JPS61163408A - Remote control type working car - Google Patents

Abstract

PURPOSE:To restrict operating mistake and to perform a desired direction conversion by discriminating that a measured running distance during an operation reaches to a predetermined purpose running distance and informing the discriminating result. CONSTITUTION:When a push button type switch S is pressed in case that a change gear operating lever 22 of a transmitter 20a is in a neutral position, by a pulse signal generator 31B of a driven wheel 31A, a measurement of a running distance l1 is started in order to set an object distance l. When the switch is pressed again, the measurement of the distance l1 is completed and the measured value l1 is stored as the distance l. This memory operation is usually in an initial stroke. When a direction of a car body V is converted to start a next stroke, if the switch S is pressed under a progressing state of the car body V, the measurement of the distance l1 at the stroke is started and the distance l1 reaches to the stored distance l, then an alarming light is lit, causing the operator to inform a direction converting position of an end section of the stroke.

Description

Detailed Description of the Invention [Industrial Application Field] The present invention automatically controls a steering actuator and a vehicle speed control actuator based on instruction information from a transmitter.
The present invention relates to a remotely controlled work vehicle equipped with control means for actuation.

[Conventional technology]

These remote-controlled work vehicles are designed to be able to be remotely controlled so that they can be operated safely in work areas where it is difficult for workers to board and drive, such as on slopes or in work areas with many trees. be.

By the way, when performing work using such a work vehicle, the work is generally performed in a reciprocating manner in which the vehicle turns 180 degrees after each stroke and continues the work in the next stroke. When performing the direction change, the worker visually determines whether the position of the work vehicle with respect to the work area has reached the direction change position at the end of the stroke.

[Problem that the invention seeks to solve]

However, because the operator is far away from the vehicle, it is difficult to determine exactly where the turn is at each stroke, and as a result, the change of direction is often performed before the end of the stroke. - There was an inconvenience that the operation was carried out at a point outside the work area rather than the end of the process.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to accurately determine the turning position in each stroke, suppress maneuvering errors, and perform the desired direction change. The point is to make sure that K.

[Means for solving problems]

The characteristic configuration of the present invention is to provide means for setting a target travel distance and means for measuring the travel distance, and a means for determining that the measured travel distance has reached the target travel distance; The advantage is that each means for notifying the determination result is provided, and its operation and effectiveness are obvious.

[For use] In other words, if you set the target mileage in advance according to the length of the trip, it will be determined that the distance traveled is contrary to the target mileage when measured during driving work on that trip. and,
By notifying the operator of the determination result, the operator can accurately recognize the direction change position in that stroke.

〔Effect of the invention〕

Therefore, since the operator can accurately recognize the direction change position at the end of the stroke, the operator can appropriately change the direction at the desired point. A remote-controlled work vehicle that can perform more efficient work by suppressing maneuvering errors that occur when the direction change occurs at a point outside the work area, such as when the direction change occurs at the end of a stroke. It was winter.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figure 4, the lower fuselage frame (
l) A seat (2), a hand/L' (Hl), and a mission case (goods) are provided on the rear side, and an Eisin (El) is provided on the front side, and the front and rear drive wheels ( 3F) and (3B), and a lawn mowing device (4) equipped with a disc-shaped cutting blade is suspended between the front and rear wheels (8F) and (8R) so as to be movable up and down.
The lawn mowing work vehicle is configured as a four-wheel drive work vehicle.

As shown in FIG. 8, the output of the carrot (trout) is transmitted to a hydraulic continuously variable transmission (5) as a traveling transmission installed in a transmission case (5). The gears are shifted by a gearshift vehicle μ (not shown) during manual operation, and by a motor with a reduction gear (6) serving as an actuator for vehicle speed control during remote control.Output of the transmission (5) are the front and rear wheels (8F), (SR) O each differential device (8a), (8
b) and is also transmitted to the lawn mower (4), so that the front and rear wheels (8F), (8K) and the lawn mower (4) can be driven simultaneously.

The shift operation position by the motor (6) is detected by a potentiometer (Rs) that is linked to the rotation of the shift operation shaft of the transmission device (5), and the detected information is sent to the control device (7).
) to provide feedback.

The front wheels (8F) and the rear wheels (8R) are both configured to be able to be steered, and the front and rear wheels (gF) and (8R) are steered in the same direction. This is a parallel steering type that moves the vehicle body in parallel without changing its direction.
F), (8R) are steered in relatively opposite directions to enable turning in a small turning radius, and a normal two-wheel steering type in which only the front wheels (8F) are steered, similar to a car. The configuration is such that either one can be selected as described below.

Steering operations for the front and rear wheels (8F) and (JIR) are performed by power steering operations.The power steering operations will be described below.

As shown in Fig. 8, a pair of front and rear double-acting hydraulic cylinders (8F), (8K) are provided so as to be movable in the left-right direction of the vehicle body, and these cylinders (8F), (8R)
Each of them is separately connected to the front and rear wheels (8F) and (8R) via a steering tie rod (9). And the hydraulic cylinders (8F), (8R
), a pair of electromagnetic /< /l/p(
IOF) and (IOR), and the hand/L
/(l) or the steering amount by remote control described later, and the front and rear wheels (8
A potentiometer (IIL) as a steering angle detection means provided in each of F) and (8R),
The electromagnetic valves (IOF) and (IOR) are driven according to commands from the control device (7) so that the detected values by (R,') coincide with each other.

Below, specific examples of manual operation (manual/L/) operated by the operator while boarding the vehicle body and remote control (radio control) operated remotely by the operator from outside the aircraft are shown in Figures 1 and 5. I will explain based on this.

That is, a steering type selection switch (SW) is provided to select between a manual operation mode and a remote operation mode, and when in the manual operation mode, any of the steering types among the parallel steering, turning steering, and two-wheel steering is provided. A steering type selection switch is provided to select whether to perform steering operation, and a transmitter (20m) and receiver (20b) for remote control are also provided.

The transmitter (20&) includes a steering operation lever (21+) that can be operated in the front and rear and left and right directions, and a shift operation lever (2) for controlling forward and backward movement and stopping in accordance with the operation in the front and rear directions. The steering control lever (manufactured by Co., Ltd.) is configured to switch between the parallel steering type and the turning steering type by operating the lever in the front and rear directions, and to control the amount of steering by operating the lever in the left and right directions.

The front and rear receivers (20b) have a first channel /L/(CHl) for steering type selection and a second channel for steering operation.
Channel A/ (CHri, 8,000th Channel for speed change operation/
l/((I,), and a fourth channel μ (CH4) used for stroke notification control to be described later), and each signal from these channels 1v ((l!H1 to C horse) is F/
The converted signals are converted into voltage signals by the V converters (2), and the converted signals are connected to the respective potentiometers (
The signals from Ro) to (R11) are sent to the multiplexer (2
) and is digitized by the MU/D converter (2). Furthermore, each of the digitized signals, the signal from the steering type selection switch (SW, ), and the signal from the steering type selection switch (SW, ) are as follows:
C via I10 port (hereinafter abbreviated as PIO) (a)
! It is input to PU(l).

The OPU performs arithmetic processing on control signals for vehicle speed control, steering control, and stroke notification control to be described later, based on various input signals and pre-stored information, and the calculated control signals are It is output via the output PIO(l).

Potentiometer (R) in manual operation mode
a potentiometer that detects the target steering operation amount from o) or the target steering operation amount from the second channel (CH) by remote control, that is, the target steering angle, and the steering angle of each of the front and rear wheels (3F) and (8R). The front and rear wheels (8F
), (8R) (D) (10F),
(IOR) The configuration is such that steering control is performed by outputting valve operation commands to the O drive circuits (29F) and (29B).

te, in the remote control mode, the CPU compares and determines the target shift operation position corresponding to the target traveling speed and the detected position of the shift operation position detection potentiometer (Rs);
Until it is determined that the two match, the vehicle speed is controlled by outputting a motor operation command to the drive circuit (2) of the travel speed change motor (6).

Hereinafter, the journey notification control will be explained. As shown in FIG.
) is provided with a push-button switch ts+ for instructing the start and end of measurement.
It is configured to be input to the CPUI through.

In addition, as shown in FIG.
) and a pulse signal generator (BIB) that generates a pulse signal every time the driven wheel (81A) rotates by a predetermined angle. The distance sensor is configured to detect the distance traveled.

Then, the output signal of the sensor (3N) is sent to the CPU (l
). Further, a warning light is provided on the upper part of the vehicle body as a means of notifying the driver so that it can be turned on by a command from the CPU.

This warning light (manufactured by Co., Ltd.) has a type 1c structure in which the lamp rotates as it is turned on.

Note that (to) in the figure is the operation circuit for the warning light e(2).

Then, the operation information of the shift operation lever (■), the operation information of the push button switch (81), and the distance sensor @
Based on the detected information of υ, in order to set the target mileage (l) corresponding to the stroke length, the measured mileage (l1) during the teaching run can be stored as the target mileage@, and the distance traveled along the route can be stored. At the same time, the running distance SCa is automatically measured, and the measured running distance (l1)
determining that the target mileage (l) has been reached;
The system is also configured to automatically turn on a warning light based on the sheep identification result.

As shown in FIG. When the switch (81) is pressed again, the mileage (l)
When the measurement of 1) is completed, the measured value C15
) is stored as the target travel distance IIl■.

Note that this memorization of the target travel distance (2) is normally performed during the first stroke.

Then, when changing the direction between the cars and starting the next stroke, when the switch (S) is pressed at the progress point of the car body M, the measurement of the traveling distance (l1) in that stroke is started, and When the measured mileage (Al) reaches the target mileage (2) stored as above, the warning light will turn on (8 seconds).
This notifies the operator that the direction change position is at the end of the stroke.

A differential lock mechanism is provided for switching the rear wheel (8R) differential device (8b) to a non-operational state, and will be described in detail below.

As shown in FIG. 6, the case (l1
), a retaining part (l2b) is formed therein, and a sleeve θ part provided with a retaining part (l2a) that can be freely engaged with the retaining part (l2b) is attached to the left and right differential shafts (axles). One of them is slidably spline-fitted to the other, and both retaining parts (
By engaging l2a) and (l2b), it is possible to switch to the shive flock state.

Further, a spring q?l is provided that biases the sleeve (l'4) toward the locking side, and a shift fork C141 is provided that operates the sleeve α force toward the locking release side. The piston O(l), which is oscillated through a hydraulic equipment assembly frame H attached to the upper part of the transmission case, is held by a hydraulic equipment assembly frame H attached to the upper part of the transmission case. A solenoid valve (In) is attached, and an oil passage barrel communicating between the valve handle and the piston car is formed on the frame body (lf4), and the sleeve 0 is hydraulically operated. .

Furthermore, as shown in FIG. 1, the drive circuit for the solenoid valve is connected to the control device (7) to set the amount of steering operation when steering in the turning steering type or two-wheel steering type. The solenoid valve is configured to be automatically operated by a control device T7) so that the differential lock release state is operated only when the value is greater than or equal to the value.

In addition, (8) in FIG. 6 is a wheel braking device consisting of a brake desk attached to the differential shaft (ls), a braking pad, etc. It is configured to be operated by piston fighting.

[Another example]

In the above embodiment, the warning light □□□ is turned on as a means to notify the operator that the stroke is at the end, but instead of this, a reminder buzzer or the like may be installed on the vehicle body or transmitter side. The alarm may be notified by an alarm sound generating device.

In the above embodiment, as a means for setting the target travel distance (l), a case where the travel distance (l1) measured by teaching the work vehicle is stored as the target travel distance @ was exemplified, but if the travel length is known In this case, the length itself may be stored in advance as the target mileage @.

In addition, in the embodiment, driven wheels (8
Although the case where the mileage (l1) is measured based on the rotation of the front wheel (8F) or the rear wheel (8F) is illustrated as an example, various changes can be made such as, for example, the distance traveled (l1) is measured based on the rotation of the front wheel (8F) or the rear wheel (8F).

Furthermore, in order to start measuring the travel distance (lt) at the start of the stroke, in addition to manually instructing the start of measurement as in the embodiment, for example, based on steering operation information, after turning operation for direction change, Various means can be applied, such as automatically starting measurement when the straight-ahead state continues for a certain distance or a certain period of time.

[Brief explanation of drawings]

The drawings show an embodiment of a remotely controlled working vehicle according to the present invention,
Fig. 1 is a block diagram showing the configuration of the control device, Fig. 2 is a flowchart showing the stroke notification control, Fig. 8 is a block diagram showing the overall configuration of the control system, Fig. 4 is an overall side view of the lawn mowing vehicle, FIG. 6 is a perspective view of the transmitter, and FIG. 6 is a partially cutaway sectional view showing the differential lock mechanism. (6)... Actuator for vehicle speed control, (8F
), (8K)...Steering actuator, (
2Oa)...Transmitter, (32...Notification means, (l1)...Distance traveled, (B)...
・Target mileage. Agent P1゛Physician Kita (Sumori No. 4 a Rule 5 Figure 16)

Claims (1)

[Claims] [1] Control means for automatically operating the steering actuators (8F), (8R) and the vehicle speed control actuator (6) based on instruction information from the transmitter (20a). A remote-controlled work vehicle equipped with a target mileage (l)
and a means for measuring the distance traveled (l_1).
) has reached the target travel distance (l), and means (32) for notifying the determination result. [2] The means for setting the target travel distance (l) is a means for storing the measured travel distance (l_1) during teaching driving as the target travel distance (l).
1] The remotely controlled work vehicle described in item 1].