JPH0611861Y2 - Emergency stop device for remotely controlled work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention relates to an emergency stop device for an engine in a remote-controlled work vehicle operated based on instruction information from a transmitter.

[Conventional technology]

Some of the remote control work vehicles described above are configured so that the engine of the work vehicle can be stopped by an actuator mounted on the work vehicle itself based on instruction information from the transmitter. .

In this case, to make it easy to confirm that the engine has stopped,
For example, a warning lamp or the like is provided on the work vehicle as a notification means.

Therefore, the operator having the transmitter, after stopping the engine of the work vehicle, walks to the stop position of the work vehicle, turns off the main switch of the work vehicle, and stops the notification means such as a warning lamp. It will be.

[Problems to be solved by the invention]

However, if the operator who has the transmitter and the work vehicle are separated, it is troublesome to walk to the stop position of the work vehicle in order to stop the warning lamp. The stop operation may be delayed, or the operator may forget the stop operation.

Such warning lamps and other notification means are generally supplied with operating power from a battery charged by a generator driven by an engine. Therefore, if the notification means such as the warning lamp is operated for a long time, the electric power of the battery is consumed during that time, and it may be impossible to restart the traveling.

An object of the present invention is to suppress the power consumption of the battery by the notifying means for notifying the stop of the engine in the above remote control work vehicle.

[Means for solving problems]

A feature of the present invention is that the emergency stop device for a remote-controlled work vehicle as described above is configured as follows.

A power cutoff control means is provided for cutting off the supply of operating power to the notification means as the set time elapses after the engine is stopped.

[Action]

According to the present invention, when the actuator stops the engine according to the instruction information from the transmitter, the electric power for operating the notifying means is automatically cut off after the set time elapses after the engine is stopped.

[Effect of device]

As described above, when the engine is stopped and the set time elapses, the supply of the operating power to the informing means is automatically stopped, so that the battery power is consumed while the engine charging is stopped. By avoiding the situation, it was possible to prevent a situation in which the vehicle could not be restarted.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 4, a pair of left and right front wheels (1F) and rear wheels (1R)
An engine (E) is mounted on the front side of the vehicle body equipped with, and a riding seat (2), a steering handle (H) for boarding and steering, and a speed change transmission unit (M) are provided on the rear side of the vehicle body, front wheel
A lawn mowing device (3) driven by an engine (E) is vertically erected under the vehicle body between (1F) and the rear wheel (1R),
The work vehicle (V) mainly used for weeding and grass cutting work is configured.

This work vehicle (V) is configured so that it can be driven by remote control as well as boarding control as described later. And a hydraulic cylinder for raising and lowering the lawnmower (3)
(4), and if the engine (E) is stopped, the engine (E)
A warning lamp (5) (corresponding to a notifying means) for notifying the stop of is provided.

As shown in Fig. 2, the output of the engine (E) is
It is transmitted to the front wheels (1F) and the rear wheels (1R) via a hydraulic continuously variable transmission (6) provided in (M) that is capable of shifting forward and backward and shifting forward and backward. The continuously variable transmission (6) is configured so that it can be operated by both a speed change pedal (7) for boarding and maneuvering and a speed change motor (8) for remote control.

The transmission motor (8) is configured so that the clutch mechanism (10) that is operated by a manual clutch lever (9) (see FIG. 4) can be intermittently connected to the continuously variable transmission (6). , The clutch mechanism (10) is turned on / off during remote control, and the clutch mechanism (10) is turned off / on during boarding control. Lawn mowing equipment
The engine (3) is directly driven by the engine (E), and the driving is intermittently configured by an electromagnetically operated clutch (11).

As shown in FIG. 2, the front wheels (1F) and the rear wheels (1R) are not only drive wheels but also steering wheels, both of which are configured to be steerable, and a steering hydraulic cylinder (12F) is provided. , (12R), the direction can be changed separately.

In this case, the front steering wheel (1F) and the rear steering wheel (1R) are turned in the same direction, the parallel steering type, the four-wheel steering type is turned in the opposite direction, and only the front wheels (1F) are turned.
Each of the wheel steering type is configured to be selectable. For remote control, parallel steering type and 4
It is configured to use a wheel steering type and.

As shown in Fig. 2, transmitter (13) and receiver for remote control
(14), control valve (16F) for hydraulic cylinder (12F), (12R), (16
R), the control valve (17) for the hydraulic cylinder (4) of the lawnmower (3),
Control valve (19) for the hydraulic cylinder (18) that operates the brakes,
A fuel valve (20) for intermittently supplying fuel to the engine (E),
Engine stop motor (21) that operates this fuel valve (20) to stop the engine (E) (corresponding to an actuator)
Is provided, and the control device (15) for operating these is
It is also configured as an engine stop control means (100).

The speed change pedal (7) is urged to return to the neutral position corresponding to the traveling stopped state, and when the operation is stopped, the continuously variable transmission (6) is automatically returned to the neutral position which is the traveling stopped position. Has been done. Hydraulic cylinders for braking (18)
As the continuously variable transmission (6) returns to the neutral position,
It returns to the control state side and automatically becomes the braking state,
When the continuously variable transmission (6) is operated from the neutral position to the forward side and the reverse side, the brake release operation is automatically performed.

A switch (SW) that is turned on / off in synchronization with the on / off operation of the clutch mechanism (10) by the clutch lever (9) is provided, and the switch (SW) of the control device (15) is in the on state. In this case, it is determined to be in the remote control state, and when it is in the OFF state, it is determined to be in the boarding control state, and the remote control and the boarding control are switched.

As a result, when the switch (SW) is in the ON state, the front wheel (1F) and the rear wheel (1R) are based on the reception information of the receiver (14).
Potentiometer (R ₁ ) to detect the steering position of
Control valves (16F) and (16R) of hydraulic cylinders (12F) and (12R) corresponding to the selected steering type so that the detected position of (R ₂ ) matches the instructed target position. Is controlled to operate the steering wheel. Then, a potentiometer for detecting the shift state that detects the operating state of the continuously variable transmission (6).
The transmission motor (8) is controlled so that the detected position of (R ₃ ) coincides with the position corresponding to the instructed target vehicle speed.

Conversely, when the switch (SW) is in the OFF state, the target position indicated by the potentiometer (R ₀ ) that detects the operating position of the steering wheel (H) is the potentiometer (R ₁ ), (R ₂ ) Corresponding to the selected steering type so that the hydraulic cylinders (12F), (12F)
Steering operation is performed by controlling each control valve (16F), (16R) of R). Then, when the switch (SW) is in the OFF state, the continuously variable transmission (6) is artificially operated by the transmission pedal (7).

Next, the transmitter (13) will be described. As shown in FIG. 3, the transmitter (13) includes a speed change lever (22), a front wheel (1F), and a rear wheel (1R) that give instructions for a speed change operation of the continuously variable transmission (6) by front and rear operations. Steering lever (23) for instructing the target steering position, a raising / lowering switch (24) for instructing up and down movement of the lawn mowing device (3), a clutch switch (25) for instructing the drive / interconnection of the lawn mowing device (3), and An engine stop switch (26) is provided to give an instruction to stop the engine (E) in an emergency. The steering lever (23) is configured to instruct a target steering position by left / right operation and select a steering type to be used by front / rear operation.

Then, the above-mentioned speed change lever (22) and steering lever (2
3), various switches (not shown) that detect the operating state of the lifting switch (24), the clutch switch (25) and the engine stop switch (26) are provided, and based on the detection information of this sensor , A transmission device (not shown) is provided for modulating a pulse signal, which is pulse-width modulated to a pulse width corresponding to the operation state, to a radio wave for each corresponding channel and transmitting it to the receiver (14). There is.

Next, based on the instruction information from the transmitter (13), the engine (E)
The engine stop control means (100) for stopping the engine will be described.

As shown in FIG. 1, an alternator (27) driven by an engine (E) to generate power, a regulator (28) for adjusting the power generation output of the alternator (27), and a battery charged by the output of the regulator (28). (29), based on whether the output frequency of the alternator (27) is less than or equal to the set value, the engine (E)
Engine stop detection circuit that detects whether the engine is stopped
(30), a lamp drive circuit (31) is provided which is started when the stop of the engine (E) is detected and blinks the warning lamp (5).

F for converting the pulse signal, which is received by the receiver (14) and is output from the channel corresponding to the engine stop switch (26) and which indicates the operation state, into the DC voltage corresponding to the pulse width.
The / V converter (32) is provided with a comparator (33) for determining the ON / OFF state of the engine stop switch (26) based on whether or not the DC voltage is equal to or higher than a set value.

When the above-mentioned DC voltage is equal to or higher than the set value, the engine stop switch (26) is turned on and the transmitter (13) is instructed to stop the engine (E), and the set time (for example, A first timer (35) that outputs a signal for keeping the first relay (34) for operating the engine stop motor (21) in a driving state for 5 seconds required for the engine (E) to stop. Is provided.

The engine stop motor (21) includes a second relay (36) that is automatically switched to the power supply (B) side when the fuel valve (20) is operated to the fuel cutoff position.
At 6), it automatically stops at the fuel cutoff position and the first timer (35)
Is stopped and the first relay (34) is returned to the OFF state, the fuel valve (20) is automatically rotated in the reverse direction so as to be automatically returned to the open position.

The second timer (3 that is activated by the output of the comparator (33)
7) When the second timer (37) is activated and a set time (for example, 1 minute) elapses, a relay (3) that shuts off the supply of operating power from the battery (29) to the warning lamp (5)
8) is provided. As a result, the second timer (37) and the relay (38) supply the operating electric power to the warning lamp (5) (corresponding to the notification means) as the set time elapses after the engine (E) is stopped. Power interruption control means (1
It will correspond to 01).

Then, as shown in FIG. 2, the main switch (39) is turned off.
An OR gate (41) for resetting the second timer (37) is provided when the FF position or the start position (ST) is operated. The warning lamp (5) is equipped with a monitor lamp (40) that displays the status of fuel, water temperature, oil, brake, etc. by supplying the operating power via the relay (38) that shuts off the operating power. When the relay (38) is operated to the OFF side, the operating power to the warning lamp (5) and the monitor lamp (40) is cut off.

[Another embodiment]

In the above embodiment, the power interruption control means (101) is
The second timer (37), which is started when 4) receives the instruction to stop the engine (E) from the transmitter (13), activates the warning lamp (5) when the set time elapses. Although the case where the power supply is configured to be shut off is shown, the power shutoff control means (101) is used after the set time elapses from the time when the engine stop detection circuit (30) detects the stop of the engine (E). Alternatively, the warning lamp (5) may be configured to cut off the supply of operating power, and the specific configuration can be changed in various ways.

In the above embodiment, the engine stop control means (100) is
The case where the engine (E) is configured to be stopped by cutting off the fuel supply to the engine (E) has been shown.For example, when the engine (E) is a gasoline engine, the operation for the spark plug is performed. The supply of the electric power for use may be cut off to stop the engine (E), and the specific configuration may be changed in various ways.

It should be noted that reference numerals are added to the claims of the utility model for convenience of comparison with the drawings, but the invention is not limited to the structure of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 shows an embodiment of an emergency stop device for a remotely controlled work vehicle according to the present invention. FIG. 1 is a block diagram showing the configuration of engine stop control means and power cutoff control means, and FIG. 2 is a schematic control configuration. The block diagram shown in FIG. 3, FIG. 3 is a front view of the transmitter,
FIG. 4 is a side view of the work vehicle. (V) …… Work vehicle, (E) …… Engine, (5) …… Notification means,
(13) …… Transmitter, (21) …… Actuator, (100) ……
Engine stop control means, (101) ... Power cutoff control means.

Claims (1)

[Scope of utility model registration request] 1. An engine stop control means (100) for operating an actuator (21) for stopping an engine (E) of a remote control work vehicle (V) based on instruction information from a transmitter (13),
As the engine (E) stops, the engine (E)
An emergency stop device for a remote-controlled work vehicle provided with an informing means (5) for informing of the stop of the engine (E) after the engine (E) is stopped, the informing means (5 )
Power cutoff control means for cutting off the supply of operating power to the
Emergency stop device for remote-controlled work vehicle equipped with (101).