JPH07284320A - Remote control device for mobile agricultural machinery - Google Patents

Abstract

(57) [Abstract] [Purpose] The operability is improved by eliminating the need to open / close the valve device when the aircraft is stopped or restarted. It also eliminates the inconvenience of reduced work efficiency. [Structure] Shutter 8 provided in the supply path of the spraying material
Is automatically closed when traveling is stopped, and is automatically opened when traveling is restarted.

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 a mobile agricultural machine which sprays materials such as agricultural chemicals and fertilizers.

[0002]

2. Description of the Related Art Recently, in this type of mobile agricultural machine, it has been proposed to remotely control a traveling machine body in order to improve work safety and work efficiency. In addition, it is desirable that the working machine connected to the traveling machine body can be remotely controlled. However,
When connecting a spraying machine that sprays the spraying material supplied from the material tank through the valve device to the field, it is necessary to open and close the valve device each time the mobile agricultural machine is stopped and restarted. Because there is
This is a problem because remote operation becomes complicated and inferior in operability, and erroneous operation such as delaying the opening / closing timing of the valve device may be caused to reduce work accuracy and work efficiency.

[0003]

SUMMARY OF THE INVENTION The present invention was conceived with the object of providing a remote control device for a mobile agricultural machine capable of eliminating these drawbacks in view of the above-mentioned circumstances. A mobile agricultural machine comprising a remote control device for controlling the operation of each part based on an operation signal, wherein the mobile agricultural machine has a spraying machine for spraying a spraying material supplied from a material tank via a valve device to a field. Upon connection, the remote control device has an automatic valve closing means for automatically stopping the valve device upon judging the traveling stop of the mobile agricultural machine and an automatic valve opening device for judging the traveling restart of the mobile agricultural machine. It is characterized in that an automatic valve opening means is provided. With this configuration, the present invention improves the operability by eliminating the opening / closing operation of the valve device associated with traveling stop and traveling restart, and improves the work accuracy and work efficiency based on erroneous operation such as the opening / closing timing of the valve device being delayed. It is possible to eliminate the inconvenience of the decrease.

[0004]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, one embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of a riding type management machine, which is an example of a mobile agricultural machine, and includes a main clutch operating mechanism, a brake operating mechanism, a main shift operating mechanism, a working section raising / lowering operating mechanism, and a steering provided on the traveling machine body 1. Each operation unit such as the operation mechanism and the throttle operation mechanism is provided with an unmanned operation mechanism that operates each operation unit based on actuator drive.

Reference numeral 2 denotes a granulating machine connected to the rear portion of the traveling machine body 1. A pair of left and right granulating machine bodies 3 mounted on the granulating machine 2 includes a tank 4 in which materials are stored, A drive unit 6 that discharges materials in the tank 4 in a pressure-feeding manner by the power of the engine 5.
(A blower or the like), a spray cylinder 7 for spraying the material pressure-fed by the drive unit 6 to the field, a shutter 8 for opening and closing the material supply path from the tank 4 to the drive unit 6, and the like. In the main body 3 of the granulator, a shutter drive motor 9 for opening and closing the shutter 8 (with a limiter 9a built-in), a throttle drive motor 10 for adjusting the throttle of the engine 5 (limiter 10a and position sensor 1).
0b), a working machine side starter motor 12 that starts the engine 5 based on the operation of the working machine side starter switch 11, a generator 13 that generates power by the power of the engine 5, and an alternating current generated by the generator 13 is rectified. Rectifying circuit 14, an engine sensor 15 (photocoupler) that detects whether the engine 5 is driven or stopped based on the presence or absence of generated current, and the tank 4
A remaining material amount sensor 16 (photocoupler) for detecting the remaining amount of material based on a change in resistance value of a photoconductive cell CDS provided therein is provided.

Further, 17 is a control unit provided on the traveling machine body 1 side, and the control unit 17 is constructed by using a microcomputer (including CPU, ROM, RAM, etc.). In addition to the position detection sensor 10b, the working machine side starter switch 11, the engine sensor 15 and the remaining material amount sensor 16, the transmitter 18
A receiving circuit 19 for receiving a remote control signal from the remote controller, an automatic switch 20 for turning on / off the automatic control, an R / C switch 21 for turning on / off the remote control mode,
L / R switch 2 for selecting the left and right granulator main body 3
2 (three positions of L, R, and LR), a shutter switch 23 for opening and closing the shutter 8 (three positions of opening, closing, and stopping), and a work machine engine stop switch 24 for stopping the work machine side engine 5. , A signal is input from a fuselage side starter switch 27 for driving the fuselage side starter motor 26 via a safety switch 25 (ON when the main clutch pedal is depressed), and a shutter drive motor is judged based on these input signals. 9, the throttle drive motor 10, the main clutch drive motor 28, the monitor lamp 29, the alarm buzzer 30 and the like are configured to output operation signals.

On the other hand, the transmitter 18 has a traveling switch 31 for performing a traveling stop operation and a traveling restart operation, a left shutter switch 32L for opening and closing the shutter 8 of the left granulator main body 3, and a right granule. Operation switches such as a right shutter switch 32R for opening and closing the shutter 8 of the machine body 3 are provided, and operation signals of the operation switches are transmitted from the transmission circuit 33 to the traveling machine body 1. There is.

Next, the shutter control executed by the control section 17, and the shutter temporary closing control, the throttle / shutter drive control, and the engine start / stop control executed as a subroutine of the shutter control will be described with reference to the flowcharts. However, the 0th bit of the shutter command used in the shutter control is the closing flag of the right shutter 8, the 1st bit is the opening flag of the right shutter 8, and the 2nd bit.
The bit is a closing flag of the left shutter 8, the third bit is an opening flag of the right shutter 8, the 0th bit of the engine flag is a stop determination flag of the right engine 5,
The first bit is a flag for determining whether to stop the left engine 5, the fourth bit
The bit is a flag for determining the operation of the work machine engine stop switch 24, the throttle setting value R (L) TRULM is the upper limit value, R (L) SHTOP is the shutter opening / closing boundary value, and R (L) EGSTR is the engine start value. , R (L) TRDLM is the lower limit value (idling value), R (L) EGSTP is the engine stop value, and the set values have the following relationships. RTRULM>RSHTOP>REGSTR>RTRDLM> REGSTP (right throttle setting) LTRULM>LSHTOP>LEGSTR>LTRDLM> LEGSTP (left throttle setting)

In the shutter control, first, the operation positions of the shutter switch 23 and the L / R switch 22 on the machine side are determined. Here, when the shutter switch 23 is at the stop position, all bits of the shutter command are reset and the process immediately proceeds to the next process.
When the shutter switch 23 is in the open position, L /
While the first bit and the third bit of the shutter command are set according to the operation position of the R switch 22, while the shutter switch 23 is in the closed position, the shutter command of the shutter command is changed according to the operation position of the L / R switch 22. The 0th bit and the 2nd bit are set.

After the manual operation process is completed, it is determined whether the automatic switch 20 is ON or OFF. This judgment is OF
If it is F, throttle / shutter drive control and engine start / stop control are executed to return to the main routine. However, if the automatic switch 20 is ON, then the R / C switch 21 is turned ON-OFF. When the determination is ON, the remote operation mode process is executed, and when the determination is OFF, the boarding mode process is executed.

In the remote operation mode process, it is judged whether the transmitter-side shutter switches 32L and 32R are ON-OFF (whether or not there is an operation), and if the judgment is ON, the operation position of each switch (open position, closed position). ) According to the setting of the shutter flag (L or R) (in the open position)
Alternatively, reset processing (in the closed position) is performed, and a shutter command corresponding to the operation position of each switch is set. On the other hand, when the transmitter-side shutter switches 32L and 32R are OFF, the setting state of the shutter flag is determined. If this determination is a reset, the corresponding shutter command (the second and third bits for L, the zero, first for R)
Bit) is reset and the process proceeds to the next process. However, if the shutter flag is set, the engine sensor 15
While judging the engine stop based on the detection signal of
The material shortage is determined based on the detection signal of the material remaining amount sensor 16. If both judgments are NO, the corresponding shutter command (the second and third bits for L, the 0th and first bits for R) is reset, but either judgment is YES. If it is, the travel stop request flag is set, and at the same time, the shutter command (the second bit in the case of L, the 0th bit in the case of R) that becomes the shutter close request flag is set. That is, in the remote operation mode, the machine body traveling is automatically stopped (main clutch OFF) based on the engine stop determination or the material shortage determination, and the shutter 8
Is automatically closed to stop the material supply to the drive unit 6.

By the way, in the present embodiment, when the L shutter flag and the R shutter flag are reset while the travel stop request flag is set, the travel stop request flag is reset. In other words, when the vehicle is automatically stopped based on the engine stop determination or the material shortage determination, the aircraft traveling can be resumed by operating either the left or right transmitter side shutter switch 32L, 32R to the closed position. It has become.

On the other hand, in the boarding mode, the granulator main body 3 in operation is determined based on the operating position of the L / R switch 22, and the engine of the granulator main body 3 which is determined to be in operation and the lack of materials are determined. To judge. If either determination is YES, the shutter release request flag (third bit in the case of L, first bit in the case of R) of the shutter command is reset, and the shutter close request flag (in the case of L, it is 2nd bit, 0th bit for R)
Is set to automatically close the shutter 8, but in the boarding mode, the engine is stopped or stopped based on the blinking operation of the monitor lamp 29 and the operation of the alarm buzzer 30 without setting the travel stop request flag. It is designed to notify the shortage of materials.

In the shutter temporary closing control of the subroutine, first, the safety switch 25 (main clutch pedal) is turned on and off and the traveling switch 31 is turned on.
Judgment of running-stop is made based on OFF. If it is determined that the vehicle is in the stopped state, the throttle sensor value (the detection value of the position detection sensor 10b) is the shutter opening / closing boundary value R (L) SHTO.
The work state-non-work state (shutter open-shutter closed) is judged based on whether it is P or more, and when it is judged that the work state is set, the shutter open flag (L or R) is set. The shutter open / closed state when the vehicle is stopped is stored and the shutter command
Reset processing of shutter release request flag (third bit in case of L, first bit in case of R) and setting processing of shutter close request flag (second bit in case of L, 0th bit in case of R) This is done so that the shutter 8 is automatically closed.

On the other hand, when it is determined that the vehicle is in a traveling state (restarting traveling), the state of the shutter open flag is first determined. If it is determined that the shutter open flag is in the set state, the shutter close request flag (the second bit for L, the zero bit for R) is set in the shutter command.
Bit) reset process and shutter release request flag (3rd bit for L, 1st bit for R) to automatically open the shutter 8 and set the throttle sensor value to the upper limit. The shutter open flag is reset when R (L) TRULM is reached.

By the way, in this embodiment, when the shutter switch 32L, 32R on the transmitter side or the shutter switch 23 on the fuselage side is closed while the shutter open flag is set, the shutter open flag is reset. The automatic opening of the shutter 8 is resumed when the traveling is resumed. Therefore, the shutter open / close state after the traveling is resumed can be set in advance based on the switch operation while the traveling is stopped. .

Further, in the throttle / shutter drive control of the subroutine, the opening / closing drive of the corresponding shutter 8 is first executed by referring to the contents of the shutter command, but the throttle drive is performed prior to the opening / closing drive of the shutter 8. Ascending / descending driving of the motor 10 is executed. That is, when the 0th bit or the 2nd bit of the shutter command is set, the throttle drive motor 10 is driven downward until the throttle sensor value reaches the lower limit value R (L) TRDLM, and the throttle sensor value is set to the shutter value. When the shutter drive motor 9 is driven to be closed after the opening / closing boundary value R (L) SHTOP is reached, on the other hand, when the first bit or the third bit of the shutter command is set, the throttle sensor value is set to the upper limit value R. (L) TRUL
The throttle drive motor 10 is driven upward until it reaches M, and the throttle sensor value changes the shutter opening / closing boundary value R.
The shutter drive motor 9 is configured to be opened and driven from the stage when (L) SHTOP is reached.

Furthermore, in the engine start / stop control of the subroutine, first, it is judged whether the working machine engine stop switch 24 is ON / OFF. When the determination is ON, the fourth bit of the engine flag is set, and the throttle of the engine 5 corresponding to the operation position of the L / R switch 22 is set so that the throttle sensor value is the engine stop value R (L). The engine 5 is stopped by driving downward until it reaches EGSTP. When the working machine engine stop switch 24 returns to OFF due to the engine stop, the fourth bit of the engine flag is reset and the stopped engine is stopped. The engine flag (0th bit for R, 1st bit for L) corresponding to 5 is set. When the 0th bit or the 1st bit of the engine flag is set, the throttle of the engine 5 corresponding to the operation position of the L / R switch 22 is set to the engine start value R (L) EGSTR. It is designed to drive upward until it is reached. That is, when the engine is stopped,
After the engine throttle is once lowered to the engine stop position, it is automatically raised to the optimum engine start position in preparation for restarting.

In the embodiment of the present invention constructed as described above, when the engine 5 of the granulator 2 is stopped, the shutter 8 is automatically closed, so that the material is supplied to the drive unit 6 when the engine is stopped. You can control what is done. Therefore, it is possible to prevent the inconvenience that the material is clogged in the drive unit 6 by supplying the material to the drive unit 6 when the engine is stopped, and as a result, it takes time to remove the material clogged in the drive unit 6 and the work efficiency is lowered. It is possible to eliminate such inconvenience.

Moreover, even when the material in the tank 4 becomes insufficient, the shutter 8 automatically closes, so that the material supply from the tank 4 can be quickly stopped.
For this reason, it is possible to improve the accuracy of the spraying work by avoiding the dispersion of the spraying amount due to the material shortage.

Further, in the remote control mode, since the traveling of the body is automatically stopped in accordance with the automatic closing of the shutter 8, it is possible to easily recognize the engine stop and the lack of materials even from a distant place. The work of searching for the engine stop position or the material exhaustion position as in the case of continuing the operation is not necessary, and as a result, the work can be restarted promptly and the work efficiency can be improved.

Further, since the automatic stop state is released based on the closing operation of the transmitter side shutter switches 32L and 32R, especially when entering the field and getting on the machine or mode switching operation (remote operation mode → get on board). It is possible to continue remote control without performing
As a result, workability and work efficiency can be improved.

On the other hand, in the boarding mode, the shutter 8
Without automatically stopping the aircraft traveling with the automatic closing of
Since the engine stop or the material shortage is notified based on the blinking operation of the monitor lamp 29 and the operation of the alarm buzzer 30, it is possible to avoid the inconvenience that the operator loses his posture due to the unexpected traveling stop, or the traveling stop is performed on the machine side. It is also possible to eliminate the inconvenience of mistakenly recognizing the failure of.

Further, the shutter 8 is automatically closed with traveling stop (automatic stop and manual stop),
Since the opening operation is automatically performed when the traveling is resumed, it is not necessary to open and close the shutter 8 each time the traveling is stopped and the traveling is resumed. As a result, remote operation (including operation during boarding in this embodiment) is simplified. The operability can be improved.

Moreover, since the shutter 8 is automatically opened and closed at a constant timing with reference to stopping and resuming traveling, the opening and closing timing is not delayed as in the case of manually opening and closing the shutter 8. Therefore, working accuracy and working efficiency can be improved.

When the transmitter shutter switches 32L, 32R or the fuselage side shutter switch 23 are closed while the shutter 8 is automatically closed, the automatic opening of the shutter 8 is canceled when traveling is resumed. The opening / closing state of the shutter after the traveling is restarted can be set in advance based on the switch operation while the traveling is stopped. Therefore, it is possible to improve the operability by eliminating the need for a hasty operation when the traveling is restarted.

Further, since the engine throttle is interlocked with the opening and closing of the shutter 8, it is not necessary to individually operate each time the work is interrupted or the work is restarted. Therefore, it is not possible to improve the operability, it is possible to avoid a decrease in work accuracy and work efficiency due to an erroneous operation, and moreover, the number of operation switches provided in the traveling machine body 1 and the transmitter 18 is reduced. Since the number can be reduced, the number of parts can be reduced and the cost can be reduced.

Moreover, the engine throttle and the shutter 8
In the interlocking control of the engine, the shutter 8 is opened and closed when the throttle sensor value reaches a predetermined intermediate value. Therefore, there is a problem that work accuracy is deteriorated due to unbalanced operation of the engine throttle and the shutter 8. It can be resolved.

Further, since the engine throttle automatically moves up to the optimum engine starting position after the engine is stopped, it is not necessary to operate the throttle to the optimum engine starting position when restarting the engine. It can always be done smoothly.

It should be noted that the present invention is not limited to the above-mentioned embodiment, and for example, the working machine in which the present invention is carried out is not limited to the above-mentioned granulating machine, and a sprayer, It goes without saying that it can be carried out by a dusting machine, a mist machine, or the like. It is also possible to perform the engine start / stop control shown in FIG. 10 instead of the engine start / stop control of the above-described embodiment. That is, the engine start / stop control shown in FIG. 10 does not automatically raise the engine throttle to the optimum engine start position when the engine is stopped, but when the engine is started (determined based on the ON of the working machine side starter switch 11). However, since the determination at the time of starting the engine can be made without providing a special sensor, it can contribute to the simplification of the structure and cost reduction, and when the engine is stopped, the throttle is set to the engine stop position. Since it can be held, it is possible to restrict the fuel from flowing into the engine in the stopped state, as in the case where the throttle is previously operated to the optimum position for starting the engine.

[0031]

In summary, since the present invention is constructed as described above, a spraying machine for spraying the spraying material supplied from the material tank via the valve device to the agricultural field which can be remotely controlled by the mobile agricultural machine. Although it is a connection of
The valve device is automatically closed when the traveling of the mobile agricultural machine is stopped, and is automatically opened when the traveling of the mobile agricultural machine is restarted. As described above, it is not necessary to open and close the valve device one by one, and as a result, the remote operation of the spraying machine can be simplified and the operability can be improved.

Moreover, since the automatic opening and closing of the valve device is performed at a fixed timing based on the stopping and restarting of the traveling of the agricultural machine, the valve opening and closing is performed remotely as in the conventional case. The inconvenience of delaying the opening / closing timing can be eliminated, and as a result, the work precision and work efficiency of the spraying work machine can be improved.

[Brief description of drawings]

FIG. 1 is a plan view of a traveling machine body to which a granulating machine is connected.

FIG. 2 is a side view of the same.

FIG. 3 is a block circuit diagram showing input / output of a control unit.

FIG. 4 is a flowchart showing a manual operation processing portion of shutter control.

FIG. 5 is a flowchart showing a remote control mode processing portion of shutter control.

FIG. 6 is a flowchart showing a boarding mode processing portion of shutter control.

FIG. 7 is a flowchart showing shutter temporary closing control.

FIG. 8 is a flowchart showing throttle / shutter drive control.

FIG. 9 is a flowchart showing engine start / stop control.

FIG. 10 is a flowchart showing another example of engine start / stop control.

[Explanation of symbols]

 1 traveling machine body 2 granulator 5 engine 6 drive unit 7 spraying cylinder 8 shutter 17 control unit 18 transmitter

Claims (1)

[Claims] 1. A mobile agricultural machine comprising a remote control device for controlling the operation of each part based on a remote control signal, wherein the mobile agricultural machine is provided with a spraying material supplied from a material tank via a valve device to a field. In connecting the spraying work machine to be sprayed, the remote control device includes an automatic valve closing means for automatically stopping the valve device by judging the traveling stop of the mobile agricultural machine, and a valve for judging the traveling restart of the mobile agricultural machine. A remote control device for a mobile agricultural machine, comprising: an automatic valve opening means for automatically opening the device.