JPH0733041A - Control mode changing device in automatic traveling vehicle - Google Patents

Abstract

PURPOSE:To prevent the improvident change of a mode by setting and shifting to an automatic mode from a manual mode by the respective 'on' operation of an automatic mode setting switch switched by a worker to set a control mode and a switch actuated by the conscious operation of the worker. CONSTITUTION:An automatic traveling vehicle, an automatic traveling type drug sprinkler in an orchard or the like, for instance, is provided with a control device 100 for controlling travel by switching a control mode between an automatic mode and a manual mode. In the control device 100, two MPUs 101, 102 are connected to each other by a communication wire 103, and a control signal is outputted to the solenoid control valve 29 of a hydraulic cylinder for operating at least a travel clutch and a brake automatically. In this case, an automatic mode setting switch 46 switched by a worker to set the control mode, and a switch actuated by the conscious operation of the worker such as a shift switch 46 are connected to the control device 100. These switches are respectively operated on to set and shift to the automatic mode.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is intended to change the control mode such as traveling of an automatic traveling vehicle such as an automatic traveling type chemical sprayer (speed sprayer) in an orchard to a manual mode and an automatic mode. Of equipment.

[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 (discrimination between right and left) are obtained, and steering control can be performed by changing the direction of the steered wheels of the traveling vehicle so that the traveling vehicle travels along the guide cable from these detection results. (See 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 order to switch the traveling vehicle between the automatic mode and the manual mode, conventionally, an automatic mode setting switch is provided in the control section (operation panel section including various switches and meters for operation, display section, etc.). It was provided. This automatic mode setting switch is composed of, for example, an alternate push button switch, which can be set to the automatic mode by holding the pressed state by the first pressing operation, and when the button is pressed again, the push button part protrudes to the manual mode. It has a configuration that can be set, and various types of switches such as seesaw switches, toggle switches, slide switches, and rotary switches have been used as the automatic mode setting switch.

[0005]

However, if the mode setting is switched as described above only by operating one such switch, there are the following inconveniences. That is, it is conceivable that when the vehicle automatically travels in the orchard in the automatic mode setting state, the branches and leaves of the tree hit the automatic mode setting switch and the mode returns to the manual mode when not intended. In that case, the rotational force of the engine is transmitted to the traveling unit as it is, but since the steering control is not executed, the traveling vehicle may run out of control.
It is extremely dangerous.

[0006] Further, in the manual mode setting state, when an operator is on a traveling vehicle and is maneuvering and traveling in the orchard,
As described above, it is conceivable that the branches and leaves of the tree hit the automatic mode setting switch and switch to the automatic mode when not intended. In this case, when the traveling vehicle is deviated with respect to the guide cable and is switched to the automatic mode,
If the traveling vehicle turns suddenly (abruptly) along the guidance cable or if there is a traveling vehicle at a position greatly deviated from the guidance cable, the brake is applied to stop the traveling of the traveling vehicle to ensure safety. Since the operation is performed, an impact force resulting from the stopping of the traveling is applied to the worker on the traveling vehicle, which is dangerous.

As described above, the present invention has a technical object to eliminate the danger that occurs when there is only one switch for switching between the automatic mode and the manual mode. It is an object of the present invention to provide an automatic traveling vehicle that solves a physical problem and can safely perform traveling work.

[0008]

In order to achieve this object, in the invention described in claim 1, a traveling clutch device for interrupting power transmission from a power source mounted on a traveling vehicle to the traveling device, A brake device that stops the traveling device,
In an automatic traveling vehicle including an automatic steering device and a control means that switches between control modes of an automatic mode and a manual mode and travels in each control mode, an automatic mode for an operator to switch the setting of the control mode. The setting switch and the second that is activated by the operator's conscious operation
A switch is connected to the control means, the automatic mode setting switch is turned on, and the second switch is operated to the automatic side so that the control means makes a setting transition from the manual mode to the automatic mode. It is composed.

According to the second aspect of the invention, a traveling clutch device for interrupting power transmission from a power source mounted on a traveling vehicle to the traveling device, a brake device for stopping the traveling device, and an automatic steering system. An automatic mode setting switch for an operator to switch the setting of the control mode in an automatic traveling vehicle comprising a device and a control means for switching the control mode between the automatic mode and the manual mode and traveling in each control mode. And an intention confirmation switch operated by an operator are connected to the control means, the automatic mode setting switch is turned off, and the second switch is operated manually so that the control means is automatically operated. It is configured to shift the setting from the manual mode to the manual mode.

[0010]

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 except the lower surface thereof at an appropriate interval toward the radially outer side, and a blower 7 for sending the air outwardly at the radius,
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 direction (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 through 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 units swingably and swingably connected 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 structure, 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 brake integrally and substantially simultaneously is projected downward, and the balance arm 74 is moved downwardly, 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 when 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 via the tank drain valve 32 and the filter 33, and passes 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.

FIG. 10 shows the operation panel 43 in the driving operation unit 2, and reference numeral 44 is a key switch, and when the key 45 is inserted into the key switch 44 at the time of starting and it is rotated by a predetermined angle, the control device 100 described later will be described. Starts up (starts up) and enters the ready state (standby state). Then
This is for starting the starter motor to operate the engine when it further rotates by a predetermined angle. Reference numeral 46 is an automatic mode setting switch, and 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. Reference numeral 48 is a display unit such as a liquid crystal display element, which displays the current control state and instructions for the operator in characters or figures. Reference numeral 49 is a shift switch for allowing the operator to separately confirm his / her intention, and a cover body 49 for opening and closing the push button switch portion 49a is transparent.
For operation, the cover body 49b is once opened and the push button switch portion 49a is pushed down for operation. As will be described later, in order to switch from the automatic mode to the manual mode, and vice versa, in addition to the operation of the automatic mode setting switch 46, the second switch operated by the operator's conscious operation. The operation of the shift switch 49 is performed based on the clear intention of the operator.
Or the detection signal of the switch that operates based on the operation performed under the explicit intention of the operator, as will be described later, enables the mode switching.

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. 11 shows the engine 1
When the power from 0 is transmitted to the four wheels 8 and 9, the traveling speed change mechanism 11 can change the speed in multiple stages by the main speed change portion 11a and the auxiliary speed change portion 11b. It is possible to switch between reverse (R), neutral (N), low speed (L), and high speed (H) stages by the forward and backward rotation operation of the check switch 91 at the reverse position (R).
N, prohibiting the automatic mode. Further, in the auxiliary transmission unit 11b, it is possible to switch to a low speed stage (M1), a medium speed stage (M2), and a high speed stage (M3) by rotating the auxiliary transmission lever 92 forward and backward, and between the respective stages. A neutral position (N) is provided. Then, the auxiliary transmission lever 92 is set to the high speed (M
3), the check switch 93 is also turned off.
It becomes N and prohibits the automatic mode.

FIG. 12 is a control device 100 for controlling a traveling vehicle by software of a microcomputer.
2 shows a functional block diagram of the above, and is provided with two microcomputer units (MPU) 101 and 102, and these two MPUs 101 and 102 are connected by a detachable communication line 103 via a coupler, and mutual control of the other side is normal. It is being monitored whether it is working. In addition, each MPU 101,
Reference numeral 102 denotes a central processing unit (CPU), a readable / writable memory (RAM) and a read-only memory (R) although not shown.
OM) and the like. Also, these two MPUs
101 and 102 are formed in the same form (the same components) and are interchangeable, and in order to distinguish the MPUs of the two, the discrimination port 104 of one MPU 101 is a low port and the discrimination port 105 of the other 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 plurality of channels from the remote operation transmitter 110 (six channels in the embodiment).
An output signal terminal of each channel of the receiver 111 for receiving a command signal by the receiver and a reception monitor output terminal, and a pair of left and right obstacle detection sensors 112a mounted on the front part of the traveling vehicle 1.
The terminal 112b, the output terminal of the chemical solution sensor 113 for detecting the presence or absence of chemical solution in the chemical solution tank, or the size of the chemical solution (full or empty) and the terminal of the automatic mode setting switch 46 are connected to input signals. .

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.

The input port of the other MPU 102 detects that the terminal of the automatic mode setting switch 46, the output signal terminal of each channel of the receiver 111, and the main shift lever 90 are in the retracted position. A terminal for the check switch 91, a terminal for the check switch 93 that detects that the auxiliary shift lever 92 is in the high speed position, and a touch for mounting the front bumper of the traveling vehicle 1 to stop traveling when an obstacle comes into contact with the front bumper. The terminals of the sensor 116, the terminals of the stroke sensor 117 for detecting the maximum protruding position of the stroke of the piston rod of the hydraulic cylinder 17 for steering, and the terminals of the magnetic sensors 26a, 26b for detecting the magnetism from the induction cable 27. Although not shown, the spray nozzles 6 on the left and right sides are provided in order to effectively spray the chemicals to the trees on the sloped surface of the mountain. Is connected to the terminal of the rotation speed detector 119 of the engine 10 by connecting the terminal of the switch 118 for actuating the spray nozzle direction changing actuator for adjusting the direction of the above-mentioned direction on the plane intersecting the traveling direction axis of the traveling vehicle 1, respectively. Input the signal. The output port of the MPU 102 has terminals for the operation permitting relay 120 of the engine 10, terminals for various pilot lamps 121, and the receiver 1 described above.
Monitor lamp 122 for confirming the reception monitor state of 11
, A terminal of the automatic mode lamp 47 for confirming the state in the automatic mode, and terminals of the electromagnetic solenoids 28R and 28L of the steering control valve 28 are connected to output a signal.

Next, the procedure (method) for executing the control mode switching from the manual mode to the automatic mode and the control mode switching from the automatic mode to the manual mode according to the present invention will be described with reference to the flowchart of FIG. .
The operator gets on the driver's seat 2 of the traveling vehicle 1, inserts the key 45 into the key switch 44 of the operation panel 43 (step S1), and then turns to the power ON side (step S2), and the control device. 100 is put in a standby state (step S3).

From the time of power-on to the operation of the engine, it is necessary for the operator to manually perform various works for the purpose of ensuring safety. Therefore, the automatic mode cannot be selected. Therefore, in step S4, it is determined whether or not the automatic mode setting switch 46 is ON. If the automatic mode setting switch 46 is ON (step S
4, yes), the engine operation permission relay 120 is deactivated, and the engine operation is prohibited (step S
5), the automatic mode lamp 47 is turned on. Wait for the operator to turn off the automatic mode setting switch 46
When F is reached (step S4, no), the engine operation permission relay 120 is activated (step S6), the engine operation permission state is entered, and the automatic mode lamp 47 is turned off.

Up to this point, since the engine 10 has not yet rotated, the hydraulic pump 22 is in a stopped state and the hydraulic circuit 1 is in a stopped state.
The hydraulic pressure of 6 has not risen, the hydraulic cylinder 30 is inactive, and the traveling clutch is engaged and the brake is disengaged. The worker disengages the running clutch by footwork,
The key 45 is further rotated to operate the engine (step S7). As a result, the manual mode is executed (step S8).

Next, when the operator wants to set the automatic mode, first, in step S9, the automatic mode setting switch 46 is pressed down and held in the ON state (step S9, yes), and further the shift switch 49 is set. When is pressed and held in the ON state (step S10, yes),
Here, the automatic mode is first switched to (step S11).

To switch to the manual mode during the operation in the automatic mode, the automatic mode setting switch 46
Press again to hold it in the OFF state (step S12,
No), and when the shift switch 49 is pressed again and held in the OFF state (step S13, no), the manual mode is first switched to here (step S1).
4).

When switching from the manual mode to the automatic mode, the shift switch 4 in step S10 is used.
Instead of the pressing operation of 9, the switch (not shown) operated by pressing the traveling clutch petal (operation to disengage the clutch) may be turned on. When switching from the automatic mode to the manual mode, instead of pressing the shift switch 49 again in step S13, a signal output according to this operation in response to the work of returning the key switch 44 to the engine starting side. May be

As described above, the operation of switching from the automatic mode to the manual mode or the switching from the manual mode to the automatic mode is performed not only by one switch operation but also by the second switch operated by the operator's conscious operation. If the control mode is changed first by the output signals of both the operation signal and the operation signal, the mode is prevented from being accidentally switched by one switch or the mode is changed due to the malfunction, and the risk of runaway or the like can be prevented. it can.

Incidentally, the control device 100 in the automatic mode operation
When the power supply is reset due to the voltage drop of the power supply, the control device 100 returns to the state before step S3, the control device 100 returns to the initial state, and the output signal of the automatic mode setting switch 46 is turned on.
Even in this case (step S4, yes), by prohibiting the engine operation (step S5), the danger of the runaway vehicle 1 running out of control can be prevented.

[0040]

In summary, according to the present invention,
A traveling clutch device for connecting and disconnecting 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, and a control mode switching between an automatic mode and a manual mode And an automatic mode setting switch for allowing the operator to switch the setting of the control mode, and a second switch that is operated by the operator's conscious operation. Is connected to the control means, and in the aspect according to claim 1, the control means is turned on by turning on the automatic mode setting switch and operating the second switch to the automatic side. Is configured to shift from manual mode to automatic mode.Therefore, if you switch to automatic mode when you do not intend, When the vehicle shifts to the automatic mode with the vehicle deviating from the guide route, the traveling vehicle turns suddenly (abruptly) along the guide route, or the traveling vehicle moves to a position greatly deviated from the guide route. If so, in order to ensure safety, the brake operation is executed to stop the traveling of the traveling vehicle, and therefore the impact force due to the traveling stop acts on the worker who is on the traveling vehicle, which is dangerous.
As in the present invention, in the manual mode setting state, when an operator is riding on a traveling vehicle and is maneuvering and traveling in the orchard, even if the branches and leaves of the tree hit the automatic mode setting switch as described above, that much Does not switch to the automatic mode, and the automatic mode is switched to when the operation of the second switch to the manual side accompanying the operation intended by the operator is started, and the operator pays sufficient attention to safety in the meantime. It has the effect of being able to pay.

According to the second aspect of the present invention, the control mode is changed from the automatic mode to the manual mode by turning off the automatic mode setting switch and operating the second switch to the manual side. It is configured to do, when automatically traveling in the orchard in the automatic mode setting state, even if the branches and leaves of the tree hit the automatic mode setting switch, it does not switch to the manual mode by itself, Since the mode is switched to the manual mode only when the second switch is operated in the manual direction in which the operator's intention is reflected, the mode does not return to the manual mode when unintended.
While the rotational force of the engine is transmitted to the traveling unit as it is, the traveling vehicle does not run away in a state where the steering control is not executed, and it is 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 perspective view of an operation panel unit.

FIG. 11 is a side view of a traveling transmission unit.

FIG. 12 is a functional block diagram of a control device.

FIG. 13 is a flowchart.

[Explanation of symbols]

 1 traveling vehicle 3 handle 6 spray nozzle 7 blower 8, 8 front wheel 9, 9 rear wheel 10 engine 11 traveling 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 46 Automatic mode setting switch 47 Automatic mode lamp 49 Shift switch 100 Control device 101, 102 MPU

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Reference number within the agency FI Technical display location // B62D 137: 00 (72) Inventor Yukio Murai 1-32 Chayamachi, Kita-ku, Osaka Yanmar Agricultural Machinery Within the corporation

Claims (2)

[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,
In an automatic traveling vehicle comprising control means for switching between control modes of an automatic mode and a manual mode and traveling in the respective control modes, an automatic mode setting switch for allowing an operator to switch the setting of the control mode, A second switch that is operated by a person's conscious operation is connected to the control means, and the automatic mode setting switch is turned on.
A control mode changing device in an automatic traveling vehicle, characterized in that the control means is configured to shift from the manual mode to the automatic mode by setting the switch to N and operating the second switch to the automatic side. 2. A traveling clutch device for continuously disconnecting power transmission from a power source mounted on a traveling vehicle to the traveling device, a brake device for stopping the traveling device, and an automatic steering device,
In an automatic traveling vehicle comprising control means for switching between control modes of an automatic mode and a manual mode and traveling in the respective control modes, an automatic mode setting switch for allowing an operator to switch the setting of the control mode, An intention confirmation switch operated by a person is connected to the control means, and the automatic mode setting switch is turned off,
Further, the control mode changing device in the automatic traveling vehicle, characterized in that the control means is configured to shift from the automatic mode to the manual mode when the second switch is operated to the manual side.