JPH0411866Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] The present invention relates to an emergency stop device for automatically bringing a remote-controlled work vehicle to an emergency stop when an abnormality occurs in a transmitter. A receiver that receives instruction information, a reception abnormality detection means that monitors the reception state of the receiver and outputs a reception abnormality signal upon detection of a reception abnormality, and automatically stops vehicle running upon receiving the reception abnormality signal. Each of the travel stop control means is provided on the vehicle body side, and an engine stop instruction means for instructing to stop the engine is provided on the transmitter side, and the engine is emergency stopped based on instruction information from the engine stop instruction means. The present invention relates to an emergency stop device for a remote-controlled working vehicle, which includes an engine emergency stop control means on the vehicle body side.

[Conventional technology]

This type of remote-controlled work vehicle described above remotely controls the movement of the vehicle body and the operation of various work devices installed on the vehicle body, so that it can automatically make an emergency stop in the event of an abnormality. A means is provided to monitor the reception status of the receiver and automatically stop the vehicle in the event of an abnormality in reception.In addition, in case the vehicle stop means does not operate, the engine can be stopped in an emergency by instructions from the transmitter. This system is designed to increase safety by providing a means to

[Problems to be solved by the invention] However, in the above-mentioned conventional means, since the engine stop command is issued from the transmitter side, for example, rainwater or the like may enter the transmitter, causing damage to the transmitter side. If an abnormality occurs in the information from the engine stop instruction means or the various devices that transmit that information, the engine stop instruction information may be sent to the receiver on the vehicle body by mistake or may not be sent at all. , there is a risk that an emergency stop will not be possible.

The present invention was developed in view of the above-mentioned circumstances, and its purpose is to effectively utilize the emergency stop means originally provided in order to ensure the safety of remote-controlled work vehicles. To make it possible to make an emergency stop of a vehicle body even when engine stop instruction information cannot be normally transmitted to a receiver side.

[Means for solving problems]

A characteristic configuration of the emergency stop device for a work vehicle according to the present invention is that the transmitter stops transmitting the instruction information as a set time elapses after the engine stop instruction means is operated to the engine stop instruction state. The point is that a means is provided, and its action and result are as follows.

[Effect]

That is, after the engine stop instruction means provided on the transmitter side is operated to stop the engine, the transmission of instruction information from the transmitter is stopped when a set time has elapsed. Then, the reception abnormality detection means that originally monitors the reception status of the receiver installed on the vehicle body side detects the reception abnormality.
Correspondingly, the traveling stop control means is automatically activated to stop the vehicle from traveling.

[Effect of idea]

Therefore, even if the engine stop instruction from the transmitter side is not properly transmitted to the vehicle body side, it is possible to avoid failure to perform an emergency stop due to the engine not being able to stop, thereby increasing safety. .

〔Example〕

Hereinafter, embodiments of the present invention will be described based on the drawings.

As shown in FIG.
Suspending the lawn mowing device 1 driven by an output of 7,
This is a work vehicle used for cutting grass, weeds, etc.

To explain the vehicle body V, as shown in FIGS. 3 and 4, a pair of left and right front wheels 2 and a pair of left and right rear wheels 3 are provided, and a steering wheel is provided to operate the pair of front and rear wheels 2 and 3 separately. Hydraulic cylinders 4, 5 and control valves 6, 7 therefor are provided. A hydraulic continuously variable transmission 8 which can freely switch forward and backward and can freely change forward and reverse speeds is interlocked and connected to the engine 37, and is provided with a speed change pedal 9 for on-board operation and a speed change motor 10 for remote control. be. In addition, a steering handle H for boarding and maneuvering is provided. Although not shown in the drawings, the lawn mower 1 is configured to be able to move up and down as well as drive and stop, and when remotely controlled, it can be moved up and down and driven based on instruction information from a transmitter 14, which will be described later.・In addition to being stopped, during boarding and maneuvering, it can be manually operated to move up and down, drive, and stop.

In order to steer the pair of front and rear wheels 2, 3 by changing their direction, there is a parallel steering type that changes the direction of the front and rear wheels 2, 3 in the same direction.
A four-wheel steering type that changes the direction of the front wheels 2 in the opposite direction to make a sharp turn, and a two-wheel steering type that changes the direction of only the front wheels 2 can be used. The parallel steering type and the four-wheel steering type can be selected during remote control, and any of the three types of steering types can be selected during boarding operation. .

Further, a friction-type traveling brake 11 configured to be in a braking state when not in operation and in a braking release state when in operation, a hydraulic cylinder 12 as an actuator for operating the brake, and a control valve 13 for it. Each is provided. When the shift position of the front and rear transmission 8 is in the range near the neutral position N corresponding to the stopped state, the traveling brake 11 is in the braking state, and when it is outside the range near the neutral position N. It is configured so that the brake is released, that is, when the vehicle is running, the brake is automatically released, and when the vehicle is stopped, the brake is automatically activated.

To explain the configuration of remote control, the control valves 6, 7 of the steering hydraulic cylinders 4, 5,
Control valve 1 of hydraulic cylinder 12 for brake operation
3 and a control device B that gives operation commands to each of the variable speed motors 10, and a receiver 15 that receives instruction information from a transmitter 14 and transmits it to the control device B.

Further, a front wheel steering position detection potentiometer R ₁ detects the steering position of the pair of front wheels 2, and a rear wheel steering position detection potentiometer R1 detects the steering position of the pair of rear wheels 3. ₂ and a shift position detection potentiometer _R3 for detecting the position of the shift arm 16 of the transmission device 8, that is, the shift position, and the detection signals from the potentiometers _R1 , _R2 , _R3 are provided. It is input to the control device B.

In other words, the target shift position instructed by the transmitter 14 and the shift position detection potentiometer
The operation of the speed change motor 10 is controlled so that the speed change position detected by R3 coincides with the speed change position detected by _R3 ,
Further, based on the steering type instruction information and target steering position instructed from the transmitter 14 and the detection information of the steering position detection potentiometers R ₁ and R ₂ of the front and rear wheels 2 and 3, respectively, the steering It is configured to control the operation of the control valves 6 and 7 of the hydraulic cylinders 4 and 5, so that the vehicle body V automatically travels at the designated speed, and the steering position of the front and rear wheels 2 and 3 is controlled. The driving of the vehicle body V can be controlled remotely so that the steering wheel is in an instruction steering type and reaches a target steering position.

To explain the configuration of the boarding maneuver, information on the steering type selection switch 17 and detection information of the target steering position detection potentiometer _R0 that detects the operating position of the steering handle H, that is, the target steering position during the boarding maneuver. is input into the control device B, and
Based on the information, the operation of the control valves 6, 7 of the steering hydraulic cylinders 4, 5 is controlled to steer the front and rear wheels 2, 3 in the instructed steering style and at the target steering position by the steering handle H. It is configured so that it can be operated. Note that during boarding maneuvers, the shift position of the transmission device 8, that is, the vehicle speed, is adjusted by directly operating the shift arm 16 with the shift pedal 9.

In the figure, reference numeral 18 denotes a control mode switching switch for selectively selecting between the boarding control mode and the remote control mode using the transmitter 14.

Further, when a key switch (not shown) is turned off, the power supply is cut off, and the control device B and the control valve 13 of the traveling brake 11 are automatically returned to the braking operation side, and the engine 37 is stopped. When the vehicle is in a controlled stop state, such as when the vehicle is in a controlled state, the brake automatically enters the brake operating state, and functions as a so-called parking brake.

As shown in FIG. 3, the transmitter 14 includes a shift lever 19 which indicates the target shift position of the transmission device 8 by its longitudinal movement, a gear shift lever 19 which indicates the steering type by its longitudinal motion, and , a steering lever 20 for instructing target steering positions of the front and rear wheels 2 and 3 by left-right movement, and an engine stop switch 21 as an engine stop instruction means.

As shown in FIG. 1, each of the levers 1
potentiometers Rv, Rs, and Rt that detect the operating positions and operating amounts of the switches 9 and 20, and a multiplexer 22 that multiplexes their detection signals and various signals such as the operating state of the engine stop switch 21; A/D converts output to A/D
converter 23, a CPU 24 that processes information input via this A/D converter 23, and this
The antenna 2 modulates the output signal from the CPU 24.
Each transmitter 26 is provided for transmitting data to the receiver 15 via the transmitter 5. For your safety,
The shift lever 19 is biased so that when its operation is stopped, the shift lever 19 automatically returns to the neutral state, that is, the shift position returns to the neutral position N.

Then, the engine stop switch 21
A power cutoff switch 27 that turns off in conjunction with the ON operation to cut off the power supply from the power source E to each part constituting the transmitter 14 is connected in series to the power switch 28, and the power cutoff switch 27
A backup power source Es is provided so that the instruction information is transmitted from the transmitter 26 until a set time has elapsed even after the transmitter 7 is turned off. That is, after the engine stop switch 21 is operated to the engine stop instruction state and a set time required for activation of the engine emergency stop control means _B1 on the vehicle body, which will be described in detail later, the instruction from the transmitter 14 is elapsed. The transmission of information is stopped, and as a set time elapses after the engine stop switch 21 serving as the engine stop instruction means is operated to the engine stop instruction state, the information is transmitted from the transmitter 14. A transmission stop means Bz is configured to stop the transmission of the instruction information. In addition, in the figure, 29
30 is a switch for instructing the lawn mower 1 to move up and down; 30 is a switch for instructing drive/stop of the lawn mower 1; and Er is a constant voltage regulator for stabilizing the power source for operating the transmitter 14. It is.

Next, the configuration of the reception abnormality detection means _B3 which monitors the reception state of the receiver 15 and outputs the reception abnormality signal P upon detection of reception abnormality will be explained.

That is, as shown in FIG.
5, if the transmission information from the transmitter 14 is normally received, the transmission information is transmitted at a predetermined period (in this embodiment, approximately
A pulse-like signal is output repeatedly every 23.5 ms (set to 23.5 ms), and when a reception error occurs, the period τ is, for example, as shown in Figure 2.
In addition to providing a function to output a reception monitoring signal P ₀ that changes from 23.5ms to 26ms,
As shown in FIG. 1, a D/A converter 31 converts the reception monitoring signal _P0 into an analog signal, and when the output of the D/A converter 31 is outside the set threshold range for which reception is considered normal, a reception abnormality signal P of the "H" level is shown. A comparator 32 is provided to output the following.

The travel stop control means B ₄ is configured by:
In response to the reception abnormality signal P, the target shift position is output from the receiver 15 and is output from the transmitter 14 via the demodulation circuit 33 having the same configuration as the D/A converter 31 and comparator 32. A switch circuit 34 is provided for switching the instruction information to a set value corresponding to a preset running stop state, that is, a neutral position N.
The information received by the receiver 15 is input to the control device B via the control device B. That is, when the reception abnormality detection means B ₃ detects a reception abnormality, the instruction information received by the receiver 14 is switched to safe setting instruction information corresponding to stopping the vehicle, and the vehicle automatically stops moving. It is configured so that

Therefore, when the transmission stop means _B2 of the transmitter 14 operates to stop transmission, the reception abnormality detection means _B3 detects the reception abnormality, and accordingly, the target shift position information is transmitted to the control device B. Since the vehicle is switched to the neutral position N and the traveling brake 11 is operated to the braking state, traveling is automatically stopped even if the engine is not stopped by the engine stop instruction switch 21. be.

Engine stop instruction switch 2 of the transmitter 14
The engine emergency stop control means _B1 for emergency stopping the engine 37 in response to an operation to stop the engine 37 will be explained as follows.As shown in FIG. a key stop solenoid 3 that operates a control valve 35 that cuts off fuel supply to the engine E in response to an engine stop instruction signal _P2 input to the engine E;
6 is provided.

[Another example]

In the above embodiment, the transmission stop means B ₁ includes a power cutoff switch 27 that cuts off the power supply to each part of the transmitter 14 in conjunction with the operation of the engine stop instruction means 21 to stop the engine.
For example, in conjunction with the operation of the engine stop instruction means 21, the power supply to only the transmitter 26 may be stopped after a set time, or the power supply may remain unchanged and only the transmitter operates. It may be configured to stop.

Further, in the above embodiment, the engine stop instruction means 2
1, an example using a switch is shown, but it is also possible to provide a means for indirectly detecting the operation state of the operating tool for instructing to stop the engine using a sensor, etc., and to issue engine stop instructing information based on the detected information. It may be possible to have it transmitted.

[Brief explanation of drawings]

The drawings show an embodiment of the emergency stop device for a remotely controlled work vehicle according to the present invention, FIG. 1 is a block diagram showing the configuration of the transmitter and reception abnormality detection means, and FIG. 2 is an explanation of the operation of the reception abnormality detection means. 3 is a block diagram showing a schematic configuration of a control system and a schematic configuration of a transmission system, and FIG. 4 is an overall side view of the working vehicle. 14...Transmitter, 15...Receiver, 21...Engine stop instruction means, 37...Engine, B ₁ ...
... Engine emergency stop control means, B ₂ ... Transmission stop means, B ₃ ... Reception abnormality detection means, B ₄ ... Travel stop control means.

Claims (1)

[Claims for Utility Model Registration] A receiver 15 that receives instruction information from the transmitter 14, and a reception abnormality detection means that monitors the reception state of the receiver 15 and outputs a reception abnormality signal P when a reception abnormality is detected. B ₃ and a traveling stop control means B ₄ for automatically stopping the traveling of the vehicle upon receiving the received abnormality signal P are provided on the vehicle body side, and an engine stop instructing means 21 for instructing to stop the engine 37 is provided. , an emergency stop device for a remote-controlled work vehicle, which includes an engine emergency stop control means _B1 provided on the transmitter side and for emergency stopping the engine 37 based on instruction information from the engine stop instruction means 21, and provided on the vehicle body side; The remote control is provided with a transmission stop means _B2 that stops the transmission of instruction information from the transmitter 14 as a set time elapses after the engine stop instruction means 21 is operated to the engine stop instruction state. Emergency stop device for type work vehicles. The emergency stop device for a working vehicle according to claim 1, wherein the transmission stop means _B2 is a means for cutting off a power source for operating the transmitter 14.