JPH0334004A - Remote control device for work vehicle - Google Patents

Abstract

PURPOSE:To improve the safety of a remote control device for a work vehicle by stopping urgently the running vehicle with a turn-off action of the power switch of a transmitter. CONSTITUTION:A capacitor C is set to a power supply route which supplies the power to a transmission control part and a transmission part 8 via a power switch contact S1. Thus the operations of both parts 7 and 8 are continued for a short period of time by the accumulated power of the capacitor C even after the power switch is turned off. At the same time, the control procedure of the part 7 includes a processing to transmit an operation end signal when the power switch is turned off. Therefore a running work vehicle is immediately stopped with an urgent stop signal received when the power switch is turned off. Thus the safety is improved for a remote control device for the vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a remote control device for a working vehicle such as a tractor or combine harvester.

[Prior art and problems to be solved by the invention] Generally,
This type of remotely controllable work vehicle is configured to receive operation signals transmitted from a transmitter and to control the operation of each operating section based on the signals. However, conventionally, in such work vehicles, even if the operating signal is interrupted for a short time due to an obstacle such as a tree, the traveling body would stop, resulting in frequent interruptions of work. The drawback was that efficiency decreased. Therefore, it has been proposed to solve the above problem by performing holding control that maintains each operating part in its current state for a predetermined period of time even if the operation signal is interrupted. , it is not possible to distinguish whether the signal was interrupted due to an obstacle or because the power switch of the transmitter was turned off, so even after the power switch was turned off, the holding control was activated and the aircraft continued to travel for a while. This poses a safety problem.

[Means for Solving the Problems] In view of the above-mentioned circumstances, the present invention was devised for the purpose of providing a remote control device for a work vehicle that can eliminate these drawbacks. In a working vehicle, the control section controls the operation of each operating section based on an input transmitter signal, and is provided with a holding control means that maintains each operating section in its current state for a predetermined period of time when the input signal is interrupted. , a power holding means for temporarily maintaining a power supply state to the transmitter even after turning off a power switch that supplies power to the transmitter; and supplying power from the power holding means based on detection of the turning off operation of the power switch. The present invention is characterized in that it is provided with a stop signal transmitting means for transmitting an emergency stop signal in response to the emergency stop signal.

With this configuration, the present invention makes it possible to significantly improve safety by bringing the traveling aircraft to an emergency stop when the power switch of the transmitter is turned off.

[Example] Next, in a drawing for explaining an embodiment of the present invention based on the drawings, 1 is a traveling body of a tractor, and a three-point lifting link mechanism 2 is connected to the rear of the traveling body 1. A rotary tilling type working part 3 is connected to the working part 3, and the working part 3 is raised and lowered by the swinging of the lift arm 5 as the hydraulic cylinder 4 expands and contracts, but these structures are the same as before. .

On the other hand, 6 is a transmitter, and the transmitter 6 has operation switches such as a power switch, an engine stop switch, a left and right brake switch, a steering switch, a clutch switch, a speed change switch, and a work part lift switch. The transmission control unit 7 that inputs the operation signals of these operation switches transmits the signals via the transmission unit 8.
This device is provided with a termination signal transmitting means for transmitting an operation termination signal based on the turning off operation of the power switch. That is, a capacitor C is provided in the power supply path that supplies power to the transmission control section 7 and the transmission section 8 via the power switch contact S1, and the power stored in the capacitor C allows the transmission control section 7 and the transmission section 8 to be maintained even after the power switch is turned off. While the transmitter 8 is configured to continue operating for a short time, the control procedure of the transmitter controller 7 is as follows.

As shown in FIG. 4, reference numeral 89 is a reception control unit provided in the traveling aircraft body 1, which has an additional process of transmitting an operation end signal based on the power switch OFF operation (detected by the contact S2 of the power switch). , the reception control section 9 is configured to input signals from the reception section 15 and the like, and output operation signals to solenoids for operating each operation section based on judgments based on these input signals, and as shown in FIG. Control is performed based on the flowchart shown in .

In other words, in this control, it is first determined whether the received signal is normal or not, and if the result is YES, normal remote control is performed, but if the result is NO, then the reception abnormality is determined as follows. It is determined whether it continues for a period of time (3 seconds in the embodiment) or more. If this judgment is No, a short-term reception abnormality is tolerated by retaining the current received data, and if it is YES, radio wave abnormality processing such as stopping the traveling aircraft is performed. There is. Furthermore, in a state where the normal remote control is being performed.

Based on the operation end signal, it is constantly and continuously judged whether the power switch of the transmitter 6 is ON or not, and if this is YES, the above control will be continued, but this is different from NO. If it is determined that an operation end signal has been input, the traveling aircraft 1 is immediately brought to an emergency stop and the operation of each operating section is stopped in the emergency stop process.

Next, data transmission rate control performed in the reception control section 9 will be explained. Here, 10 is a transmitter connected to the reception control section 9, 11 is a reception section connected to the transmission control section 7, and 12 is an antenna on the traveling aircraft l side to notify the operator of the reception status. This is an integrally provided rotating indicator light.

When data transmission speed control starts, after reading the received data, reception error processing and reception error occurrence rate calculation will be performed. It is determined whether <C<D). If this is YES, the data transfer speed to the solenoid etc. is increased to correspond to the transmission speed described later, and the transmitter 10 transmits a switching signal for switching the data transmission speed of the transmitter 6 to the faster side. It is supposed to be done. That is, the transmitter 6 that has received the switching signal adopts the faster of the two preset transmission speeds, thereby enabling remote control with good responsiveness. In this state, the rotation indicator light 12 is operated to display normally.

On the other hand, if the error rate is greater than Bt-, conversely, the data transfer rate of the reception control unit 9 is slowed down, and
The transmitter 10 transmits a switching signal for switching the transmission speed of the transmitter 6 to a slower side.

In other words, the transmission speed of the transmitter 6 is controlled to give priority to reducing the error rate over "responsiveness." Here, it is then determined whether the error rate is between B and 0. If this is NO, it is determined that the error occurrence rate is between C and 0, and a stop process is performed to stop one aircraft from running, and the rotating indicator light 12 is set to indicate that reception is not possible.
On the other hand, in the case of YES, the one revolution indicator 12 is displayed as unstable, but if the current error occurrence rate is between B-0 and the previous error occurrence rate is between C-0, It is determined whether the current error rate is between B and C', and if it is No, unstable display is avoided and the error rate is C'.
The same processing as in the case between -0 is performed. In other words, once the error rate exceeds C, a so-called hysteresis is established in which it is considered unreceivable unless it falls below C', which is set to a lower value than C, and this causes unreceivable and unstable states. Rotating indicator light 12 at the border with
This makes it possible to avoid unstable operation such as

Furthermore, the model discrimination control performed in this embodiment will be explained. Here, both models A and B are based on the pulse waveform of the engine rotation sensor 13 used for hydraulic operation speed control, etc. It is assumed that the operating ranges of the two are different.

In the model discrimination control, it is first determined whether the engine is rotating or not, and then it is determined whether the detection signal of the engine rotation sensor 13 is less than a predetermined value, and model discrimination is performed based on this determination. Of course.

Furthermore, following the above judgment, the model is also discriminated based on the operation range of the lift control lever 14 to ensure accurate model discrimination.If the two judgments are inconsistent, an intermediate between the two models is used. By controlling the system, problems caused by significant malfunctions can be avoided. In other words, the above model discrimination control is A.

By sharing the control unit of both B models, it is possible to simplify parts management and improve workability during assembly.

In an embodiment of the invention constructed as described.

The reception control unit 9 on the traveling aircraft 1 side determines whether the interruption of radio waves is due to an obstacle or due to the power switch off operation of the transmitter 6, depending on whether the operation end signal of the transmitter 6 has been input. If this is caused by an obstruction, a short interruption in radio waves can be tolerated by holding each actuating part in its current state for a predetermined period of time, but the transmitter 6's power supply In the case of a switch-off operation, the traveling aircraft 1 is immediately brought to an emergency stop. Therefore, although the structure is configured to tolerate short-term radio wave abnormalities caused by obstacles, etc., by turning off the power switch of the transmitter 6, the traveling aircraft 1 can be stopped immediately, and as a result, safety can be improved. can be significantly improved.

Note that the present invention is of course not limited to the above-mentioned embodiments, and for example, the power supply holding means does not utilize the stored power of a capacitor, but rather uses the power stored in a capacitor when a predetermined period of time has elapsed after the power switch is turned off. Needless to say, it is possible to change the form of the transmitter's transmission signal to one with a fast transfer rate and one with a slow transfer rate, as shown in Figure 10. (both signals are the same data), and by switching and reading both signals on the receiving side as appropriate based on the error rate, etc., it is possible to obtain the same effect as the data transmission speed control described above. Moreover, in this case, it is extremely convenient that the transmission can be carried out in one direction without performing bidirectional transmission and reception between the transmitter and the traveling aircraft.

[Operations and Effects] In summary, since the present invention is constructed as described above, short-term radio wave abnormalities caused by obstacles etc. can be tolerated by maintaining each operating part in its current state for a predetermined period of time. However, when the power switch of the transmitter is turned off, the traveling aircraft can be stopped immediately based on the emergency stop signal transmitted from the transmitter. Therefore, it is possible to reliably prevent the conventional problem in which the traveling body runs for a while after turning off the power switch, and as a result, safety can be significantly improved.

[Brief explanation of drawings]

The drawings show an embodiment of a remote control device for a working vehicle according to the present invention, in which FIG. 1 is a side view of a tractor, FIG. 2 is a block diagram showing the configuration of a transmitter, and FIG.
Figure 4 is a block diagram showing the configuration of the traveling aircraft side, Figure 4 is a flowchart showing the control procedure on the transmitter side, Figure 5 is a flowchart showing the control procedure on the traveling aircraft side, and Figure 6 is transmission speed switching control. Fig. 7 is a graph showing the relationship between error occurrence rate and processing content in data transmission speed control; Fig. 8 is a flow chart showing the control procedure for model discrimination control; Fig. 9 A and B are timing charts comparing different models, and FIG. 10 is a schematic timing chart showing the transmission form on the other side. In the figure, l is the traveling aircraft body, 3 is the working part, 6 is the transmitter, 7 is the transmission control part, 8 is the transmission part, 9 is the reception control part, 15 is the reception part, and Sl and S2 are the contacts of the power switch. .

Claims (1)

[Claims] In a working vehicle, a control unit that controls the operation of each operating unit based on an input transmitter signal is provided with a holding control means that maintains each operating unit in its current state for a predetermined time when the input signal is interrupted, The transmitter includes a power holding means for temporarily maintaining a power supply state even after turning off a power switch that supplies power to the transmitter, and a power holding means that stops the power supply from the power holding means based on detection of the turning off operation of the power switch. 1. A remote control device for a work vehicle, comprising stop signal transmitting means for receiving an emergency stop signal and transmitting an emergency stop signal.