JPS63301172A - Travel motion controller of remote operation type working car - Google Patents

Abstract

PURPOSE:To secure the safety of a captioned working car by automatically stopping the control actuation of a remote operation means while riding of an operator is detected in a device to selectively switch the remote operation means and a rider operation means along with the operation of a manual type clutch mechanism. CONSTITUTION:A remote operation means 102 is provided, which controls the actuation of each actuator for speed changing and steering based on the instruc tion information from a transmitter. And a rider operation means 103 is installed in the side of a working car for controlling the actuation of steering actuator on the basis of the instruction information from such steering operation means as wheelhandle and others. And an operation mode switching means 100 is arranged for selectively switching the operation means 103 while a manual type clutch mechanism is in a disengaged state, and the remote operation means 102 while the manual type clutch mechanism is in an engaged state so as to be effective respectively. In addition, a detecting means 101 for detecting the riding of an operator is provided to stop the control actuation of the remote operation means 102 while the riding of the operator is detected.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a remote control means for controlling the operation of a transmission actuator and a steering actuator based on instruction information from a transmitter, and a remote control means installed on a vehicle body. According to the steering f=operation means support information, the said vehicle is provided with a boarding control means that controls the operation of the opening actuator, and is provided with a manual clutch mechanism that connects and disconnects the transmission actuator and the transmission. At the same time, a speed change operation means for boarding operation is linked to the transmission, and the manual clutch mechanism is connected to the boarding control means in the disengaged state and becomes the remote control means in the engaged state. The present invention relates to a travel control device for a remote-controlled work vehicle, which is provided with a control mode switching means for selectively switching the remote control means and the boarding control means into an operating state in response to an operation.

[Conventional technology]

As described above, in such conventional remote-controlled work vehicles, when the manual clutch mechanism that disconnects and disconnects the transmission actuator from the transmission is operated, the boarding control means is activated, and the manual clutch mechanism is activated. The remote control means is configured to be activated when the remote control is turned on.

[Problem that the invention seeks to solve]

In other words, in conventional work vehicles, the remote control means and the boarding control means can be selectively switched into operation by simply turning on and off the manual clutch mechanism. There was an inconvenience.

That is, a child or the like may jump onto the work vehicle while the operator engages the manual clutch mechanism and performs remote control. Therefore, if you perform remote control without being aware of this, the remote control itself will prioritize work, ignoring slight irregularities on the ground, and the occupants of the work vehicle may be thrown off by the violent vibrations of the aircraft. There was a possibility of falling into a dangerous situation.

An object of the present invention is to make it possible to avoid the above-mentioned dangerous situation that occurs during remote control.

[Means for solving problems]

The characteristic configuration of the present invention is to provide a worker boarding detection means for detecting a worker boarding, and to control the remote control means such that when the worker boarding detection means detects the worker boarding, the control operation thereof is prohibited. The point is in the composition.

[For production]

In other words, when the operator engages and operates the manual clutch mechanism to perform remote control, if the operator is detected to be on board, the control operation of the remote control means is automatically activated based on the detection. This makes it impossible to operate the work vehicle using remote control means.

〔Effect of the invention〕

Therefore, even if a child, etc. jumps onto the vehicle while the operator is remotely controlling it, the vehicle cannot be remotely controlled and the occupants of the vehicle will not be in a dangerous situation. We have succeeded in establishing a remote control system that is highly safe and can be avoided.

〔Example〕

As shown in Fig. 6, a pair of left and right front wheels (1) and a pair of left and right rear wheels (2) are provided, an engine (E) is provided on the front side of the vehicle body, and a steering operation means for boarding and maneuvering is provided in the center of the vehicle body. A steering wheel (3) is provided on the rear side of the vehicle body, and a gear shift pedal (3) is provided as a gear shift operation means for onboard operation.
This work vehicle is equipped with a driving seat (4) and a transmission case (M) made of elastic material such as sponge, and a lawn mower (^) is attached to the lower abdomen of the vehicle so that it can be raised and lowered, and is used for cutting grass, weeds, etc. has been configured.

To explain the driver's seat (4) in detail, as shown in FIG. 5, the driver's seat (4) is fixed to a vehicle body cover (V), and the vehicle body cover (V
) through the hole (6) formed in the sensor stay (5).
) is pivotally attached to the inside of the vehicle body cover (v) so as to be swingable around the horizontal axis CX>.

In addition, a stay holding plate spring (7) that is elastically deformed as the sensor stay (5) moves downward is fixed with a bolt to a plate-shaped body (9) connected to the seat stay (8). At the same time, a selector switch (1
0) is attached to the plate-shaped body (9) so as to be switched downward by the downward movement of the sensor stay (5),
Accordingly, due to the downward bulging deformation of the operator's seat (4) as the operator sits on the operator's seat (4), the changeover switch (10) is operated to detect the operator's boarding. Means (101) is configured.

As shown in FIG. 2, the output of the engine (E) is transmitted to a hydraulic continuously variable transmission (11) as a speed change actuator provided in the transmission case (M), and this hydraulic continuously variable transmission The device (11), when a worker is on board,
The speed can be changed by the speed change pedal (3) or by the motor (12) with a reduction gear when the operator is not on board.

Further, hydraulic cylinders (13F) and (13R) are provided as steering actuators for changing the direction of the front and rear wheels (1) and (2) respectively, and when a worker is on board, the steering wheel (II) Also, when the worker is not on board, the hydraulic cylinder (13F) is operated based on instruction information from the transmitter (14).

By controlling the operation of (13R), the front and rear wheels (1)
.

(2) A parallel steering type in which the vehicle body is moved in parallel without changing its direction by steering the vehicle in the same direction;
Steering operation can be performed either in a turning steering type that allows turning with a small turning radius by steering the front and rear wheels (1) and (2) in relatively opposite directions, or in a type in which only the front wheel (1) is operated. It is structured as follows.

The linkage structure of the speed change pedal (3) will be explained as follows.
As shown in FIG. 3, the hydraulic continuously variable transmission (11
) with a push/pull rod (17) to the swinging type gear shift arm (16).
The more the gear shift pedal (3) is depressed from the neutral shift position to the forward forward side (F), the higher the forward speed becomes; It is designed so that it can be operated. In addition, in the figure (
18) is a temporary cam (18) that swings together with the gear shift arm (16) in order to maintain the hydraulic continuously variable transmission (11) in a neutral state.
It is a swinging arm equipped with a roller (20) that engages with the roller (19), and is elastically biased toward the engagement side by a spring (21).

Further, the motor with reducer (12) and the speed change arm (1
A manual clutch mechanism ( 22
), and a clutch operating lever (2) connected to this manual clutch mechanism (22) via a link (23).
4), the motor (12) and the gear shift arm (16) are brought into interlocking state, and by turning off the clutch operating lever (24), the motor (1
2) and the speed change arm (16) can be switched to a non-interlocked state. As shown in FIG. 4, in order to operate the manual clutch mechanism (22) on and off, the 0N10
A limit switch (100) as a control mode switching means operated by FF is disposed near an abutting member (25) attached to the intermediate portion of the link (23), and is operated when the clutch operating lever (24) is engaged. The contact member (25)
The limit switch (100) becomes ONL due to contact with
When the remote control means is activated, and the contact with the contact member (25) is released due to the cutting operation, the limit switch (100) is turned OFF and the boarding control means is activated. The manual clutch mechanism (2
In response to the operation 2), the remote control means and the onboard control means can be selectively switched to an active state.

To explain the configuration of the remote control means (102), as shown in FIG.
13F), (13R) control valve (26F), (
26R), a control device (27) that gives operation commands to each of the motor with a speed reducer (12), and the transmitter (14).
A receiver (28) is provided for receiving travel instruction information from the vehicle and transmitting it to the control device (27).

Further, a front wheel steering position detection potentiometer (
R1), a rear wheel steering position detection potentiometer (R2) that detects the steering position of the pair of rear wheels (2), and a shift position detection potentiometer that detects the position of the shift arm (16), that is, the shift position. Potentiometers (R3) are provided respectively, and these potentiometers (R+)
, (Rz).

(R1) Each detection signal is controlled by the control 1111 device (27).
It is done manually.

The transmitter (14) is provided with a transmission lever (29) that instructs the target shift position of the hydraulic continuously variable transmission (11) by its longitudinal movement, and a transmission lever (29) which instructs the steering type by its longitudinal movement, and which controls the target gear position by its longitudinal movement. Front and rear wheels (1), (2
) is provided, and each of the levers (29),
Various sensors for detecting the operating position and operation (30) and a transmitting device for transmitting information detected by the sensors to the receiver (28) as driving instruction information are provided.

For safety, the shift lever (29) is biased so that when its operation is stopped, it automatically returns to the neutral state, that is, the shift position returns to the neutral position (N).

That is, the operation of the motor with a speed reducer (12) is controlled so that the target shift position instructed by the transmitter (14) and the shift position detected by the shift value 1 loaf detection potentiometer (R3) match. The steering type (instruction information and target steering position and the front and rear wheels (1)) instructed by the transmitter (14),
(2) Based on the detection information of the respective steering position detection potentiometers (R,) and (R2), the steering hydraulic cylinders (13F) and (13R)
The control valves (261") and (261'l) are configured to control the operation of the control valves (261") and (261'l), so that the vehicle automatically travels at the designated speed change position, that is, the vehicle body travels automatically at the designated vehicle speed, and the front and rear wheels (
The steering position of 1) and (2) is an instruction steering type and the running of the vehicle body can be controlled remotely so that it becomes a target steering position.

The configuration of the boarding control means (103) includes information on the steering type selection switch (31) and a target steering position detection potentiometer that detects the operation position of the steering handle (11), that is, the target steering position during the boarding maneuver. (RO) detection information is input into the control device (27), and based on the information, the steering hydraulic cylinder (RO) is inputted into the control device (27).
13F).

(13R) controls the operation of the control valves (26F) and (26R) so that the front and rear wheels (1) and (2) in 11i are steered in the specified steering style and the steering handle (
11) so that it can be operated to the target steering position. During boarding maneuvers, the shift position of the hydraulic continuously variable transmission (11), that is, the vehicle speed, is adjusted by directly operating the shift arm (16) with the shift pedal (3).

As shown in FIG. 1, the remote control means (102) includes:
When the worker boarding detection means (101) detects the boarding of a worker, that is, when the boarding detection signal is output from the changeover switch (10), the control operation is prohibited. In other words, the manual clutch mechanism (2
2), the remote control means (102
) will be switched to the operating state, but the operation sheet 1
- When the child is seated in (4), the remote control means (102)
It is now impossible to remotely control the work vehicle, and this has been done to ensure safety. Then, the worker boarding detection means (Lo
t) detects that a non-worker is onboard, that is, when a non-occupant detection signal is output from the changeover switch (10), the control operation of the remote control means (102) is immediately returned to a state where control operation is permitted. It is configured.

Further, by operating the manual Kurasochi mechanism (22), the user can board and operate the work vehicle while sitting on the driver's seat (4). In addition, when operating the work vehicle in a standing position without sitting on the driver's seat (4), the lawn mowing bag J (
The drive of the power take-off shaft (not shown) of the mission case (M) is stopped based on the signal from the changeover switch (10) of the driving seat (4) so that the drive of the power take-off shaft (not shown) of the mission case (M) with respect to A) is stopped. It is designed to be controlled.

[Another example]

In the embodiment described above, the operation mode switching means is configured to switch from 0N1 to 0N1 in conjunction with the operation of the manual clutch mechanism (16).
Although a case has been exemplified in which a limit switch (19) that is operated at 0FF is provided and the control mode is switched by 0N10FF of this limit switch (19),
A sensor or the like may be provided to detect the operating position of the manual clutch mechanism (22), and the operation mode may be switched based on information detected by the sensor.

Further, in the above embodiment, the operator's boarding was detected by turning the changeover switch (10) 0N10FF, which is operated by sitting on the driver's seat (4). The boarding of a worker may be detected by a sensor that detects the presence of a worker, or the boarding of a worker may be detected by a non-contact photo-interrupter type sensor that detects whether a worker is in the control section of the work vehicle. The specific configuration of the worker boarding detection means (101) for detecting worker boarding can be changed in various ways.

Further, in the above embodiment, after the control operation of the remote control means (102) is prohibited, when the worker boarding detection means (101) detects the boarding of a non-worker, the remote control means (102) immediately starts operating the remote control means (102).
02) is configured to return to a state where the control operation is permitted, but after the worker boarding detection means (101) detects the boarding of a non-worker and a set time elapses, the remote control means (
102) may be configured to allow the control operation to further enhance safety.

The present invention can be applied to a lawn mowing vehicle that can use the lawn mowing device (8) (Ii), and can also be applied to a working vehicle equipped with various types of working devices.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the travel control device for a remote-controlled working vehicle according to the present invention, FIG. 1 is a block diagram showing the characteristic configuration of the present invention, and FIG. 2 is a schematic configuration of the control system and a schematic configuration of the transmission system. FIG. 3 is a schematic side view showing the operating configuration of the transmission, FIG. 4 is a plan view of the main parts, FIG. 5 is a schematic side view showing the mounting part of the driver's seat, and FIG. FIG. 2 is an overall side view of the work vehicle. (3)... Speed change operation means, (4)...
Driving seat, (11)...Transmission, (12)
・・・・・・Actuator for speed change, (13F),
(13R)...Steering actuator, (14
)...Transmitter, (22)...Manual clutch mechanism, (100)...Operation mode switching means, (101)...Worker boarding detection means,
(102)...Remote control means, (103)...
... Boarding control means. Representative Patent Attorney Kita +・1 Modification Figure 1 Figure 5 Figure 3 Figure 4 Figure 6

Claims (1)

[Claims] 1. The transmission actuator (12) and the steering actuator (13) are controlled based on instruction information from the transmitter (14).
F), remote control means (10) to control the operation of (13R)
2) and the steering actuator (13F), (13R) based on the support information of the steering operation means (H) installed on the vehicle body.
) for controlling the operation of the transmission actuator (12) and the transmission device (103).
A manual clutch mechanism (22) for disengaging and disengaging the manual clutch mechanism (22) is provided, and a speed change operation means (3) for boarding operation is linked to the transmission (11), and the manual clutch mechanism (22) is disengaged. Boarding control means (103) in the state
and in the engaged state, the manual clutch mechanism (2
2) Traveling of a remote-controlled work vehicle equipped with a control mode switching means (100) that selectively switches the remote control means (102) and the boarding control means (103) into an operating state in accordance with the operation of step 2). The control device is provided with worker boarding detection means (101) for detecting worker boarding, and controls the remote control means (102) to control the worker boarding detection means (102) when the worker boarding detection means (101) detects the worker boarding. A travel control device for a remote-controlled work vehicle configured to prohibit control operation. 2. The travel control device for a remote-controlled working vehicle according to claim 1, wherein the worker's boarding detection means (101) detects whether the worker is seated on the driver's seat (4). 3. The traveling control device for a remote-controlled working vehicle according to claim 1, wherein the worker riding detection means (101) detects the presence of a foot of the working vehicle on a footrest step.