JPH01222708A - Wireless controlling device for mobile agricultural machine - Google Patents

Abstract

PURPOSE:To improve the operability of an agricultural machine and perform sure remote control of the machine, by carrying out resetting operation by a signal transmitted from a transmitter when the level of the steering signal inputted into a receiver is lowered below a prescribed level and the steering control operation is interrupted. CONSTITUTION:The steering signal transmitted from a transmitter 1 is received by a receiver 3 to effect the remote steering control of a mobile vehicle 2. When the mobile vehicle 2 is positioned near the propagation limit of radio wave for the steering and when the level of steering signal inputted into the receiver 3 is detected to be lower than a prescribed level, the steering control is interrupted and the mobile vehicle 2 is stopped. Since the remote control can be continued in the case of temporary disturbance of radio wave or temporary voltage drop of a power source, the interruption of the steering control can be released to restart the steering control by transmitting a resetting signal from the transmitter 1.

Description

[Detailed Description of the Invention] Industrial Application Field This invention relates to a radio control device for a transfer aircraft.
Can be used for combines, tractors, etc.

Conventional technology In a radio control device that remotely controls the traveling vehicle by receiving a steering signal transmitted from a transmitter with a receiver mounted on a traveling vehicle, the input level of the transmitted steering signal is below a certain level. A technique for interrupting remote steering control when the condition occurs is disclosed in Japanese Utility Model Application Publication No. 57-80207.

Problems to be Solved by the Invention However, in the technology for interrupting remote steering control when the input level of the steering signal falls below a certain level, reception is limited near the radio wave reach range of the steering signal. Because the input level of the steering signal received by the machine fluctuates significantly, the steering signal may be received at the normal level after steering control is interrupted.
If steering control n is performed at this time, it will become very unstable, and safety will become a problem.

When the input level of the steering signal falls below a certain level, the steering control is interrupted and the vehicle is stopped, and even if the steering signal at the normal level is received again, the control is restarted until a reset signal is received. In a configuration in which this reset switch is provided on the vehicle body, it is necessary to walk to the vehicle body for this reset operation, which is cumbersome and does not have good operability.

SUMMARY OF THE INVENTION An object of the present invention is to improve operability by enabling a set operation for resuming control from interruption using a transmission signal from a transmitter.

Means for Solving the Problems The present invention provides a radio control device for remotely controlling a traveling vehicle body (2) by receiving a lateral direction signal from a transmitter (1). When the steering control is interrupted by detecting that the input level has fallen below a certain level,
The configuration of the radio control device for a mobile agricultural machine is characterized in that this reset operation is performed by a transmission signal from the transmitter (1).

Effect of the Invention A steering signal transmitted from the transmitter (1) is received by the receiver (3), and the traveling vehicle body (2) is remotely controlled. When the traveling vehicle body (2) is under steering control and the traveling vehicle body (2) is near the radio wave reach limit range of the steering signal, the input level of the steering signal by the receiver (3) changes. However, when it is detected that this input level has fallen below a certain level, lateral control is interrupted and the vehicle body (2
) will stop.

In the event of a temporary disturbance in radio waves or a general voltage drop in the power supply, remote steering control can be continued after that by sending a reset operation signal from the transmitter (1). The suspension of steering control is canceled and steering control is performed.

Effects of the Invention In this way, remote steering control is interrupted when the input level of the lateral signal to the receiver (3) falls below a certain level, and even if the lateral signal at the normal level is received again, the steering control is not interrupted. Since the vehicle is maintained, the traveling vehicle body (2) does not suddenly start moving, and safety can be improved. In addition, when canceling the interruption of this remote steering control, the reset operation can be performed using the transmission signal from the transmitter (1), which improves operability and allows for accurate remote steering control. I can do it.

In addition, the rotating example shows a combine harvester equipped with a radio control device according to the present invention, and the traveling vehicle body (2) has a left and right traveling device (
A threshing device a (6) is mounted on a chassis having a threshing device 21 (6) and a driver's seat (8). 7) is provided with a reaping device (9) on the front side.

A receiver (3), a power source (IO) for the receiver, and a receiving antenna (11) are placed behind the cockpit (8).

Figure 1 is a block diagram showing the control, in which the transmitting antenna of the transmitter (1) is (!6) is received by the receiving antenna (11), and the plurality of channel signals output from the receiver (3) are converted into a serial data transmission signal via the input interface (17). Serial Bo) (
13).

The control device (15) also receives these steering signals through an output capacitor (14) and an output interface (19).
Solenoid (20) for left turning of vehicle body (2) via
, a clockwise solenoid (21), a forward solenoid (22), and a reverse solenoid (23).

The receiver (3) is configured to transmit a pulse signal to each channel output at regular intervals under normal conditions, and if the transmission from the transmitter Ia (1) is interrupted or ) When the input interface (17) detects that the pulse signal at regular intervals has stopped oscillating due to a drop in the voltage of the power supply (10) for the control device (10), this information is transferred to the control device (15
), and the steering output is controlled to be stopped.

Assuming that the serial data transmits 8-bit data, 8 to 247 are normal data, 255 is abnormal data, and the configuration is such that when 255 occurs in the signal of each channel, it is recognized as an abnormal state. are doing.

The transmitter (1) has a power supply (24) installed inside and is attached to the traveling vehicle body (2).
) is provided with a forward/backward operation switch (25) for moving the vehicle forward or backward, a left/right operation switch (2B) for changing the traveling direction to the left or right, and a reset knob (12).

Power is transmitted through each part to turn on the power source (10) of the receiver (3). When the transmission 4m (1) signal (24) is input, a pulse signal is transmitted at fixed time intervals to each channel of the reception m (3).

When a steering signal is transmitted from the feeder (1) by turning on the forward/backward operation switch (25) and the left/right operation switch (2B), the forward solenoid (22), reverse solenoid (23), or left turn It is output to the forward direction solenoid (20) and the right direction solenoid (21) to control the steering of the traveling vehicle body (2).

When the vehicle body (2) moves away from the transmitter (1) near the reachable limit of the steering signal, and the transmitted signal is interrupted, or due to temporary disturbances in radio waves, or a temporary voltage drop in the power supply, etc. When the output of each channel of the receiver (3) stops generating pulses at regular intervals, it is detected by the input interface (17), and this information is transmitted to the control device (15) using a serial data transmission signal to perform steering control. is interrupted.

However, in such a case, the lateral control can be continued after that, so by operating the reset knob (12) of the transmitter (1), a reset signal is sent and the steering control can be performed again. can be done.

In this way, since the reset operation when the steering control is interrupted can be performed by the transmission from the transmission Ja(-1), the operability can be improved.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention; FIG. 1 is a block diagram showing control, and FIG. 2 is a side view of the combine harvester. In the figure, code (1) is the transmitter, (2) is the vehicle body, and (3) is the transmitter.
indicates a receiver, and (15) indicates a control device.

Claims (1)

[Claims] The traveling vehicle body (2) receives the steering signal from the transmitter (1).
This receiver (3
) is characterized in that when it is detected that the input level of the steering signal has become below a certain level and the steering control is interrupted, this reset operation is performed by the transmission signal from the transmitter (1). Radio control device for mobile agricultural machinery.