V1 of the offset cylinder 3 and the operation control valve V2 of the swing cylinder 41 through the I / O unit 203 according to the command. The electric pump P, the M state display lamp 73c, the L state display lamp 73b, and the communication lamp 73d of the spraying device 44 are controlled. In addition, the control unit 200 collates the ID extracted from the received radio wave with the ID stored in the storage unit 201, and sends a reply radio wave from the communication unit 202 to the remote control device 100 if they match.

  The storage unit 201 stores programs, settings, and the like used in the control performed by the control unit 200. In addition, the storage unit 201 stores ID information, operation control valve V1 of the offset cylinder 3, operation control valve V2 of the swing cylinder 41, and command data for operating the electric pump P of the spraying device 44. Furthermore, the storage unit 201 stores the offset position of the work unit 50 when the power switch 101b is pressed together with a work position storage switch 101a described later. When the working unit 50 is offset, the offset mechanism unit 20 forms a parallel link mechanism as shown in FIG. 2, and the orientation of the working unit 50 with respect to the offset frame 21 is constant. Therefore, the offset position of the working unit 50 can be determined by the detection value of the swing sensor 27 that detects the swing angle θ of the offset frame 21. Therefore, the detected value of the swing sensor 27 is stored for the position of the working unit 50 stored in the storage unit 201 shown in FIG.

  In addition to the swing sensor 27 described above, the wrinkle coater 1 includes a swing sensor 28 that detects the relative angle of the working unit 50 with respect to the offset frame 21 and an angle that detects the working direction of the working unit 50. A sensor 30 and a position sensor 31 for detecting the working position of the working unit 50 are provided.

  The angle sensor 30 does not detect the relative angle of the working unit 50 with respect to the offset frame 21, but detects a change in the working direction with respect to the field scene of the working unit alone. The angle sensor 30 is disposed around the main shaft 7 in the main shaft case. Further, the position sensor 31 is provided at the distal end portion of the mounting arm 33 extending from the support case supported by the spindle case, and is disposed on the rear side of the trimming portion 80.

  As shown in FIG. 5, the I / O unit 203 sends control signals for the operation control valve V <b> 1 of the offset cylinder 3, the operation control valve V <b> 2 of the swing cylinder 41, and the electric pump P of the spraying device 44 to and from the control unit 200. Relay. The power source 204 supplies power to the communication unit 202, the control unit 200, the I / O unit 203, and the storage unit 201. The power switch 205 is a switch for turning on / off the power. It is also possible to use a battery of a traveling machine body (tractor) as a power source and a key switch of the traveling machine body 90 as a power switch 205.

  The spraying device 44 is attached as an option to the coater 1. Although not shown in FIG. 2, the spraying device 44 includes a nozzle that sprays liquid (water) on the surface of the soil that is cultivated by the pre-processing unit 61 and is trimmed by the trimming unit 80, and a liquid ( Water), a pipe connecting between the tank and the nozzle for supplying the liquid in the tank to the nozzle, and an electric pump P for flowing the liquid in the tank to the pipe. The operation of the electric pump P is controlled by the wireless communication control device 70.

  By supplying water to the soil cultivated by the spraying device 44, even if the soil cultivated by the pretreatment unit 61 is somewhat dry, the finishing work on the old ridges by the trimming unit 80 is performed well. Can be made.

  FIG. 1A is a plan view of the remote control device 100 of the agricultural machine according to the present invention, and FIG. 1B is a side view of the remote control device 100. FIG. 6 is a functional block diagram of remote control device 100. As shown in FIGS. 1A and 1B, the remote control device 100 is formed in a flat plate shape having a size that can be easily grasped by an operator's hand. The remote control device 100 has a power switch 101b, a power lamp (LED) 101c, a battery replacement lamp 101d, an automatic square coating switch 101e, an automatic enable lamp 101f, a retracting operation lamp 101g, an off-offset switch 101h, and an off-offset switch on the front side. 101i, a work position storage switch 101a, a storage switch 101j, a drum right turn switch 101k, a drum left turn switch 101m, a spray switch 101n, and a spray lamp 101q.

  In addition, the remote control device 100 includes a control unit 110, a storage unit 111, a communication unit 112, a power source 113, and a buzzer 114 therein. In addition, the communication unit 112 includes an output control unit 112a. The control unit 110 includes a command signal data selection unit 110a. It should be noted that the work position storage switch 101a, the off-offset switch 101h, the off-offset switch 101i, the power switch 101b, the automatic square coating switch 101e, the retract switch 101j, the drum right turn switch 101k, the drum left turn switch 101m, and the spray switch 101n are generic names. It is called a command switch.

  The power switch 101 b is a switch for turning on and off the power supply 113 of the remote control device 100. When the power switch 101b is pressed, the power is turned on, and when it is pressed again, the power is turned off. When the power is turned on, the power lamp (LED) 101c is turned on when communication is established in the radio wave range. If communication is not established outside the radio range, a communication error occurs and flashes.

  The battery replacement lamp 101d blinks when the battery capacity decreases, and turns off when the battery capacity is large. The automatic corner coating switch 101e is a switch that is operated when the corner portion of the field is to be painted, and when this switch is pressed, when the traveling machine body 90 turns in the corner portion of the field, the working unit 50 is moved to the traveling machine body 90. Regardless of the turning, the line moves linearly along the ridges and the corners of the field are painted (hereinafter, this operation is referred to as “automatic corner coating operation”). When the automatic cornering switch 101e is pressed once while the automatic enable lamp 101f is lit, the automatic cornering operation starts, and when it is pressed again, the automatic cornering operation stops. When an automatic cornering operation is being performed, a buzzer sounds and the automatic enable lamp 101f blinks.

  The automatic enable lamp 101f informs that the automatic cornering operation is possible when the lamp is turned on, and informs that the automatic cornering operation is impossible or that a communication error has occurred when the lamp is turned off. Further, when blinking, as described above, it is informed that the automatic cornering operation is in operation.

  The storage operation lamp 101g blinks with a buzzer sound while the working unit 50 moves from the storage state to the non-storage state or from the non-storage state to the storage state, and turns off when the operation is stopped. The off-offset switch 101h swings the offset frame 21 to the right in the traveling direction while the switch is being pressed, and the offset frame 21 stops swinging when the switch is released. In the offset switch 101i, the offset frame 21 swings to the left in the traveling direction while the switch is being pressed, and when the switch is released, the offset frame 21 stops swinging.

  The work position storage switch 101a is operated when storing the offset position of the work unit 50, and is operated when moving the work unit 50 to the stored offset position of the work unit 50. When only the work position storage switch 101a is pressed once, the work part 50 moves from the current position of the work part 50 to the stored offset position, and when it is pressed once more, the offset movement of the work part 50 stops.

  Here, a method for storing the offset position of the working unit 50 will be described. After operating the off-offset switch 101h and the off-offset switch 101i to move the working unit 50 to the offset position suitable for the operator's work method, the power is temporarily turned off by the power switch 101b, and then the work position storage switch 101a. When the power switch 101b is pressed, the position of the working unit 50 is stored in the storage unit 201 (see FIG. 5) of the wireless communication control device 70. In order to make this procedure easy to understand, the procedure may be guided by voice. When the position of the working unit 50 is stored, the buzzer 114 sounds “beep”, and when the position storage of the working unit 50 is not completed, the buzzer 114 sounds “beep”. The state can be recognized.

  When the storage switch 101j is pressed once, the working unit 50 moves to the storage position, and when the storage switch 101j is pressed again, the movement of the working unit 50 toward the storage position is stopped. While the working unit 50 is being stored, the buzzer 114 sounds and the storage operation lamp 101g blinks. The storage position of the working unit 50 refers to a position where the offset frame swings so as to extend rearward and the amount by which the working unit 50 protrudes from the side of the traveling machine body 90 becomes small.

  The drum left switch 101m is operated when turning the entire trimming unit 80 (see FIG. 2) counterclockwise, turns when pressed, and stops when released. The drum right switch 101k is operated when turning the entire trimming unit 80 clockwise, turns when pressed, and stops when released. When the spray switch 101n is pressed once, the power is turned on and the electric pump P is driven to operate the spray device 44. When the spray switch 101n is pressed again, the power is turned off and the electric pump shown in FIG. P stops and the spraying device 44 is deactivated.

  The communication unit 112 puts command data or ID data stored in the storage unit 111 on the radio wave via the antenna 115 and transmits it via the antenna 115 when each switch is pressed. Further, the communication unit 112 receives a signal from the wireless communication control device 70. When each switch is pressed, the control unit 110 reads command data corresponding to each switch stored in the storage unit 111 and sends the command data to the communication unit 112. When the power switch 101 b is pressed, the ID data stored in the storage unit 111 is sent to the communication unit 112. Further, when the work position storage switch 101a and the power switch 101b are pressed, the control unit 110 causes the command signal data selection unit 110a of the control unit 110 to store command data stored in the storage unit 111. Is sent to the communication unit 112. The storage unit 111 stores programs and settings used in the control performed by the control unit 110. Further, the storage unit 111 stores ID information, command signal data for operating the operation control valve V1 of the offset cylinder 3, the operation control valve V2 of the turning cylinder 41, and the electric pump P of the spraying device 44. The power supply 113 supplies power to the communication unit 112, the control unit 110, and the storage unit 111. The command signal data includes command data for controlling various operations and intensity data of radio wave output.

  When the power switch 101b is turned on, the output control unit 112a of the communication unit 112 performs control to output with a strength smaller than the strength of the radio wave output when each switch other than the power switch 101b is operated. In particular, when the power switch 101b is turned on, radio waves are transmitted with a first radio wave output, and when operating switches other than the power switch 101b, radio waves are transmitted with a second radio wave output. At this time, the intensity of the first radio wave output is smaller than the intensity of the second radio wave output. The intensity data of the first radio wave output and the intensity data of the second radio wave output are stored in the storage unit 111.

  Moreover, the output control part 112a of the communication part 112 performs control which adjusts and outputs the intensity | strength of the electromagnetic wave output when operating a command switch for every command signal which controls various operation | movement. At that time, the output control unit 112a adjusts the output intensity of the radio wave on which the command data is placed according to the radio wave output intensity data included in the command signal data.

  The control unit 110 receives the command signal data stored in the storage unit 111 corresponding to these switch operations when the work position storage switch 101a is pressed alone and when the power switch 101b is pressed together. The command signal data selection unit 112a to be selected is provided. The command signal data selection unit 112 a selects command signal data for moving the work unit 50 to the offset position of the work unit 50 stored in the storage unit 111 when the work position storage switch 101 a is pressed alone. In addition, when the work position storage switch 101a and the power switch 101b are pressed together, the command signal data selection unit 110a sets the offset position of the work unit 50 when these switches are pressed, in the storage unit 201 of the wireless communication control device 70. The command signal data to be stored in is selected.

  As described above, the offset cylinder 3 can have its mounting position on the hitch frame 11 set to “M” or “L” as shown in FIG. Since the offset amount of 50 changes, the workable range of the working unit 50 also changes. Therefore, when storing the position of the working unit 50 in the storage unit 201, the control unit 200 of the wireless communication control device 70 illustrated in FIG. 5 is based on the workable range corresponding to the mounting position of the offset cylinder 3. The offset position of the working unit 50 is stored within the workable range. For this reason, when the remote control device 100 performs switching setting of the workable range and this switch setting information is sent to the wireless communication control device 70, the control unit 200 can work based on the switching information of the workable range. A range is selected, and it is determined whether or not the position of the working unit 50 to be stored exceeds the workable range. When the position of the work unit 50 exceeds the workable range, the control unit 200 sounds the buzzer 114 to inform the worker that the work position has not been stored.

  Switching of the workable range is performed by simultaneously pressing the spray switch 101n and the power switch 101b after turning off the power switch 101b of the remote control device 100. Each time these switches are operated, M and L are switched alternately. Confirmation of the switched state can be confirmed by turning on the M state display lamp 73c or the L state display lamp 73b provided in the control box of the wireless communication control device. Note that the buzzer 114 will beep when the workable range is switched. The operation of switching the workable range is not limited to the spray switch 101n and the power switch 101b, and may be performed using the power switch 101b and another command switch. When the actual mounting position of the offset cylinder 3 and the mounting position to be stored in the storage unit 201 do not coincide with each other, the display lamp is not turned on to prevent an operator's mistake.

  FIG. 7 is a functional block diagram of the control unit 110. The control unit 110 includes a CPU 120, a memory 121, an input unit 122, and an output unit 123. The input unit 122 includes a power switch 101b, an automatic square coating switch 101e, an offset offset switch 101h, an offset offset switch 101i, a storage switch 101j, a work position storage switch 101a, a drum right rotation switch 101k, a drum left rotation switch 101m, a scatter A signal from the switch 101n is input.

  The output unit 123 outputs signals to the communication unit 112, the power supply lamp 101c, the battery replacement lamp 101d, the automatic enable lamp 101f, the storage operation lamp 101g, the scattering lamp 101q, the buzzer 114, and the power supply 113. The memory 121 stores ID data 124, a control program 125 that controls the operation when each switch is pressed, and a startup control program 126 that is executed when the remote control device 100 is started by pressing the power switch 101b. ing.

  Further, the memory 121 includes automatic square filling command data 130a that is a command to be transmitted when the automatic square filling switch 101e is pressed, and radio wave output intensity data 130b for setting the radio wave output intensity when the command data is transmitted. Command signal data 130, non-offset command data 131a which is a command to be transmitted when the off-offset switch 101h is pressed, and radio wave output intensity data 131b for setting the radio wave output intensity when the command data is transmitted. A command signal comprising command signal data 131, command data 132a within offset which is a command sent when the switch 101i within offset is pressed, and radio wave output strength data 132b for setting the radio wave output strength when the command data is sent. Data 132 and Command signal data 133 including stored command data 133a which is a command to be transmitted when the storage switch 101j is pressed, and radio wave output intensity data 133b for setting the radio wave output intensity when the command data is transmitted, and work position storage Command signal data 134 including work position storage command data 134a which is a command to be transmitted when the switch 101a and the power switch 101b are pressed, and radio wave output intensity data 134b for setting the radio wave output intensity when the command data is transmitted. A command signal comprising work position movement command data 135a which is a command to be transmitted when only the work position storage switch 101a is pressed, and radio wave output intensity data 135b for setting the radio wave output intensity when the command data is transmitted. With data 135 A command signal comprising drum right turn command data 136a, which is a command to be transmitted when only the drum right turn switch 101k is pressed, and radio wave output intensity data 136b for setting the radio wave output intensity when sending the command data. Data 136, drum left turn command data 137a which is a command to be transmitted when only the drum left turn switch 101m is pressed, and radio wave output intensity data 137b for setting the radio wave output intensity when sending the command data. Command signal data comprising command signal data 137, scatter command data 138a which is a command transmitted when the scatter switch 101n is pressed, and radio wave output intensity data 138b for setting the radio wave output intensity when the command data is transmitted. 138 is stored.

  As the above-mentioned radio wave output intensity data, a small value, for example, as radio wave output intensity data, when a third party near the coater 1 is in a high-risk operation such as being caught or caught in, for example, If the operator does not go near the coater 1, the radio wave with the command is prevented from reaching the wireless communication control device 70, and a third party near the coater 1 is caught. In the case of an operation with a low risk of being caught, the radio wave output intensity data is set to a large value, for example, 1 mW, and the radio wave carrying the command is wirelessly communicated even if the operator is away from the coater 1. It is set so as to reach the control device 70.

  The memory 121 stores first radio wave output intensity data 140 and second radio wave output intensity data 141.

  For example, when the off-offset switch 101h is pressed, the “control program” 125 is read by the CPU 120 from the off-offset command signal data 131 stored in the memory 121, and sends the data from the output unit 123 to the communication unit 112. In the communication unit 112, the off-offset command data 131a is placed on the carrier wave and transmitted from the antenna 115. At this time, the output control unit 112a of the communication unit 112 sets the output of the radio wave to be transmitted based on the radio wave output intensity data 131b.

  The communication unit 202 in the wireless communication control device 70 receives the radio wave via the antenna 207, demodulates it, sends out-offset command data 131a to the control unit 200, and the control unit 200 decodes the command data, An off-offset command is executed, the operation of the operation control valve V1 of the offset cylinder 3 is controlled via the I / O unit 203 to operate the offset cylinder 3, and the offset frame 21 is swung. The other switches of the remote control device 100 are operated in the same manner.

  The “start-up control program” 126 is a program that is executed when the power supply 113 is turned on. When the power supply 113 is turned on, a command for transmitting radio waves from the control unit 110 to the communication unit 112 is sent. At that time, first radio wave output data (for example, 0.2 mW) is sent to the output control unit 112a of the communication unit 112. At this time, the ID data 124 is also placed on the radio wave. As a result, the first radio wave output radio wave is transmitted from the communication unit 112 via the antenna 115. When a reply radio wave from the wireless communication control device 70 is not received after a predetermined time, that is, when the radio communication control device 70 does not receive a radio wave, the radio communication control device 70 is off, or the ID is different, the power lamp ( LED) 101c blinks.

  When the radio wave reaches the radio communication control device 70, the radio communication control device 70 takes out the ID data 124 from the received radio wave and collates the ID data 124 with the ID data in the storage unit 201. When the ID data does not match, the reply radio wave is not sent, and when the ID data matches, the reply radio wave is sent. When receiving a radio wave from the wireless communication control device 70, the remote control device 100 turns on the power lamp (LED) 101c.

  As described above, the work machine is controlled by operating the remote control device 100.

  Next, a procedure executed by the startup control program 126 in the remote control device 100 will be described with reference to the flowchart of FIG. The startup control program 126 is started when the operator turns on the power switch 101b of the remote control device 100. The control program for the wireless communication control device 70 is also started by turning on the power switch 205 of the wireless communication control device 70.

Step S <b> 11: The control unit 110 reads ID data 124 from the memory 121 and sends it to the communication unit 112.
Step S12: The control unit 110 sends the first radio wave output data 140 of the memory 121 to the output control unit 112a of the communication unit 112, and the communication unit 112 places the ID data 124 on the radio wave, and the output control unit 112a performs the first operation. Transmission is performed from the antenna 115 while controlling the radio wave output.

Step S13: The control unit 110 determines whether or not a reply radio wave from the wireless communication control device 70 has been received.
Step S14: If no reply radio wave is received in step S13, the power lamp (LED) 101c is blinked.

  Step S15: It is determined whether or not a power-off condition has been met. Here, the power-off condition is whether the power switch 101b is pressed, no operation is continued for a predetermined time (for example, 5 minutes), or key input is continued for a predetermined time (for example, 2 minutes) or more. If it is not a power-off condition, step S13 is executed. If the power-off condition is satisfied, step S25 is executed and the power source 113 is turned off.

Step S16: The wireless communication control device 70 determines whether or not a radio wave from the remote control device 100 has been received. If not received, return. Thus, the reception interrupt process is terminated.
Step S17: If the radio wave from the remote control device 100 is received in step S16, the communication unit 202 extracts the ID data 124 from the received radio wave and sends it to the control unit 200.

Step S18: The control unit 200 collates the ID data stored in the storage unit 201 with the ID data 124 from the received radio wave.
Step S19: The control unit 200 determines whether or not the ID data collated in step S18 matches. If the ID data does not match, the process returns. Thus, the reception interrupt process is terminated.

Step S20: If the ID data match in step S19, the control unit 200 transmits a reply radio wave from the communication unit 202. Then, the process returns to end the reception interrupt process.
Step S21: When the control unit 110 of the remote control device 100 receives the radio wave from the wireless communication control device 70 by the communication unit 112, the power lamp (LED) 101c is turned on.

Step S22: The control unit 110 turns on the buzzer 114.
Step S23: The control unit 110 sends the second radio wave output intensity data 141 from the memory 121 to the output control unit 112a of the communication unit 112, and the communication unit 112 converts the radio wave output to the second radio wave output intensity by the output control unit 112a. To do.

Step S24: It is determined whether or not a power-off condition has been met. Here, the power-off condition is whether the power switch 101b is pressed, no operation is continued for a predetermined time (for example, 5 minutes), or key input is continued for a predetermined time (for example, 2 minutes) or more. If it is not a power-off condition, step S24 is executed again. This establishes a standby state until a power-off condition such as pressing the power switch 101b is established or each switch is pressed.
Step S25: If the power-off condition is satisfied in step S24, the power source 113 is turned off and the program is terminated.

  As described above, when the power supply 113 is turned on, the intensity of the output radio wave is the first radio wave output intensity of about 0.2 mW, and the radio wave output intensity is low. Even if the radio wave does not reach the communication control device 70 and the operation command switch is turned on without the operator's intention, at the same time as the power supply 113 is turned on, the operation of the coater 1 which is not intended by the operator is executed. The possibility can be eliminated. As a result, it is possible to prevent an unintended operation when the command switch is pressed when the power is on, and to ensure safety.

  Next, the procedure when each switch is pressed will be described with reference to the flowchart of FIG. Here, the case where the power switch 101b and the work position storage switch 101a are pressed will be described as an example.

Step S31: The control unit 110 checks whether or not the power switch 101b and the work position storage switch 101a are pressed by the worker.
Step S32: When the power switch 101b and the work position storage switch 101a are pressed, the CPU 120 reads out the command signal data 134 of the work position storage stored in the memory 121 in the command signal data selection unit 110a of the control unit 110.

Step S33: The control unit 110 sends the work position storage command signal data 134 to the communication unit 112, and the communication unit 112 places the work unit storage command data 134a on the carrier wave.
Step S34: The output control unit 112a of the communication unit 112 sets the output of the radio wave to be transmitted based on the radio wave output intensity data 134b.

Step S35: The control unit 110 transmits the radio wave carrying the work position storage command data 134a from the communication unit 112 through the antenna 115 with the output intensity set based on the radio wave output intensity data 134b.
Step S36: The communication unit 202 in the wireless communication control device 70 determines whether or not the radio wave is received via the antenna 207. If no radio wave is received, the process returns and ends this reception interrupt process.

Step S37: If a radio wave is received in step S36, the communication unit 202 transmits a return radio wave.
Step S38: The communication unit 202 extracts the work position storage command data 134a and sends it to the control unit 200.

Step S39: The control unit 200 stores the work storage command data 134a sent from the communication unit 202. Then, the process returns to end this reception interrupt process.
Step S40: The control unit 110 of the remote control device 100 determines whether or not a reply radio wave from the wireless communication control device 70 has been received. If no reply wave is received, return. As a result, the interrupt process is terminated. Then, this program is started after a predetermined time, for example, 10 msec.

  Step S41: If a reply radio wave is received in step S40, a reply completion process such as turning on a buzzer is performed, and the process returns.

  The above processing in the remote control device 100 is repeatedly executed every predetermined time, for example, every 10 msec.

  FIG. 9B is a flowchart of timer interrupt processing executed by the control unit 200 of the wireless communication control device 70 every predetermined time, for example, every 20 msec.

Step S42: The control unit 200 checks the command stored in step S39 and decodes the command. In this embodiment, it is read that the work position storage command is stored.
Step S43: The control unit 200 executes an operation process. In this embodiment, the control unit 200 executes a work position storage command and causes the storage unit 201 to store the detection value of the swing sensor 27. Then return.

  Next, a procedure when the work position storage switch 101a is pressed alone will be described. When the work position storage switch 101a is pressed after the offset position of the work unit 50 is stored in the storage unit 201, the control unit 200 moves the work unit 50 to the stored offset position of the work unit 50 in step S39 described above. Is stored in the work position movement command data 135a. Since S11 to S38 are the same as those described above, description thereof is omitted. And the control part 200 checks the command memorize | stored by step S39 (step S40), and decodes a command. In this embodiment, it is read that the work position movement command is stored. Then, the control unit 200 executes a work position movement command, controls the operation of the operation control valve V1 of the offset cylinder 3 via the I / O unit 203, and expands / contracts the offset cylinder 3, thereby moving the offset frame 21. The working unit 50 is moved to the stored offset position.

  The procedure by other switch operations of remote control device 100 is executed in substantially the same manner, although the operation is different from the command.

  As described above, in this embodiment, after moving the working unit 50 to the offset work position desired by the worker, the power supply 113 of the remote control device 100 is turned off, and then the work position storage switch 101a and the power switch 101c are turned on. When pressed, the offset position of the working unit 50 is stored in the storage unit 201 of the wireless communication control device 70. After that, when the working position storage switch 101a is pressed, the working unit 50 is automatically set to the stored offset position from the current position. Move on.

  For this reason, the operator can change and store his / her set position with a simple switch operation, and then press the work position storage switch 101a to set the work unit 50 at an offset position suitable for his / her work method. Can be moved automatically. Therefore, the worker can always perform the smearing work under the same conditions that suit him / her. Further, the fine adjustment work of the offset amount that is troublesome for the operator is not required, and the workability of the fringing work can be improved.

  The configurations, shapes, sizes, and arrangement relationships described in the above embodiments are merely schematically shown to the extent that the present invention can be understood and implemented, and the numerical values and the compositions (materials) of the respective components Is just an example. Therefore, the present invention is not limited to the described embodiments, and can be modified in various forms without departing from the scope of the technical idea shown in the claims.

1 Spider coater (agricultural machine)
DESCRIPTION OF SYMBOLS 50 Working part 70 Wireless communication control apparatus 100 Remote control apparatus 101a Work position memory switch 101b Power switch (command switch)
101e Automatic square coating switch (command switch)
101h Switch outside offset (command switch)
101i Offset switch (command switch)
101j Retraction switch (command switch)
101k Drum right turn switch (command switch)
101m Drum left turn switch (command switch)
101n Spraying switch (command switch)
110 control unit 110a command signal data selection unit 111 storage unit

Claims (2)

In a farm machine having a working unit that is attached to the rear part of the traveling machine body and is arranged so that the offset position can be adjusted laterally with respect to the traveling position of the traveling machine body, included in the radio wave received by the antenna provided in the farm machine A remote control device for a farm work machine comprising a communication unit that transmits a radio wave including the command signal to a wireless communication control device that controls the operation of the farm work machine according to a command signal to be transmitted,
A working position storage switch for sending a command signal for storing the current offset position to which the working unit has moved or command signal data for moving the working unit to the stored offset position of the working unit;
A command switch for sending command signals for controlling the various operations of the agricultural machine;
A storage unit for storing command signal data for controlling various operations;
When a command signal is transmitted from any one of the work position storage switch and the command switch, a control unit that reads command signal data corresponding to the transmitted command signal from the storage unit and sends the command signal data to the communication unit,
When the command signal is transmitted simultaneously from the work position storage switch and the command switch, the control unit stores command signal data for storing the current offset position of the work unit when these command signals are transmitted. When the command signal is transmitted from the work position storage switch and the command signal is transmitted from the work position memory switch, the offset of the work unit stored from the position of the work unit when the command signal is transmitted from the work position memory switch. the command signal data for moving the working unit in a position to have a command signal data selecting unit to read from said storage unit,
The control unit is capable of switching setting of the workable range of the work unit, and stores the current offset position of the work unit within the set workable range. Remote control device.   The command switch for sending a command signal for causing the command signal data selection unit to read command signal data for storing the current offset position of the working unit from the storage unit is turned on and off. The remote control device for an agricultural machine according to claim 1, wherein the power switch is a power switch.