【図面の簡単な説明】[Brief explanation of drawings]
図面は、本考案に係る作業用走行車の無人操作
装置の実施例を示したものであつて、第１図はト
ラクタの側面図、第２図は同上正面図、第３図は
無人操作装置の正面図、第４図は同上側面図、第
５図は取付け状態を示す同上側面図、第６図は自
立状態を示す同上側面図、第７図はカバーした状
態を示す同上正面図、第８図は無人操作装置の取
付け部を示す一部断面正面図、第９図Ａ，Ｂは作
用を示す同上拡大正面図、第１０図Ａ，Ｂはそれ
ぞれ通常時と過負荷時を示すステアリング操作機
構の一部断面正面図、１１図はステアリング操作
機構の一部断面側面図、第１２図は要部拡大断面
図、第１３図Ａ，Ｂ，Ｃはそれぞれアクセル操作
状態と中立状態とブレーキ操作状態を示す第二モ
ータ部の側面図、第１４図は第二モータとシフト
モータを示す側面図、第１５図はブレーキ作動切
換機構の正面図、第１６図Ａ，Ｂはブレーキ操作
機構の作用を示す側面図、第１７図はアクセル操
作機構の側面図、第１８図Ａ，Ｂ，Ｃはそれぞれ
リフト操作状態と中立状態とクラツチ操作状態と
を示す第三モータ部の側面図、第１９図Ａ，Ｂは
クラツチ操作機構の作用を示す側面図、第２０図
はリフト操作機構の全体正面図、第２１図は同上
要部断面図、第２２図Ａ，Ｂはリフト操作機構の
作用を示す側面図、第２３図Ａ，Ｂはそれぞれ送
信機の正面図、側面図、第２４図は送信機の制御
機構を示すブロツク図、第２５図は送信機のメイ
ンルーチンを示すフローチヤート、第２６図は電
圧チエツク制御のフローチヤート、第２７図は無
人操作装置の制御機構を示すブロツク図、第２８
図は無人操作制御のメインルーチンを示すフロー
チヤート、第２９図はモード制御のフローチヤー
ト、第３０図はステアリング制御のフローチヤー
ト、第３１図はステアリング制御の作用説明図、
第３２図は第１モータ作動速度制御のフローチヤ
ート、第３３図は同制御の作用を示す波形図、第
３４図は同制御の作用を示すステアリングホイー
ルの平面図、第３５図は旋回制御のフローチヤー
ト、第３６図はブレーキ・アクセル制御のフロー
チヤート、第３７図は同制御の作用説明図、第３
８図はクラツチ・リフト制御のフローチヤート、
第３９図は同制御の作用説明図、第４０図はブレ
ーキ・クラツチ連動制御のフローチヤートである
。
図中、１は走行機体、２は運転座席、２ｂ足元
空間、３は無人操作装置、５はブレーキ操作機構
、６はアクセル操作機構、７はクラツチ操作機構
、８はリフト操作機構、９はステアリング操作機
構、２２は第一モータ、３２は制御部、３３は第
二モータ、４９は検知スイツチ、５０は第三モー
タ、５８は検知スイツチである。
The drawings show an embodiment of the unmanned operation device for a work vehicle according to the present invention, in which FIG. 1 is a side view of the tractor, FIG. 2 is a front view of the same, and FIG. 3 is the unmanned operation device. 4 is a side view of the same as the above, FIG. 5 is a side view of the same as the above showing the installed state, FIG. 6 is a side view of the same as the above showing the free standing state, FIG. Figure 8 is a partial cross-sectional front view showing the mounting part of the unmanned operation device, Figures 9A and B are enlarged front views of the same as the above showing the operation, and Figures 10A and B are steering operations showing normal and overload conditions, respectively. Figure 11 is a partially sectional front view of the mechanism, Figure 11 is a partially sectional side view of the steering operation mechanism, Figure 12 is an enlarged sectional view of the main part, and Figures 13 A, B, and C are the accelerator operation state, neutral state, and brake operation, respectively. FIG. 14 is a side view showing the second motor and shift motor, FIG. 15 is a front view of the brake operation switching mechanism, and FIGS. 16A and B show the operation of the brake operation mechanism. FIG. 17 is a side view of the accelerator operating mechanism; FIGS. 18A, B, and C are side views of the third motor section showing the lift operating state, neutral state, and clutch operating state, respectively; FIG. 19 A and B are side views showing the action of the clutch operating mechanism, Fig. 20 is an overall front view of the lift operating mechanism, Fig. 21 is a sectional view of the same essential parts, and Fig. 22 A and B are showing the action of the lift operating mechanism. 23A and 23B are respectively a front view and a side view of the transmitter, FIG. 24 is a block diagram showing the control mechanism of the transmitter, FIG. 25 is a flowchart showing the main routine of the transmitter, and FIG. 26 is a side view of the transmitter. The figure is a flowchart of voltage check control, Figure 27 is a block diagram showing the control mechanism of the unmanned operating device, and Figure 28 is a flowchart of voltage check control.
Figure 29 is a flowchart showing the main routine of unmanned operation control, Figure 29 is a flowchart of mode control, Figure 30 is a flowchart of steering control, Figure 31 is an explanatory diagram of the operation of steering control,
Fig. 32 is a flowchart of the first motor operating speed control, Fig. 33 is a waveform diagram showing the action of the same control, Fig. 34 is a plan view of the steering wheel showing the action of the control, and Fig. 35 is a diagram of the turning control. Flow chart, Fig. 36 is a flow chart of brake/accelerator control, Fig. 37 is an explanation diagram of the operation of the same control, Fig. 3
Figure 8 is a flowchart of clutch lift control.
FIG. 39 is an explanatory diagram of the operation of the same control, and FIG. 40 is a flowchart of the brake/clutch interlock control. In the figure, 1 is the traveling aircraft, 2 is the driver's seat, 2b is the foot space, 3 is the unmanned operation device, 5 is the brake operation mechanism, 6 is the accelerator operation mechanism, 7 is the clutch operation mechanism, 8 is the lift operation mechanism, and 9 is the steering wheel. The operating mechanism includes a first motor 22, a control unit 32, a second motor 33, a detection switch 49, a third motor 50, and a detection switch 58.