JPH0542704Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a remote control means for operating a control valve of a hydraulic actuator of a remote-controlled working vehicle based on instruction information from a transmitter, and The present invention relates to an emergency stop device for a remote-controlled work vehicle, comprising an engine stop control means for operating an engine stop actuator that stops the engine of the work vehicle based on instruction information of the work vehicle.

[Conventional technology]

The above-mentioned emergency stop device for this type of remote-controlled work vehicle operates by remotely controlling the work vehicle, so
For safety reasons, the transmitter can command the engine to stop.

By the way, since the above-mentioned work vehicle travels by remote control, for example, the direction of the steering wheel is changed using a hydraulic cylinder or the like as a hydraulic actuator, but the hydraulic fluid of this hydraulic cylinder is It will be supplied by a hydraulic pump or the like driven by the engine.

Therefore, after the engine is stopped, the supply of hydraulic oil to the hydraulic cylinders is stopped, so the steering wheels are stopped at their current positions.

If the position where the steering wheel stops does not match the target steering position instructed by the transmitter, there is a risk that the control valve for the hydraulic cylinder may remain in the operating state. After the transmitter operator has brought the engine to an emergency stop,
It is necessary to go to the stopping point of the work vehicle and turn off the main switch to stop the supply of operating power to the control valve.

[Problem that the invention attempts to solve]

However, if the operator of the transmitter and the work vehicle are far apart, it is troublesome to go to the stop of the work vehicle to turn off the main switch, resulting in delays or forgetting to turn off the main switch. There is a risk.

By the way, the power for operating the control valve of the hydraulic actuator is supplied from a battery that is charged by a generator driven by the engine, and if the control valve is operated for a long time, There is a risk that the battery power will be consumed and it will be impossible to restart the vehicle.

The present invention has been made in view of the above circumstances, and its purpose is to suppress battery power consumption by the control valve after the engine is stopped.

[Means for solving problems]

A feature of the emergency stop device for a remotely controlled work vehicle according to the present invention is that power cutoff control means is provided to cut off the supply of operating power to the control valve when the engine stops. , its actions and effects are as follows.

[Effect]

In other words, after the engine has stopped and a set time has elapsed, the supply of operating power to the control valve of the hydraulic actuator is cut off, thereby suppressing power consumption by the control valve.

[Effect of idea]

Therefore, when the engine stops and a set period of time elapses, the power supply to the hydraulic actuator control valve is automatically stopped, so battery power is not consumed while charging by the engine is stopped. I was able to prevent this from happening again.

〔Example〕

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

As shown in FIG. 4, an engine E is mounted on the front side of a vehicle body equipped with a pair of left and right front wheels 1F and a rear wheel 1R, and on the rear side of the vehicle body, a boarding seat 2, a steering handle H for boarding operation, A variable speed transmission section M is provided, and a lawn mowing device 3 driven by the engine E is suspended in the lower abdomen of the vehicle body between the front and rear wheels 1F and 1R so as to be able to rise and fall. A work vehicle V used for reaping work is constructed.

However, as will be described later, the work vehicle V is configured so that it can be driven not only by boarding but also by remote control.

In the figure, 4 is a hydraulic cylinder for raising and lowering the lawn mowing device 3, and 5 is a warning lamp for notifying the engine stop when the engine E is stopped.

As shown in FIG. 2, the output of the engine E is transmitted to the front and rear wheels 1F and It is configured to be transmitted to 1R.

The transmission device 6 includes a speed change pedal 7 for boarding operation.
It is constructed such that the speed can be freely changed by any of the variable speed motor 8 for remote control.

However, the speed change motor 8 is configured to be able to be linked to the speed change device 6 in cascading manner by a clutch mechanism 10 that is operated on and off by a manual clutch lever 9 (see FIG. 4), and during remote control, the The clutch mechanism 10 is engaged, and at the time of boarding maneuver, the clutch mechanism 10 is disengaged.

The lawn mowing device 3 is directly driven by the engine E, and its drive can be switched on and off using an electromagnetically operated clutch 11.

By the way, the front and rear wheels 1F and 1R are configured so that they can be operated not only as driving wheels but also as steering wheels.
The steering hydraulic cylinders 12F and 12R, which serve as hydraulic actuators, are configured to be able to freely change their directions in the front and rear directions.

The system is configured so that a parallel steering type that changes the direction of the front and rear wheels 1F and 1R in the same direction, a 4-wheel steering type that changes the direction of the front wheels 1F and 1R in the opposite direction, and a 2-wheel steering type that changes the direction of only the front wheels 1F can be selected. ing. However, during remote control, the vehicle is configured to switch between the parallel steering type and the four-wheel steering type.

In addition, in Fig. 2, 13 is a transmitter for remote control, 1
4 is a receiver; 15 is a control valve 1 for the speed change motor 8 and the steering hydraulic cylinders 12F and 12R based on the information received by the receiver 14;
6F, 16R, the control valve 17 of the lifting hydraulic cylinder 4 of the lawn mowing device 3, the clutch 11 for driving on and off of the lawn mowing device 3, the control valve 19 of the brake operating hydraulic cylinder 18, and the control valve 19 for the engine E. A control device that controls each of the engine stop motors 21 as an actuator that stops the engine E by operating a fuel valve 20 for intermittent fuel supply. Based on the information, the control valves 16 of the steering hydraulic cylinders 12F and 12R are
remote control means 100 for operating the control valves 16F and 16R; engine stop control means 101 for stopping the engine E; and electric power for cutting off the supply of operating power to the control valves 16F and 16R when the engine E is stopped. Each of the cutoff control means 102 is configured.

However, although not shown, the speed change pedal 7 is biased to return to the neutral position corresponding to the stopped state, and when the operation is stopped, the speed change device 6 automatically returns to the neutral position, which is the stopped state. It is configured to return to Further, as the transmission device 6 returns to the neutral position, the power supply to the control valve 19 of the brake operation hydraulic cylinder 18 is cut off, and the brake operation hydraulic cylinder 18 returns to the braking state side, and the automatic The brake is applied automatically, and the brake is automatically released when the vehicle is operated forward or backward from the neutral position.

Further, the SW is interlocked with the on/off operation of the clutch mechanism 10 by the clutch lever 9.
This is a switch that is turned ON/OFF, and the control device 15 determines that if the switch SW is in the ON state, it is in the remote control state, and if it is in the OFF state, it is in the boarding control state. do,
This means switching between remote control and boarding control.

That is, when the switch SW is in the ON state, based on the reception information of the receiver 14,
A steering position detection potentiometer that detects the steering positions of the front and rear wheels 1F and 1R.
The steering hydraulic cylinder 12 is operated in accordance with the selected steering type so that the detected positions of R ₁ and R ₂ coincide with the indicated target position.
Control valves 16F and 16R of F and 12R are controlled to operate the steering, and the detection position of a shift state detection potentiometer _R3 that detects the operating state of the transmission 6 corresponds to the indicated target vehicle speed. The speed change motor 8
will be controlled.

As a result, the remote control means 100 is configured.

On the other hand, when the switch SW is in the OFF state, the target position indicated by the target steering position detection potentiometer _R0 that detects the operation position of the steering handle H and the steering position detection potentiometer The control valves 16F and 16 of the steering hydraulic cylinders 12F and 12R are adjusted in accordance with the selected steering type so that the detected positions of the meters _R1 and _R2 coincide with each other.
You will control R to operate the steering.

However, during boarding maneuvers when the switch SW is in the OFF state, the transmission device 6 is manually operated by the speed change pedal 7.

To explain the transmitter 13, as shown in FIG. 3, there is a shift lever 22 that instructs the transmission device 7 to perform a gear change operation in a longitudinal motion, and a shift lever 22 that instructs target steering positions of the front and rear wheels 1F and 1R. a steering lever 23 that directs the lawn mowing device 3 to move up and down, a lift switch 24 that instructs the lawn mowing device 3 to move up and down, and a clutch switch 2 that instructs the lawn mowing device 3 to be driven on and off.
5, and an engine stop switch 26 for issuing an instruction to emergency stop the engine E.

However, the steering lever 23 is configured to indicate the target steering position by moving left and right, and to select the type of steering to be used by moving back and forth.

Although not shown, each of the levers 2
2, 23 and each switch 24, 25, 26, and based on the detection information of the sensor, for each corresponding channel,
A transmitting device is provided that modulates a pulse signal, which is pulse width modulated to a pulse width corresponding to the operating state, into radio waves and transmits the radio waves toward the receiver 14.

Next, the engine stop control means 101 for stopping the engine E based on instruction information from the transmitter 13 will be explained.

As shown in FIG. 1, an alternator 27 that is driven by the engine E to generate electricity, a regulator 28 that adjusts the generated output, a battery 29 that is charged by the output, and an output frequency of the alternator 27 that is below a set value. An engine stop detection circuit 30 detects whether or not the engine E is stopped based on whether or not the engine E is stopped.This engine stop detection circuit 30 is activated when the engine stops and turns on the warning lamp 5. A lamp drive circuit 31 that drives the lamp to blink, and an F/F that converts a pulse signal indicating the operating state received by the receiver 14 and output from the corresponding channel of the engine stop switch 26 into a DC voltage corresponding to the pulse width. The V converter 32 turns on/off the engine stop switch 26 based on whether the DC voltage is higher than the set value.
a comparator 33 for determining the OFF state, and
If the DC voltage is equal to or higher than the set value, it is assumed that the engine stop switch 26 has been turned ON and an instruction to stop the engine has been issued from the transmitter 13. First timers 35 are provided for outputting a signal for maintaining the first relay 34, which operates the engine stop motor 21, in a driven state for a period of 5 seconds.

However, the engine stop motor 21 is
When the fuel valve 20 is operated to the fuel cutoff position,
2nd relay 3 that automatically switches to power supply B side
6, the second relay 36 automatically stops at the fuel cutoff position, and the first timer 3
5 is stopped and the first relay 34 returns to the OFF state, the fuel valve 20 is automatically reversed so that it automatically returns to the open position.

Further, a second timer 37 is activated by the output of the comparator 33, and as a set time (for example, 1 minute) elapses after the second timer 37 is activated, the warning lamp 5 and the steering oil pressure are activated. Control valves 16F and 16 for cylinders 12F and 12R
R, a relay 3 that cuts off the supply of operating power from the battery 29 to the control valve 17 for raising and lowering the lawn mower 3 and the control valve 19 for braking;
8 is provided.

However, the relay 38 has two contacts 38a, 3
8b, one contact 38a cuts off the operating power to the alarm lamp 5, and the other contact 38b turns on and off the control valves 16F, 16R, 17, based on the command from the control device 15. The gate circuit 40 is configured to control the operation of a gate circuit 40 that prohibits the operation of each control valve drive circuit 39 that drives the control valve 19.

In other words, the gate circuit 40 is connected to the relay 3
When the other contact 38b of 8 is in the ON state, each control valve drive circuit 39 operates each control valve 16F, 16 based on a command from the control device 15.
R, 17, 19 can be driven, the second timer 37 is activated, and the other contact 38b is activated.
As the control valve drive circuit 39 switches to the OFF state, the control valves 16F, 1
By prohibiting the driving of the control valves 6R, 17, and 19, the supply of operating power to each of the control valves 16F, 16R, 17, and 19 is indirectly cut off.

As a result, the second timer 37 and the relay 38 correspond to the power cutoff control means 102 that cuts off the supply of operating power to the control valve of the hydraulic actuator when the engine E stops. .

In the figure, 41 is an OR that resets the second timer 37 when the main switch 42 is operated to its OFF position or start position ST.
The gate 43 is a monitor lamp that is supplied with operating power via the relay 38 that cuts off the operating power to the warning lamp 5 and displays the status of fuel, water temperature, oil, brake, etc. When the relay 38 is operated to the OFF side, the operating power is cut off together with the warning lamp 5.

[Another example]

In the above embodiment, the power cutoff control means 102
A second
Although a case has been exemplified in which a timer 37 is provided and the power supply to the warning lamp 5 and each control valve is cut off when a set time elapses, the setting starts from the time when the engine stop detection circuit 30 detects that the engine has stopped. The configuration may be such that the power supply is cut off after a period of time has elapsed. Further, the power supply to all parts constituting the remote control means 100, such as the control device 15 and the variable speed motor 8, may be cut off, and the specific configuration can be modified in various ways.

Further, in the above embodiment, the engine stop control means 1
01 is configured to stop the engine E by cutting off the fuel supply to the engine E. However, for example, if the engine E is a gasoline engine, the electric power for operating the spark plug is The supply may be stopped by cutting off the supply, and the specific configuration can be modified in various ways.

Note that although reference numerals are written in the claims section of the utility model registration for convenience of comparison with the drawings, the present invention is not limited to the structure of the attached drawings by such entry.

[Brief explanation of the drawing]

The drawings show an embodiment of the emergency stop device for a remote-controlled work vehicle according to the present invention, FIG. 1 is a block diagram showing the configuration of the engine stop control means and the power cutoff control means, and FIG. 2 shows an outline of the control configuration. FIG. 3 is a front view of the transmitter, and FIG. 4 is a side view of the working vehicle. V...Work vehicle, E...Engine, 12F, 12
R...Hydraulic actuator, 13...Transmitter,
16F, 16R...control valve, 100...remote control means, 101...engine stop control means, 102
...Power cutoff control means.

Claims (1)

[Scope of utility model registration request] Based on the instruction information from the transmitter 13, the hydraulic actuators 12F, 12 of the remotely controlled work vehicle V
A remote control means 100 that operates control valves 16F and 16R of R, and an engine stop control means 101 that operates an engine stop actuator 21 that stops the engine E of the work vehicle V based on instruction information from the transmitter 13. An emergency stop device for a remotely controlled work vehicle, comprising:
As the control valves 16F and 16R stop, the control valves 16F and 16R
A remote-controlled worker emergency stop device is provided with a power cutoff control means 102 that cuts off the supply of operating power to the remote control worker.