JPH09252608A - Remote operation device for working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote operation device which is useful for a cultivator, etc., by providing a steering means, etc., which outputs a steering signal instructing a steering angle for a console panel for remotely operating the working vehicle and then preventing malfunction, and easily and accurately moving the working vehicle to a next target place and improving the workability. SOLUTION: The console panel for remotely operating the working vehicle is provided with the steering means which outputs the steering signal instructing the steering angle, and autonomous turning recording means which stores a memory with the steering signal, and an autonomous turning means which reproduces the steering signal stored in the memory, and further has an autonomous turning control means which steers the working vehicle according to the reproduced steering signal when the above steering signal is reproduced by the autonomous turning means. The autonomous turning means consists of a left and a right autonomous turning means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control device for agricultural machinery such as a cultivator and a lawn mower, a tractor and other work vehicles, and more particularly to a remote control device optimal for remotely controlling a cultivator.

[0002]

2. Description of the Related Art Conventionally, when working on a work vehicle, for example, when driving a field while cultivating a field with a tractor, the cultivating operation is temporarily interrupted because the vehicle approaches a ridge and the vehicle is steered to move to the next destination. Then, the fixed work procedure of restarting the cultivating work again from there may be repeated many times to perform the work.

[0003]

However, in the above-mentioned conventional case, unless proper steering is performed, the work vehicle cannot be moved to the next target point accurately, and the place once cultivated is duplicated. There is a risk that some areas will be cultivated and some areas will not be cultivated. Therefore, it is possible to accurately move the vehicle to the target location by repeating the steering, but it takes time and the work efficiency is low. Further, it requires skill to move the vehicle accurately to the target location even by manual operation performed by actually getting on the work vehicle, but further skill is required when performing work by remote control.

The present invention has been made in view of the above-mentioned drawbacks of the prior art, and an object of the present invention is to provide a remote control device for a work vehicle that can accurately move to the next target location by a simple operation. To do.

[0005]

In order to achieve the above object, in the present invention, a steering means for outputting a steering signal indicating a steering angle to an operation panel for remotely operating a work vehicle, and the steering means. An autonomous turning recording means for storing the steering signal output from the memory in the memory and an autonomous turning means for reproducing the steering signal stored in the memory, and the steering signal stored in the memory by the autonomous turning means There is provided a remote control device for a work vehicle, comprising an autonomous turning control means for steering the work vehicle based on the reproduced steering signal when the work vehicle is reproduced.

According to the above configuration, if the autonomous turning recording means is operated while the steering means is being operated, the steering signal output from the steering means by the autonomous turning control means is stored in the memory, and then the autonomous turning is performed. When the means is operated, the steering signal stored in the memory is reproduced, and the autonomous turning control means steers the work vehicle based on the reproduced steering signal. Therefore, only the autonomous turning recording means and the autonomous turning means are operated. Thus, the vehicle can be accurately moved to the next destination and the work can be restarted, and the repetitive work can be performed accurately and efficiently.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In a preferred embodiment,
The autonomous turning means is composed of a left autonomous turning means and a right autonomous turning means, and the autonomous turning control means causes the work vehicle to turn leftward or rightward by operating a steering means. The steering signal output from the steering means when the autonomous turning recording means is operated while the steering signal is being output is stored in the memory, and then the turning direction of the left autonomous turning means or the right autonomous turning means is changed. When the autonomous turning means in the same direction is operated, the steering signal stored in the memory is reproduced, the work vehicle is steered based on the reproduced steering signal, and the autonomous turning in the opposite direction to the turning direction is performed. When the means is operated, the steering signal stored in the memory is inverted and reproduced, and the work vehicle is steered based on the reproduced steering signal.

Also, in a preferred embodiment, the autonomous turning control means is mounted on the steering means and the working vehicle when performing the autonomous turning control for steering the work vehicle based on the reproduction steering signal. The autonomous turning control by operating any one of the work state switching means of the working machine, the forward / backward switching means equipped on the work vehicle, and the throttle control means for controlling the throttle valve for adjusting the fuel of the work vehicle. To cancel.

Further, in a preferred embodiment,
The autonomous turning control means stops the autonomous turning control by a first operation of any one of the steering means, the work state switching means, the forward / backward switching means, and the throttle control means, and the first turning operation is performed. In this operation, the original operations of the respective means are prevented from being performed, the autonomous turning control is stopped, and then the normal control state is restored, so that the original operations are performed from the second operation of the respective means. To do. In this case, the first operation is one switching manual operation when the drive control is directly performed by the manual operation of the changeover switch or the like, and is the first operation when the program control is executed by the switch. 1 control cycle. Which function of the switch is to be stopped by the control cycle can be appropriately determined.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a basic configuration diagram of a work vehicle to which a remote control device according to the present invention is applied. The work vehicle of this example is a cultivator, and is composed of a tractor 1 equipped with forward / reverse clutchless switching, rear inner wheel automatic braking during turning, front outer wheel double speed, etc. as standard equipment. This tractor 1 has
The first camera 4 is mounted on the hood 3 on the front wheel 2 side, which is the steered wheel.
A first image transmitter 5 is provided, and a second camera 7, a second image transmitter 8, a receiver 10 with an antenna 9, and a camera pan drive servomotor 11 are provided on the rear wheel 6 side which is a driving wheel. Also, the handle 12 between the front wheel 2 and the rear wheel 6
A steering servomotor 13 is provided under the brake pedal 14, and a brake servomotor 15 is provided under the brake pedal 14. Further, a cultivating rotary 16 is provided behind the rear wheel 6. The first camera 4 is composed of a CCD camera and is installed on a folding frame 17 higher than the position of the eyes of a person in order to obtain a visual field near the front wheel 2. The first image transmitter 5 sends the image of the cultivated land captured by the first camera 4 to the remote control device side, which will be described later, and is installed on the folding mount 17 like the first camera 4. The second
Like the first camera 4, the camera 7 is composed of a CCD camera, and in order to obtain a field of view close to that of a passenger, a panning operation to the side and the back (arrow A around the axis C) is performed by the camera pan drive servomotor. Done at 11. The receiver 10 with the antenna 9 is of a pulse code modulation type in signal form and receives a command signal from a remote control device described later. The front wheel 2 is manually driven by the steering wheel 12, and is driven by the steering servomotor 13 during remote operation. The brake is driven by the brake pedal 14 or the brake servomotor 15.

FIG. 2 is an explanatory diagram showing an image receiving system and a vehicle operating system in a remote station (for example, a one-box vehicle) that remotely operates the tractor 1 shown in FIG. The image receiving system in this example includes diversity antennas 18 and 18 that receive image radio waves from the first image transmitter 5 and the second image transmitter 8 of FIG. 1 and image radio waves received by these diversity antennas 18 and 18. TV receivers 19 and 19 that perform amplification and detection, and these TV receivers 19 and 1.
9. Image accelerators 20 and 20 for compressing the detected image signal of 9, a monitor TV 21, a receiver 23 with an antenna 22 for receiving a vehicle current position signal from stationary hygiene, and a compression process by the image accelerators 20 and 20. And a computer 24 for processing the image signal thus processed and displaying it on the monitor TV 21, and for calculating a traveling locus from the vehicle current position signal of the receiver 23 and displaying it on the monitor TV 21. The vehicle operation system also includes an operation panel 27 having a transmitter 26 including a high-frequency module with an antenna 25.

FIG. 3 is an explanatory view showing details of the operation panel 27 of FIG. The operation panel 27 is provided with a hand placing portion 28 for supporting a portion of the palm near the wrist in the center of the upper surface thereof, and within a range where a finger tip can reach when the hand is placed on the hand placing portion 28. Two steering switch groups, which are steering means, are arranged in parallel. The two steering switch groups are divided into right and left steering switch groups 29 for instructing the steering to the right and left steering switches 30 for instructing the steering to the left. Is located in. Each steering switch 31 of each steering switch group is composed of a push button switch, and the steering angle of the steering wheel located in the center of each steering switch group is set smaller than that of the steering switches located outside the steering switch group. The steering switch 31 is configured to output steering signals that indicate different steering angles. For example, the steering angle of each steering switch group from the center is 7 °, 20 °, 45 °
It consists of three push button switches, each push button switch can be used alone (for 7 degree) or in combination (2
A combination of 0 ° and 45 °) is formed in a sagittal shape that indicates the left or right steering direction. By pushing each steering switch 31, the steering servo motor 13 is driven to rotate it to a position corresponding to the steering angle. This steering switch 31
While pressing, the front wheel 2 which is the steered wheel of FIG. 1 is held at the steering angle position corresponding to the switch, and when the finger is released from the switch, the front wheel 2 automatically returns to the straight traveling state.
However, it may be pressed for a short time, and in that case, the steering servomotor 13 may be pressed only while the switch is being pressed.
The front wheels 2 are about to be steered to the steering angle position corresponding to the switch by driving the switch. However, since the switch is opened before the steering is completed, the front wheels 2 are automatically set to the straight traveling state before the steering is completed. Return.

Further, on the outermost side of each steering switch group,
Since the standing wall 32 is provided, the outermost position of the steering switch group can be easily recognized by the touch when the standing wall 32 is touched without looking at the hand. Further, in the central portion of the area where the two steering switch groups of the operation panel 27 are arranged side by side or in the area away from the manual placing portion 28, the manual placing portion 2
A pumper switch 33, which is a work state changeover switch for switching the tractor 1 shown in FIG. 1 to either one of the working state and the non-working state, is provided within the reach of the fingertip when the hand is placed on 8. In this case, the working state or the non-working state means that the cultivating rotary 16 in FIG.
It refers to the state of being lowered or raised regardless of whether it is stopped. The pumper switch 33 is constantly urged by a spring to be in an upright state, and every time the operator tilts the front side with a finger,
The lowered state, which is the working state, and the raised state, which is the non-working state, are repeated.

A steering knob 34, which is a rotary knob, is disposed between the hand rest portion 28 of the operation panel 27 and the two steering switch groups. The steering volume 34 is configured to output a steering signal such that the steering angle of the front wheels 2 that are the steered wheels is increased or decreased according to the operation rotation angle. The steering volume 34 is rotated by, for example, the thumb and the ring finger (leftward steering in the case of left rotation, rightward steering in the case of right rotation).
Then, when you release your finger, it automatically returns to the straight-ahead position (neutral position). Further, the steering volume 34 is configured to be able to add a steering angle by operating the steering switch 31 at the same time. However, even if the steering angle limit is set to, for example, 45 ° and the steering switch 31 is operated in combination with the steering angle of 20 °, for example, the steering angle will not exceed 45 °.

Further, a slide type steering trim 55 for correcting the straight traveling reference traveling direction of the tractor 1 shown in FIG. 1 is provided in a region of the pumper switch 33 away from the hand placing portion 28.

The steering switch 3 which is the operator described above.
1, the pump switch 33, the steering volume 34, and the steering trim 35 are arranged in the central portion of the operation panel 27, but the operators for other purposes are also arranged around them. That is, a main switch 35 is provided around the right standing wall 32 on the further right side, and a slide type throttle volume 36 and a shuttle switch 37 including a toggle switch are further located on the left side of the left standing wall 32. It is provided. The throttle volume 36 controls a throttle valve for adjusting the fuel of the tractor 1 in FIG. 1, and the shuttle switch 37 controls forward, backward, and stop of the tractor 1 in FIG. A camera pan volume 38 for controlling the pan of the second camera 7 of FIG. 1 is provided in an area of the shuttle switch 37 away from the manual placement portion 28, and a position control of the tractor 1 of FIG. 1 is provided in an area further away. A GPS set switch 39 for use, an autonomous turning record switch 40, and an engine emergency stop switch 41 are provided. The camera pan volume 38 is formed of a notch volume, is configured to have a moderation at a preset angular position, and is capable of recognizing the set angular position by the feel of turning operation.

A non-volatile memory provided with a RAM 73 (FIG. 6) or the like in the transmitter 26 for a steering steering signal by a steering switch or a steering volume for 16 seconds by an autonomous turning control means described later by operating the autonomous turning recording switch 40. Record in section. The recorded steering signal of the tractor is reproduced by pressing the left and right autonomous turning switches 42 and 43 provided inside the left and right standing walls 32 and 32, and the autonomous turning control described later according to the reproduced steering signal. The traveling of the tractor 1 is controlled by the means. The steering switch 31 and the like, which are the operators described above, are mainly composed of push button switches for the purpose of facilitating the steering operation, and the right and left hands are ergonomically fitted in a natural shape. It

Further, next to the transmitter 26 on the side of the operation panel 27, a power supply connector 44 for connecting to a driving power supply is provided.
And an interface (RS232C) 45 are arranged.

FIG. 4 is an operation explanatory view of the operation panel 27 of FIG. 3, (A) shows the operation state of the steering switch groups 29, 30, and (B) shows the pumper switch 33 and the steering trim 35.
The respective operating states of are shown. As shown in FIG. 4 (A), with the part of the right hand palm near the wrist placed on the hand rest 28 of the operation panel 27, without moving the hand, only the finger is moved to form an arc-shaped arrow. The six steering switches 31 are selectively operated to control the left and right steering angles of the tractor 1 in FIG.
Further, as shown in FIG. 4 (B), by operating the pumper switch 33 with the index finger, the cultivating rotary 1 of the tractor 1 of FIG.
Raise and lower by 6. Further, the steering trim 55 is operated to correct the straight traveling reference traveling direction of the tractor whose position is controlled by GPS.

Next, the control system of this remote control device will be described. FIG. 5 shows a tractor 1 which is a work vehicle.
FIG. 3 is a transmission signal system diagram from the side to the cockpit side where the operation panel 27 and the monitor TV 21 are located. The operation detection signal of each part of the tractor 1 is sent to the receiver 23 on the cockpit side by a transmitter 51 provided in the tractor 1. As the operation detection signal, a signal indicating the tilt state of the tractor 1 from the roll / pitch tilt sensor 52, the overload calculation amplifier 5
Signal from 3 to notify engine overload, brake O
Brake ON / OF from N / OFF position switch 54
F signal, raising / lowering signal from a pumper switch (elevating / lowering position switch of the tillage rotary 16) 33, shuttle switch 37
Potentiometer 56 showing the value corresponding to the forward and backward movement of
There is a signal from. The transmitter 51 includes an interface 57, an arithmetic processing unit 59, and a PCM signal output unit 60.
The CPU 61 and the high frequency transmitter 62 are provided. The receiver 23 is a high frequency receiver 6 that receives the PCM signal sent from the high frequency transmitter 62 of the transmitter 51.
3, a PCM signal discriminating unit 64 and a CPU 66 having an arithmetic processing unit 65 for outputting the operating state signals of the respective parts of the tractor 1 to the monitor television 21 and the like. Further, the first camera 4, the second camera 7, the first image transmitter 5, the second image transmitter 8 on the side of the tractor 1 and the antenna 18 and the TV receiver 19 on the side of the operation panel 27 constitute the above-mentioned image transmitting / receiving system. To be done.

FIG. 6 is a transmission signal system diagram sent from the operation panel 27 to the tractor 1 side. An operation signal generated from an operator provided on the panel surface of the operation panel 27 is sent from the transmitter 26 to the tractor 1 side. As the operation signals, ON / OFF signals of the six steering switches 31 and ON / O of forward / backward operation of the shuttle switch 37.
An FF signal, an ON / OFF signal of the pump switch 33, an ON / OFF signal of the emergency stop switch 41, an analog signal of the steering trim 55, an analog signal of the camera pan volume 38, the steering volume 34.
Of the analog turning signal, the ON / OFF signal of the autonomous turning recording switch 40, and the autonomous turning switches 42, 4
There are 3 0N / OFF signals. The transmitter 26 includes an interface 67, a CPU 70 having an arithmetic processing unit 68 and a PCM signal output unit 69, and a high-frequency transmission unit 71. Further, when the autonomous turning recording switch 40 is turned on, a 0N / OFF signal of the steering switch 31 and steering are provided. Volume 34
1 for each of the analog signal of, the trim trim 55, and the throttle volume 36.
Gate circuit 72 for passing signals for 6 seconds, the RAM
73, the left / right discriminating unit 74 of the autonomous turning switches 42, 43, and the like.

FIG. 7 is a received signal system diagram of a signal sent from the operation panel 27 to the tractor 1 side. A signal such as a steering signal sent from the transmitter 26 of the operation panel 27 is received by the receiver 75 of the tractor 1, and based on the signal,
Each actuator of the tractor 1 is driven via the amplifier 76. The receiver 75 includes a high frequency receiver 77, P
A CM signal discriminating unit 78 and an arithmetic processing unit 79 for outputting a command signal to a servo motor which is each actuator are provided. The actuators are driven by the steering servo motor 13 driven by a steering signal signal, the shuttle servo motor 80 driven by a forward / backward signal, the throttle servo motor 81 driven by a low / high speed signal, and the raising / lowering signal of the tillage rotary 16. There are a pompus elevation servomotor 82, the brake servomotor 15 driven by a brake signal, an engine stop servomotor 83, the camera pan drive servomotor 11 and the like.

Next, the steering control of the tractor 1 of FIG. 1 using the image receiving system and the operation panel 27 of the vehicle operation system described with reference to FIGS. 2 to 7 will be briefly described.
First, the main switch 35 is turned on and the position control GPS set switch 39 is turned on. Then, the pumper switch 3
3 is operated to lower the tillage rotary 16, and the shuttle switch 37 is operated to move the tractor 1 forward in the cultivated land.
The running state of the tractor 1 is captured by the first camera 4 and the second camera 7 mounted on the tractor 1, and the image thereof is received by the diversity antenna 18 via the first image transmitter 5 and the second image transmitter 8. And is displayed on the monitor TV 21 via the TV receiver 19 and the like. The position information of the tractor 1 is transferred from the satellite to the computer 24 via the receiver 23.
The position of the tractor 1 is controlled by GPS. The position information, the traveling locus, and the vehicle state are also displayed on the monitor TV 21. When changing direction,
The speed is lowered to operate the pumper switch 33 to raise the tillage rotary 16, and the right or left steering switch group 2
The steering switch 31 of 9 or 30 is selectively operated to drive the steering servomotor 13, rotate the front wheels 2 to a desired steering angle, and turn the tractor 1. When the completion of turning is confirmed on the monitor TV 21, the pumper switch 33 is operated to lower the cultivating rotary 16 into a working state, and the tractor 1 is again moved forward in the cultivated land. In this way, the tractor 1 is moved within the cultivated land.

Such a steering signal of the tractor 1 can be stored by operating the autonomous turning recording switch 40, and the stored steering signal is stored in the autonomous turning switch 42,
It can be reproduced by operating 43. If this is utilized, the tractor 1 can be automatically steered when cultivating work of the same pattern is repeated. When the steering signal for the right turn is stored, in order to make the left turn in the same pattern, the left autonomous turn switch 42 can be operated to invert the steering signal for the right turn.

The operation of the autonomous turning record switch 40 and the autonomous turning switches 42 and 43 will be described in more detail. In this embodiment, the autonomous turning control means outputs the steering switch 31 by operating the autonomous turning record switch 40. The steering signal stored in the RAM 73 is stored in the RAM 73, and when the steering signal stored in the ROM 73 is reproduced by operating the autonomous turning switches 42 and 43, the tractor 1 is steered based on the reproduced steering signal.

FIG. 8 is a flow chart for explaining a specific function of the autonomous turning control means. That is, the autonomous turning control means operates the autonomous turning recording switch 40 while outputting the steering signal for the tractor 1 to turn left or right by pushing the steering switch 31. The steering signal output from the steering switch 31 is stored in the RAM. In order to repeat the turning motion of the same pattern, when the autonomous turning switch 42 or 43 is pressed (step S1), the autonomous turning control means rotates the steering servomotor 13 in accordance with the stored steering data and makes the tractor 1 slow. (Set the throttle valve to the low speed side) (Step S
2) Then, the cultivating rotary 16 is raised (pumper UP) (step S3), and the rearward second camera 7 is further rotated in the steering direction by a set angle (step S4) to drive the steering servomotor 13. The direction change of the front wheels 2 due to is stopped and the autonomous turning motion is ended (step S
5). According to this, the autonomous turning switch 42 or 43
By simply pressing, the movement to the next destination can be accurately performed, and the tractor 1 can be automatically steered when the cultivation work of the same pattern is repeated. Thus, the operability is extremely good. The command signals for these operations are programmed to be sent to each actuator when the autonomous swing switch is first pressed. The time to send a command to each actuator may be appropriately delayed in order to match the time of each operation. The above-described series of operations is programmed in advance, and is incorporated in, for example, the computer 24 (FIG. 2), RC2
A sequence command signal can be sent from the transmitter 26 of the operation panel 27 to the vehicle side via an interface such as 32C.

FIG. 9 is a flowchart explaining the function of the autonomous turning control means more specifically. The autonomous turning control means outputs the steering signal that causes the tractor 1 to perform either one of left turning and right turning by pressing the steering switch 31, while the autonomous turning switch 42,
It is determined whether or not 43 is turned on (switch S10),
When it is determined to be off, the steering signal is input (step S11), and it is further determined whether or not the autonomous turning recording switch 40 is turned on (step S12). When it is determined that the turning recording switch 40 is off, it is turned on. Wait until
When it is determined that the steering wheel is turned on, the steering signal is sent to the RAM 73.
(Step S13), and the tractor 1 is driven by the steering signal (step S14). On the other hand, when it is determined that the autonomous turning switches 42 and 43 are turned on, it is further determined whether or not the steering signal is stored in the RAM 73 (step S15). The tractor 1 is driven by a steering signal from the operated steering switch 31 or the like.
Further, when it is determined that the steering signal is stored in the RAM 73, whether or not there is a steering stop command, that is, the steering switch, steering volume, steering trim,
It is determined whether any one of the pumper switch, the shuttle switch 37, and the throttle volume 36 has been operated (step S16). When it is determined that the operation has not been performed, it is stored in the RAM. The steering signal is reproduced, and the tractor 1 is driven based on the reproduced steering signal (step S17). On the other hand, when it is determined that any one of the steering means such as the steering switch 31, the pumper switch 33, the shuttle switch 37, and the throttle volume 36 is operated, the autonomous turning control is stopped, and The original operation of each of the switches and the volume is prevented from being performed in the second operation, the autonomous turning control is stopped, and then the normal control state is restored, and the original operation of each of the switches and the volume is performed from the second operation. To be done. In this case, with respect to the pumper switch, the switching operation is not performed in the first switching operation, only the autonomous turning stop command is given, and the pumper is switched when the pumper switch is operated again.
With respect to the other switches and the volume, the autonomous turning stop command is given for the first control cycle (for example, 20 ms) in the control sequence, and the operation by the original function is performed from the next control cycle.

The recording time of the steering signal of the RAM 73 by the operation of the autonomous turning recording switch 40 is 16 seconds,
Even when the recording time has expired, the autonomous turning control is stopped. This recording time can be changed, and time management can be facilitated. Further, after the steering signal is once stored in the RAM 73, the autonomous turning recording switch 40 is further operated to store the steering signal again in the RAM 73.
The current steering signal is overwritten on the previous steering signal, and the previous steering signal is automatically deleted. Therefore, no special operation for erasing the stored contents P is required.
In addition, by pressing the autonomous turning record switch 40, RA
The signals stored in M73 include not only those from the steering switch 31 but also those from the steering volume 34, the throttle volume 36, and the steering trim 55, so that the operation is simplified and the operability is further improved.

Next, as described above, when the right turn steering signal is stored in the RAM 73, in order to make a left turn in the same pattern, the left autonomous turn switch 42 is operated to output the right turn steering signal. Although it can be inverted and used, this inversion processing will be described below. FIG.
It is a flowchart explaining this inversion process. First,
It is determined whether the turned-on autonomous turning switch is the left autonomous turning switch 42 or the right autonomous turning switch 43 (step S
18) When it is determined to be the right autonomous turning switch 43, if the steering signal of the steering switch 31 or the like stored in the RAM 73 is a right turning signal, a right turning signal is created (step S19), When it is determined to be the left autonomous turning switch 42, for example, if the steering signal of the steering switch 31 or the like stored in the RAM 73 is for the right turning, the steering signal for the right turning is inverted to perform the left turning. A signal is created (step S20). Play these created signals,
The tractor 1 is autonomously turned based on the reproduced signal. The autonomous turning control switches 42 and 43 are
It is composed of push buttons, and autonomous turning control is performed even if the button is pressed once and the hand is released from the button.

In the above embodiment, the steering signal is explained as input by only the steering switch, but when the steering volume, the steering trim and the like are also operated, it is recorded as the steering signal and the autonomous turning control can be performed. .

Although the above embodiment has been described with respect to the agricultural tractor, the present invention can be applied to lawnmowers and other agricultural machines or gardening machines, as well as bulldozers and other civil engineering and construction machines. .

[0032]

As described above, in the present invention, the autonomous turning control means outputs the steering signal for the work vehicle to turn left or right by operating the steering means. By operating the autonomous turning recording means and the autonomous turning means, and storing the appropriate turning motion once, the work vehicle can be easily moved to the next destination while accurately turning by remote control. Can be made.
Therefore, the work becomes easy, and it is not necessary to turn the steering wheel due to the failure of turning, and the work efficiency is improved. Further, as long as one of the left turn and the right turn is stored, a similar turn in the other direction can be created by reversing the stored signal without newly storing it. The autonomous turning control of the work vehicle can be easily performed on the basis of the inverted signal. Therefore, the work becomes easier and the work efficiency is further improved. Further, it is not necessary to separately provide a dedicated switch for stopping the autonomous turning control, and the number of switches provided on the operation panel for remote operation can be reduced, and the operation performance of the operation panel is improved accordingly.
Furthermore, after the autonomous turning control is stopped by the first operation of the steering means or the like, the original operation of the steering means or the like can be promptly performed by the second operation of the same steering means or the like. The operation at the time of stopping and switching to the remote operation of the manual can be performed easily and quickly, erroneous operation can be prevented, and operability and workability can be improved.

[Brief description of drawings]

FIG. 1 is a basic configuration diagram of a work vehicle to which a remote control device according to the present invention is applied.

FIG. 2 is an explanatory diagram showing an image receiving system and a vehicle operating system in a hand station for remotely operating the tractor of FIG.

FIG. 3 is an explanatory diagram showing details of an operation panel of FIG. 2.

FIG. 4 is an operation explanatory view of the operation panel of FIG.

FIG. 5 is a transmission signal system diagram from the work vehicle side of FIG. 1 to the cockpit side having an operation panel.

FIG. 6 is a system diagram of a transmission signal transmitted from the operation panel side of FIG. 1 to the work vehicle side.

7 is a reception signal system diagram of a signal transmitted from the operation panel side of FIG. 1 to the work vehicle side.

FIG. 8 is a flow chart illustrating a specific function of the autonomous turning control means according to the present invention.

FIG. 9 is a flowchart more specifically explaining the function of the autonomous turning control means in FIG.

FIG. 10 is a flowchart illustrating a reversing process performed by the autonomous turning control means in FIG.

[Explanation of symbols]

1: tractor, 2: front wheels, 3: bonnet, 4: first
Camera, 5: first image transmitter, 6: rear wheel, 7: second camera, 8: second image transmitter, 9: antenna, 10: receiver, 11: camera pan drive servo motor, 12: handle, 13: Steering servo motor, 14: Brake pedal, 15: Brake servo motor, 16: Tillage rotary, 17: Folding stand, 18: Diversity antenna, 19: TV receiver, 20: Image accelerator,
21: Monitor TV, 22: Antenna, 23: Receiver, 24: Computer, 25: Antenna, 26: Transmitter, 27: Control panel, 28: Hand rest part, 29, 30: Steering switch group, 31: Steering switch , 32: standing wall, 33: pumper switch, 34: steering volume, 35: main switch: 36: throttle volume, 37: shuttle switch, 38: camera pan volume, 39: GPS set switch for position control, 40: turning recording switch , 41: engine emergency stop switch, 42, 43: autonomous turning switch, 44: power connector, 45: interface connector, 52: roll / pitch tilt sensor, 53: overload calculation amplifier, 54: brake ON /
OFF position switch, 55: steering volume, 56: potentiometer, 57: interface, 59: arithmetic processing unit, 60: PCM signal output unit, 61: CPU, 6
2: high frequency transmitter, 63: high frequency receiver, 64: PCM
Signal discriminating unit, 65: arithmetic processing unit, 66: CPU, 67:
Interface, 68: arithmetic processing unit, 69: PCM signal output unit, 70: CPU, 71: high frequency transmitting unit, 72:
Gate circuit, 73: RAM, 74: right / left discrimination unit, 75:
Receiver, 76: Amplifier, 77: High frequency receiver, 78: P
CM signal discriminating unit, 79: arithmetic processing unit, 80: shuttle servo motor, 81: throttle servo motor, 82: pumper lifting servo motor, 83: engine stop servo motor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Makoto Sugimoto 2500 Shin-kai, Iwata, Shizuoka Prefecture Yamaha Motor Co., Ltd.

Claims (4)

[Claims] 1. A steering means for outputting a steering signal indicating a steering angle to an operation panel for remotely operating a work vehicle,
An autonomous turning recording means for storing the steering signal output from the steering means in a memory and an autonomous turning means for reproducing the steering signal stored in the memory are provided, and further stored in the memory by the autonomous turning means. A remote control device for a work vehicle, comprising: an autonomous turning control means for steering the work vehicle based on the reproduced steering signal when the steering signal is reproduced. 2. The autonomous turning means comprises left autonomous turning means and right autonomous turning means, and the autonomous turning control means controls the work vehicle to turn left or right by operating a steering means. The steering signal output from the steering means when the autonomous turning recording means is operated is stored in the memory while the steering signal for performing the turning travel of is output to the left autonomous turning means or the right autonomous turning means. When the autonomous turning means in the same direction as the turning direction is operated, the steering signal stored in the memory is reproduced, the work vehicle is steered based on the reproduced steering signal, and the turning direction is changed. The steering signal stored in the memory is inverted and reproduced when the reverse turning means is operated, and the work vehicle is steered based on the reproduced steering signal. Record Remote control device for the work vehicle. 3. The autonomous turning control means switches the working states of the working means mounted on the steering means and the working vehicle when performing the autonomous turning control for steering the work vehicle based on the reproduction steering signal. The autonomous turning control is stopped by an operation of any one of a means, a forward / backward switching means mounted on the work vehicle, and a throttle control means for controlling a throttle valve for adjusting the fuel of the work vehicle. The remote control device for a work vehicle according to claim 1 or 2. 4. The autonomous turning control means suspends the autonomous turning control by a first operation of any one of the steering means, the work state switching means, the forward / backward switching means, and the throttle control means. However, the original operation of each means is prevented from being performed in the first operation, the normal control state is restored after the autonomous turning control is stopped, and the original operation is performed from the second operation of each means. 4. The remote control device for a work vehicle according to claim 3, wherein the operation is performed.