JPH0733006A - Self-traveling vehicle - Google Patents

Abstract

PURPOSE:To ensure smooth and safe work when a self-traveling vehicle which is guided along a guide route is operated by remote control. CONSTITUTION:This self-traveling vehicle is provided with a traveling clutch device for transmitting and stopping power from a power supply which is mounted onto the traveling vehicle to a traveling device, a brake device for stopping the traveling device, an automatic steering device, various working devices, a receiver 111 for receiving signals from a transmitter 110 for remote control from the outside of the traveling vehicle, and a controller 100 which commands the operation of the respective devices according to the received command signals, and is constituted so as to issue a monitor signal from the transmitter 110 to the receiver 111. When the controller 100 judges that the monitor signal is not received continuously for a prescribed time, the controller controls so as to stop the traveling vehicle and stop the operation of various working devices.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling type vehicle such as an automatic traveling type chemical sprayer (speed sprayer) in an orchard or the like, which enables remote control of traveling and various works by radio.

[0002]

2. Description of the Related Art Conventionally, in an automatic traveling type chemical spraying machine (speed sprayer) or the like in an orchard or the like, when an operator executes a chemical spraying work while riding on a traveling vehicle,
Considering that an operator may be exposed to a drug and may be harmful to health, the drug is sprayed while the traveling vehicle is unmanned. in this case,
An alternating current is passed through an induction cable buried in the ground along a work route (induction route), and changes in the strength of the alternating magnetic field generated from this induction cable cause a pair of left and right pickup coils mounted on the front part of the traveling vehicle, etc. Of the lateral displacement of the traveling vehicle with respect to this guide cable, the difference between the output values (voltage values) of the pair of left and right magnetic sensors, which are generated according to the lateral displacement of the traveling vehicle, is calculated. (Quantity)
And the direction of lateral deviation (determination of right or left), and based on these detection results, steering control is performed by changing the direction of the steered wheels in the traveling vehicle so that the traveling vehicle travels along the guide cable. The work of spraying is also performed (refer to Japanese Utility Model Laid-Open No. 2-84909).

On the other hand, when the traveling device is a four-wheel type traveling vehicle, the steering device (steering device), the traveling clutch device for connecting and disconnecting the power from the engine, and the forward traveling (backward) of the traveling vehicle. It is usually provided with a brake device for stopping the. Therefore, one of the applicants first
In Japanese Patent Application No. 5-33509, the operation of the automatic traveling vehicle is configured to be switchable between a manual mode for operating manually (manual) and an automatic mode for automatically traveling unmanned. In the manual mode, the clutch petal and the brake petal are Both of them are operated by the footwork of the operator to enable ON / OFF operation of the clutch operating arm and braking operation of the brake operating arm, while in the automatic mode,
It has been proposed that the clutch actuating arm and the brake actuating arm can be actuated simultaneously via one actuator and an interlocking link mechanism.

In the traveling vehicle having the above-mentioned configuration, there are cases where it is desired to stop traveling of the traveling vehicle or start and stop the drug spraying work even when the vehicle is unmanned in the automatic mode. In order to respond to such a request, a worker located away from the traveling vehicle carries a transmitter for wireless remote control,
It has been considered that a traveling vehicle is equipped with a receiver that receives a command signal from the transmitter, and that each of the above-mentioned works is executed in response to receiving a predetermined command signal.

[0005]

However, in this type of automatic vehicle, a command signal for remote control by a transmitter is not always transmitted, and only when a desired work (operation) is desired. I just make a call,
When the receiver did not receive the command signal even though the necessary command signal was transmitted from the transmitter, it was assumed that there was no command signal from the transmitter on the receiver side. The automatic driving mode up to now will be continued.

In other words, it is possible that the receiver side cannot transmit radio waves due to a failure of the transmitter or the like, battery exhaustion, etc. It is not possible to distinguish whether the signal was not transmitted or could not be received due to a circuit failure on the receiver side. Therefore, there is a problem that the usefulness of the wireless remote control is reduced, and a runaway or chemical spray cannot be stopped, which is dangerous.

The present invention enables the above distinction to be made,
Another object of the present invention is to provide an automatic vehicle capable of ensuring safety in the case of radio wave non-arrival for wireless remote control.

[0008]

To achieve this object, in the present invention, a traveling clutch device for interrupting power transmission from a power source mounted on a traveling vehicle to a traveling device,
A brake device for stopping the traveling device, an automatic steering device, various working devices, a receiver for receiving a signal from a transmitter for wireless remote operation outside the traveling vehicle, and each device according to the received command signal In a self-driving vehicle including a control means for instructing an operation, the transmitter is configured to transmit a monitor signal to a receiver, and the monitor signal is controlled if the monitor signal is not continuously received for a predetermined time. When the means determines, the control means is configured to control so as to stop the traveling of the traveling vehicle and stop the operation of various working devices.

[0009]

EXAMPLE Next, an example in which the present invention is applied to an automatic traveling type chemical sprayer (speed sprayer) will be described. The speed sprayer has a driving operation unit 2 provided with a handle 3 on the front side of a traveling vehicle 1. The traveling vehicle 1 has a chemical liquid tank 4
And a spraying part 5 at the rear part.

The spraying section 5 is provided with a large number of spray nozzles 6 facing the outer peripheral surface of the traveling vehicle 1 excluding the lower surface of the traveling vehicle 1 at appropriate intervals in a radially outward direction, and a blower 7 for sending air in the radially outward direction,
The spray nozzle 6 can be spray-controlled so as to perform spraying work in each of the three sections on the left and right and the upper surface of the traveling vehicle 1 or the two sections on the left and right. Reference numerals 8 and 8 are left and right front wheels,
Reference numerals 9 and 9 denote left and right rear wheels, and these four wheels are of a so-called four-wheel drive type in which power from the engine 10 is transmitted via the traveling speed change mechanism 11 to be driven.
The power from 0 drives the blower 7 via the PTO output speed change transmission mechanism 12 and drives the dynamic injection pump 13 for the spray nozzle 6.

The steering device 14 with the steering wheel 3 is a power steering mechanism 15 including a mechanical or hydraulic system as shown in FIG. 3. The power steering mechanism 15 is a double-acting hydraulic cylinder 17 in a hydraulic circuit 16. When actuated and the hydraulic cylinder 17 extends, the rear wheels 9, 9 are turned to the left through the bell crank 18 having a W-shape in plan view, and the connecting rod 19 and the bell crank 20 having a V-shape in plan view are used. The front wheels 8 and 8 are changed to the right (when the hydraulic cylinder 17 is contracted, the front wheels are changed to the left and the rear wheels are changed to the right). It is a wheel steering type.

The hydraulic circuit 16 is shown in FIG.
Is an electromagnetic solenoid type control valve for the hydraulic cylinder 17 for automatic steering. Reference numeral 29 is an electromagnetic solenoid type control valve for controlling the hydraulic cylinder 30 as an actuator for operating the traveling clutch and the brake.
Is a control valve used in the case of manual steering operation. The control valves 29 and 28 are connected to a hydraulic pipe 31 branched from an upstream side of the control valve 23 for manual steering when hydraulic oil is fed from the hydraulic pump 22, and further, control valves for running clutch and brake operation. 29 is connected in series so as to be located upstream of the control valve 28 for automatic steering.

Therefore, when the control valve 29 is operated to a position other than the neutral position in order to operate the traveling clutch and the brake, the hydraulic cylinder 30 is preferentially operated, and the operation of the hydraulic cylinder 17 for steering is secondary. To be the target.
During manual steering, the oil sent from the hydraulic pump 22 is sent to the hydraulic motor 21 via the control valve 23 so that the amount of oil sent from the hydraulic motor 21 is proportional to the turning angle of the handle 3. And sends this oil to a double-acting hydraulic cylinder 17 attached to the steering mechanism 15. During automatic steering control, hydraulic fluid is sent from the hydraulic pump 22 to the hydraulic cylinder 17 via the neutral position of the control valve 29 and the electromagnetic solenoid type control valve 28.

Reference numeral 25 is a steering angle sensor such as a potentiometer capable of detecting the steering angle of the front wheels 8. In this case, the average value of the orientation angles of the left and right wheels may be obtained and detected. The front wheels and the rear wheels may be connected via separate hydraulic cylinder power steering mechanisms so that the front wheels and the rear wheels can be individually steered. On the lower surface of the traveling vehicle 1, a pair of left and right magnetic sensors 26a, 26
b is provided. The magnetic sensors 26a and 26b may be pickup coils in which conductors are wound in a coil shape, or may be Hall elements, Hall ICs, magnetoresistive elements, or magnetic transistors. By an alternating current of appropriate frequency applied to 27,
The strength of the AC magnetic field generated around the induction cable 27 can be detected. Induction cable 27
Will be laid in the trench formed along the guide route, which is the working route of the orchard, or will be buried underground.

Another embodiment of the means for detecting along the guide path is to detect a sign or a grove provided along the guide path by a sensor such as an ultrasonic sensor or an infrared sensor. Is also good. Reference numeral 60 shown in FIGS. 5 to 8 is a clutch petal for a traveling clutch (not shown) provided in association with the traveling transmission mechanism 11, reference numeral 61.
Shows brake petals for a conventionally known hydraulic type braking mechanism (brake device), and these petals are provided in the control section.

A support shaft 63 is rotatably supported by a receiving cylinder 65 supported on the rear surface of a cover plate 62 of the driver's seat via a bracket 64, and one end of the support shaft 63 has the brake petal 61. The cylindrical base portion (boss) 67a of the operating arm 67, which is arranged adjacent to the brake petal 61 to which the boss 61a to which the base portion of is fixed is rotatably fitted, is fixed to the support shaft 63 by the pin 66 and integrally formed. It is configured to rotate. The cylindrical base portion 60a of the clutch petal 60 and the cylindrical base portion 68a of the actuating arm 68 for the clutch device are adjacently fitted to the support shaft 63 extending from the other end of the bearing cylinder 62 so as to be rotatable. Actuating rods 69 and 70 for a brake device and a clutch device (not shown) are fixed to the cylindrical base portions 67a and 68a of the operating arms 67 and 68, respectively.

Between the operating arms 67 and 68, a case 71 having a substantially rectangular cross section and projecting from the cover plate 62 toward the driver's seat is provided. Roller-shaped pressing portions 72 and 73 are respectively projected at the tips of the two operating arms 67 and 68 in the lateral direction of the case 71, and the tips of the pressing portions 72 and 73 are formed on both left and right side surfaces of the case 71. Slots 74,7
Face from 5 to the inside. The lower surface of the arm portion 60b of the clutch petal 60 is brought into contact with the upper surface of the pressing portion 72 of the operating arm 67, and the lower surface of the arm portion 61b of the brake petal 61 is attached to the operating arm. The pressing portion 73 of 68 is brought into contact with the upper surface of the pressing portion 73.

In the case 71, a hydraulic cylinder 30 as an actuator, a balance arm 74 connected to a piston rod 30a of the hydraulic cylinder 30, and a pair of left and right swinging rocking and swinging coupled to the balance arm 74. It incorporates a dynamic link mechanism 75. The swing link mechanism 75 has the following configuration. That is, the cylindrical bosses 79a, 80 of the pair of left and right swing arms 79, 80 are attached to the support shaft 78 attached to the bracket 77 fixed to the inner surface of the case 71 from the reinforcing plate 76.
a is rotatably fitted, and the tip ends of the swing arms 79 and 80 are attached to the roller-like pressing portions 7 of the operating arms 67 and 68.
Face the upper surface of 2, 73.

The tip of a connecting arm 81 fixed to the cylindrical boss 80a of one swing arm 80 is rotatably pivotally attached to one pin 82 attached to the balance arm 74, and attached to the balance arm 74. The other end of the link 84 connected to the pin 83 is connected to the middle of the length of the other swing arm 79 via the connecting pin 85. Reference numeral 86 is a center pin that connects the piston rod 30a of the hydraulic cylinder 30 and the balance arm 74, and reference numeral 87 is a base end (upper end) of the hydraulic cylinder 30.
Is a bracket that attaches to and supports the reinforcing plate 76.
An upward biasing spring 88 is mounted on each of the arm portions 60b of the clutch petal 60 and the arm portion 61b of the brake petal 61 in the longitudinal direction, so that each arm portion is not acted on by the foot force. 60b, 61b
Does not contact the pressing portions 73, 72 of the operating arms 68, 67.

In this construction, when the traveling clutch device is manually operated (manually operated), when the clutch petal 60 is stepped on with a foot, the clutch actuating arm 68 of the clutch actuating arm 68 is formed on the lower surface of the arm portion 60b in the longitudinal direction. Since the pressing portion 73 is pressed downward, the operating arm 68 rotates downward about the support shaft 63. In conjunction with this movement, the operating rod 70 rotates and the clutch device (not shown) is turned off.
F (power cut off) (see FIG. 8). Similarly, when manually operating the brake device, the brake petal 61 can be depressed to press the pressing portion 72 of the operation arm 67 downward to rotate the operation.

Next, in the automatic mode, when the piston rod 30a of the hydraulic cylinder 30 for operating the clutch and the brake integrally and substantially simultaneously is projected downward, and thereby the balance arm 74 is moved downward, the balance arm 74 is moved downward. The coupling arm 81 for the clutch is rotated via the pin 82 at one end of 74, and the pressing portion 73 of the operation arm 68 is pressed downward by the tip of the swinging arm 80 which rotates integrally with the clutch connecting arm 81, and The operation arm 68 is rotated downward to operate the clutch OFF. At this time, the swing arm 79 for the other brake is provided via the pin 83, the link 84, and the connecting pin 85 at the other end of the balance arm 74.
Is rotated downward, the pressing portion 72 of the operation arm 67 for braking is pushed down by the tip of the swing arm 79, and the braking operation is performed by downward rotation of the operation arm 67.

In this case, the balance arm 7 pivotably swinging through the center pin 86 attached to the piston rod 30a.
When the traveling vehicle is stopped, the rotation amount (and rotation speed) of the clutch swing arm 80 and the rotation amount (and rotation speed) of the brake swing arm 79 differ depending on the movement of No. 4. It is possible to enable an operation in which the clutch is turned off first, and then the brake starts to work, and it is possible to prevent the engine from stopping during sudden braking (at the time of emergency stop).

In these automatic modes, the clutch petal 60 and the brake petal 61 do not rotate even if the operating arms 67 and 68 rotate downward, so that the safety of the feet of the operator in the cockpit can be ensured. . In addition, by adjusting the stroke between the interlocking portion (not shown) of the brake device and the operating rod 69 in accordance with the wear of the brake shoe, the swing arm 79 and the like related to the movement of the hydraulic cylinder 30 can be obtained. There is no need to adjust the location. It goes without saying that the above configuration is applicable not only to the chemical spraying machine but also to other automated vehicles for work.

FIG. 9 shows an embodiment of the spray section 5, in which the liquid chemical from the chemical liquid tank 4 enters the dynamic injection pump 13 through the tank drain valve 32 and the filter 33, and through the main valve 34 and the pipe 35. Left and right and center (upper) from the chemical liquid distributor 36
To spray the spray nozzle 6 in each direction through the switching valves 37, 38, 39 of the switching valves 37, 38, 39.
The switching operation motors 37a, 38a, 39a are provided in, and it is possible to select spraying the chemical liquid only in a predetermined direction depending on the positional relationship between the traveling direction of the traveling vehicle and the object to be scattered (tree). Reference numeral 40 is a pressure regulating valve, and reference numeral 41.
Is a stop valve connected to the correction spray discharge pipe 42,
A hose (not shown) is connected to the tip of the pipe 42, and a tree that has not been sprayed with the chemical solution is manually sprayed.

When a key is inserted into a key switch (not shown) provided on the operation panel of the driving operation unit 2 at the time of starting and rotated by a predetermined angle, the control device 100 described later stands up (starts up) and prepares for execution. It becomes a state (standby state). Then, when further rotated by a predetermined angle, the starter motor is activated to operate the engine. As the automatic mode setting switch 46, an alternate push button switch is used as an example. Therefore, the pressed state (ON state) is held by the first pressing. When the automatic mode setting switch 46 is pressed again, the protruding state (OFF state) is restored. The display unit including a liquid crystal display element displays the current control status and instructions for the operator in characters or figures. Reference numeral 49 is a shift switch for the operator to separately confirm his / her intention, and the push button switch portion is covered with a transparent openable / closable cover body. Press. As will be described later, switching from the automatic mode to the manual mode, and conversely, switching from the manual mode to the automatic mode, in addition to the operation of the automatic mode setting switch 46, the shift switch based on a clear intention of the operator. 49
Or the detection signal of the switch that operates based on the operation performed under the clear intention of the operator (for example, the depression operation of the traveling clutch petal 61) can realize the mode switching. To do.

When the automatic mode is set,
The automatic mode lamp 47 is turned on, and when the manual mode is set, the automatic mode lamp 47 is turned off. FIG. 10 is a functional block diagram of the control device 100 when the control of the traveling vehicle is executed by software of a microcomputer, and shows two microcomputer units (MPU) 101, 10
2, the two MPUs 101 and 102 are connected via a coupler with a detachable communication line 103 to mutually monitor whether or not the control on the other side is normally operating. Each MPU 101, 102 is composed of a central processing unit (CPU), a readable / writable memory (RAM), a read-only memory (ROM), etc., although not shown. Further, the two MPUs 101 and 102 are formed in the same form (same component parts) and can be exchanged with each other. In order to distinguish the two MPUs, the determination port 104 of one MPU 101 is a low port and the other MPU 101 is a low port. The determination port 105 of the MPU 102 is a high port.

An operation switch (manual operation switch) 10 for switching the operation section (left side, upper side, right side) of the spray nozzle 6 is provided at the input port of one MPU 101.
6, 107 and 108 terminals and the shift switch 4
9 terminals, a fan clutch operation switch 109 terminal for disconnecting power transmission to the blower 7, and a receiver for receiving command signals from a plurality of channels (six channels in the embodiment) from a transmitter 110 for remote operation. The output signal terminal of each channel of 111 and the output terminal of the reception monitor signal, the terminals of the pair of left and right obstacle detection sensors 112a and 112b mounted on the front part of the traveling vehicle 1, and the presence or absence of the chemical solution in the chemical solution tank The output terminal of the chemical liquid sensor 113 for detecting the size (full or empty) and the terminal of the automatic mode setting switch 46 are connected to each other to input a signal.

Further, to the output port of the MPU 101, to the switching operation motors 37a, 38a, 39a of the switching valves 37, 38, 39 for supplying the chemical liquid for each operation section (left side, upper side, right side) of the spray nozzle 6. Terminal, an electromagnetic solenoid terminal of an electromagnetic control valve 29 for the hydraulic cylinder 30 for automatic operation of the traveling clutch and brake, a terminal of an electric cylinder 114 for operating a fan clutch for interrupting power transmission to the blower 7, and a dynamic injection pump. Signals are output by connecting the terminals of the relays 115 that permit the operation of 13 respectively.

At the input port of the other MPU 102, the terminal of the automatic mode setting switch 46, the output signal terminal of each channel of the receiver 111, and the main speed change lever of the traveling speed change mechanism 11 are in the retracted position. Is attached to the front of the front bumper of the traveling vehicle 1 to stop traveling when an obstacle comes into contact with the terminal of the restraining switch 91 that detects the For touch sensor 11
6 terminals, a terminal of a stroke sensor 117 for detecting the maximum protruding position of the stroke of the piston rod of the hydraulic cylinder 17 for steering, and terminals of magnetic sensors 26a, 26b for detecting the magnetism from the induction cable 27, Although not shown, a spray for adjusting the direction of the spray nozzle groups 6 on the left and right sides on a plane intersecting with the traveling direction axis of the traveling vehicle 1 in order to effectively spray the chemicals on the standing trees on the sloped surface of the mountain. A signal is input by connecting the terminal of the switch 118 for operating the nozzle orientation changing actuator and the terminal of the rotation speed detector 119 of the engine 10 respectively. Also, MP
At the output port of U102, the terminal of the operation permitting relay 120 of the engine 10, the terminals of various pilot lamps 121, the terminal of the monitor lamp 122 that can confirm the reception monitor state of the receiver 111, and the state in the automatic mode are displayed. The terminal of the automatic mode lamp 47 for confirmation and the terminals 28R and 28L of the electromagnetic solenoids of the control valve 28 for steering are connected to each other to output a signal.

FIG. 11 is a functional block diagram of the transmitter 110 and the receiver 111. In the embodiment, a carrier wave (radio wave) is used.
A signal by FM modulation (frequency modulation) is sent to the receiver and sent to the receiver. In the transmitter 110 by the indirect frequency modulation method of the embodiment of FIG. 11, as shown in FIG. 12 and described later, various operation commands are given. Operation buttons 130 to 13
The signal from the input unit 136 including
It inputs to the low frequency amplifier circuit 138 through 37, amplifies,
While inputting this output signal to the phase modulator 139, a carrier wave is input to the phase modulator 139 from the crystal oscillator 140 that determines the output frequency, and the two-stage frequency multiplier 141,
The signal is output from the antenna 144 as a radio wave via the power amplifier 142 and the power amplifier 143. The number of channels in the embodiment is seven, including the channels of the reception monitor signal.

On the other hand, in the receiver 111 shown in FIG. 11, the radio wave received by the antenna 145 is amplified by the high frequency amplifier 146, and the frequency mixer 147, the intermediate frequency amplifier 148, and the FM.
Control device 1 via detector 149 and low-frequency amplifier 150
00 to output a predetermined signal to various output devices such as the control valve 29 for the traveling clutch device and the brake device, the engine operation permission relay 115, and the motors 37a, 38a, 39a for spraying the chemical liquid.

Reference numeral 151 is an automatic frequency controller (AFC) for stabilizing the center frequency.
52 is a local oscillator. Next, the wireless remote operation will be described. When the engine is started in the manual mode and then the control mode is switched to the automatic mode, the power of the transmitter 110 is turned on, and the radio wave (carrier wave) of the reception monitor signal is generated. The signals are continuously transmitted to the receiver 111.

Then, as shown in FIG.
Operation buttons 131 other than the shift button 130 in 0
When you press ~ 135, the corresponding channel (CH
1 to CH5), the command signal is sent to the receiver 111 and the signal is input to the microcomputer units 101 and 102. Therefore, each microcomputer unit starts traveling (starting) on a predetermined control loop, and the spray unit 5 A switching motor 37 for driving the blower (fan) 7 and starting spraying of the left nozzle 6, the right nozzle 6, and the upper nozzle 6.
That is, ON of a, 38a, 39a or the like is executed. Then, when the start operation button 131 is pressed while the shift button 130 is being pressed, the vehicle can be remotely controlled such that traveling is stopped. It should be noted that it is also possible to set so that other operation commands can be issued by pressing the other operation buttons 132 to 135 while pressing the shift button 130. In this way, it is possible to set a large number of operation items with a small number of operation buttons, the transmitter 110 can be configured, and frequently used operations can be performed by operating one operation button. Those that are rarely used can be divided into two-button operation.

Next, during the remote operation or the like, when the input of the reception monitor signal to the control device 100 is continuously interrupted for 2 to 5 seconds (when the signal does not reach), a radio signal is transmitted. Process as non-delivery mode. In the wireless signal non-arrival mode, the traveling vehicle 1 is stopped, the blower (fan) 7 of the spray unit 5 is stopped, and the chemical liquid spray is stopped (only the travel stop is performed when the spray operation is not executed).

In this way, when the input interruption time of the reception monitor signal is a certain time or more, if the control is performed so that the radio signal non-delivery mode is processed for the first time, the receiver (antenna 145) in the traveling vehicle is running. Transmitter antenna 1
Even if the reception monitor signal cannot be received for a moment due to the presence of a bush of trees between it and 44, the situation in which the traveling vehicle 1 is not suddenly stopped does not occur and the work is facilitated. You can On the other hand, when the input of the reception monitor signal is interrupted for a certain length of time, the traveling is stopped from the viewpoint of eliminating the danger of runaway and ensuring safety.

The cause of the non-delivery of the reception monitor signal (radio signal non-delivery) is also a power supply failure (battery consumption) on the transmitter 110 side, a transmission circuit failure, a reception circuit failure on the receiver 111 side, and the like. possible. The monitor lamp 122, which can confirm the reception monitor state on the receiver 111 side, is controlled so as to be turned on in the wireless signal non-delivery mode (in contrast, it is turned on when it is normal).
It is advisable to provide it at a position that can be easily confirmed by an operator outside the vehicle, for example, on a pillar protruding above the traveling vehicle 1. Furthermore, when such an emergency stop is performed, a warning sound (warning sound)
May be generated.

[0037]

In summary, according to the present invention,
A traveling clutch device for connecting and disconnecting power transmission from a power source mounted on the traveling vehicle to the traveling device, a brake device for stopping the traveling device, an automatic steering device, various working devices, and a wireless remote device outside the traveling vehicle. In an autonomous vehicle including a receiver that receives a signal from an operating transmitter and a control unit that issues an operation command to each device according to a received command signal, the transmitter is directed from the transmitter to the receiver. When the control means determines that the monitor signal is transmitted and the monitor signal is not continuously received for a predetermined time, the control means stops the traveling of the traveling vehicle and operates various working devices. It is configured to control so as to stop.

Therefore, there is no inconvenience such as the stop of the traveling vehicle only by the non-arrival of the monitor signal for a moment, so that the traveling is frequently stopped only by the non-arrival of the radio wave for a short time due to the deterioration of the environment. If the transmitter or the like fails, the traveling vehicle can be stopped and each work can be stopped.
Has the effect of being safe.

[Brief description of drawings]

FIG. 1 is a side view of a drug spraying machine.

FIG. 2 is a plan view of the medicine spraying machine.

FIG. 3 is a schematic plan view of a steering device 14.

FIG. 4 is a control hydraulic circuit diagram of a steering device and the like.

FIG. 5 is a plan sectional view of a traveling clutch and a brake operating portion.

6 is a sectional view taken along line VI-VI of FIG.

FIG. 7 is a side view taken along the line VII-VII in FIG.

8 is a side view taken along the line VIII-VIII in FIG.

FIG. 9 is a mechanism block diagram of a spray unit.

FIG. 10 is a functional block diagram of a control device.

FIG. 11 is a functional block diagram of a transmitter and a receiver.

FIG. 12 is an explanatory diagram of operation buttons in the transmitter.

[Explanation of symbols]

 1 Traveling Vehicle 3 Handle 6 Spray Nozzle 7 Blower 8, 8 Front Wheel 9, 9 Rear Wheel 10 Engine 11 Travel Speed Change Mechanism 12 Power Transmission Mechanism 13 Dynamic Injection Pump 14 Steering Device 16 Hydraulic Circuit 17 Hydraulic Cylinder 22 Hydraulic Pump 23 Control Valve 26a, 26b Magnetic sensor 27 Induction cable 28 Control valve for automatic steering 29 Control valve 30 Hydraulic cylinder 100 Control device 101, 102 MPU 110 Transmitter 111 Receiver

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Taiji Mizukura 1-32 Chayamachi, Kita-ku, Osaka City Yanmar Agricultural Machinery Co., Ltd.

Claims (1)

[Claims] 1. A traveling clutch device for continuously disconnecting power transmission from a power source mounted on a traveling vehicle to a traveling device, a brake device for stopping the traveling device, and an automatic steering device,
An automatic traveling vehicle comprising various working devices, a receiver for receiving a signal from a transmitter for wireless remote operation outside the traveling vehicle, and a control means for instructing an operation of each device according to the received command signal. In the above, when the control means determines that the monitor signal is transmitted from the transmitter to the receiver, and the monitor signal is not continuously received for a predetermined time, the control means determines that the traveling vehicle. The automatic traveling vehicle, which is configured so as to stop the traveling of the vehicle and stop the operation of various working devices.