JP6224790B2 - Agricultural work machine remote control device - Google Patents

Description

  The present invention relates to a remote control device for a farm work machine that transmits a command signal for remotely operating a farm work machine provided with a wireless communication control device including an electronic board for controlling operation.

  Conventionally, when performing farm work such as padding work and grooving work, a farm machine corresponding to these farm work is attached to the rear part of the traveling machine body, the working part is moved to the offset position on the side of the traveling machine body, and the traveling machine body These farming operations are performed by advancing the farming machine along with the traveling. Some of these agricultural machines are configured such that an operator who has boarded the driver's seat of the traveling machine body can adjust the offset position of the working unit by remote control (see Patent Document 1).

  A control unit that enables this remote operation is provided in the agricultural machine. A remote control device (operation unit) that transmits an operation signal to the control unit is disposed in the vicinity of the driver's seat of the traveling machine body, and the remote control device and the control unit are electrically connected via an electric wire or the like.

  The remote control device is provided with an operation knob member that can set the offset work position of the working unit in accordance with the width dimension of the traveling machine body. The operation knob is configured to be adjustable in stages, and when the operation knob is rotated in each stage, the working unit moves from the storage position to a preset offset position.

  This remote control device is electrically connected to the control unit by wire, and is supplied with power from a battery provided in the traveling machine body via the control unit. For this reason, electric power is always supplied to the remote control device at the time of farm work, and the worker who has boarded the traveling machine body can adjust the offset position of the worker with respect to the traveling machine body that operated the remote control device.

JP 2008-193905 A

  When this conventional remote control device is made wireless and a command switch for sending command signals for controlling various operations of the agricultural machine to the remote control device and a command lamp corresponding to these command switches are provided, If is always turned on, one of the command lamps is always lit, and there is a possibility that the capacity of the battery serving as the power source provided in the remote control device will be lost soon.

  As a result, it is necessary to change the battery many times during farm work, and the command switch that was turned on may not work as the battery capacity of the remote control device decreases. There is a possibility that it cannot be operated.

  The present invention has been made to solve such problems, and provides a remote control device for an agricultural machine that can suppress power consumption of a power source mounted on the remote control device when the remote control device is wireless. For the purpose.

  In order to achieve the above object, a remote control device for an agricultural machine according to the present invention includes a command signal included in a radio wave received by an antenna provided in an agricultural machine (a coater 1 in the embodiment) attached to the rear part of a traveling machine body. A remote control device for a farm work machine provided with a communication unit that transmits a radio wave including a command signal to a wireless communication control device that controls the operation of the farm work machine according to the power supply, and for turning on and off the power supply A power switch, a power lamp for displaying a state where the power switch is turned on / off, a command switch for sending a command signal for controlling various operations of the agricultural machine, a command lamp for displaying a state where the command switch is turned on / off, When one of the storage unit that stores command signal data for controlling various operations, the command switch, and the power switch is turned on, it corresponds to the turned on switch. A control unit that reads command signal data from the storage unit and sends the command signal data to the communication unit, and the control unit turns on the power switch and the command lamp when the farm work machine is in a state in which it can perform a predetermined operation; A lamp mode switching unit that switches between an energy saving mode that suppresses power consumption and an auto power off mode that turns off the power supply lamp.

  The farm work machine is attached to the rear part of the traveling machine body and performs the farm work while proceeding with the traveling of the traveling machine body. Specifically, it refers to a tilling machine that plows a field, a hull coater that forms a ridge around the field, a ditcher that forms a groove around the field, and the like.

  The “command switch” of the present invention is a switch operated when sending command signals for controlling various operations of the farm work machine. Specifically, when the farming machine is a paddle coater, an offset switch for adjusting the offset amount of the working unit steplessly, an automatic corner coating switch operated when performing automatic corner padding work, work The storage switch operated when putting the storage unit into the storage state, the drum swivel switch operated when changing the orientation of the trimming unit when the farm work machine is a basket coater, and operated when spraying water on the basket This means a spray switch.

  The “command signal data” of the present invention specifically includes command data for controlling various operations of the agricultural machine and intensity data of radio wave output transmitted from the communication unit.

  The “posture capable of performing a predetermined work” in the present invention refers to a posture capable of performing a certain work among the work performed by the agricultural machine. Specifically, when the farm work machine is a paddle coater, it refers to a posture in which the paddle coater can perform the padding work at the corners of the field.

  The “energy saving mode” of the present invention is a mode for suppressing the power consumption of the lamp, and specifically, a flash mode in which lighting and extinguishing are periodically repeated so that the lighting time is shorter than the lighting time. .

  In addition, the command switch of the present invention includes an automatic square coating switch for sending a command signal for causing the farm work machine to perform a predetermined work, and is automatically turned on when the farm work machine is in a posture capable of performing the predetermined work. The lamp mode switching unit includes an enabling lamp, and the energy saving mode is executed when the automatic cornering switch is not turned on until the first predetermined time elapses after the automatic enabling lamp is turned on. .

  The “first predetermined time” of the present invention refers to the time required to turn on the automatic cornering switch in order to start a predetermined operation, and specifically refers to a time of 2 to 3 minutes.

  The lamp mode switching unit according to the present invention is characterized in that the auto power-off mode is executed after a second predetermined time longer than the first predetermined time from when the automatic lamp is turned on when the energy saving mode is executed.

  The “second predetermined time” of the present invention is a time longer than the first predetermined time, and is set in consideration of the time necessary for performing work other than the predetermined work. Specifically, in the case of a hulling operation, the second predetermined time is a time longer than a time period for performing the hulling operation while the traveling machine body and the hulling machine go straight ahead. For this reason, the energy saving mode is executed during the straight running operation of the kite, so that the capacity reduction of the power source can be suppressed.

  According to the remote control device for a farm machine according to the present invention, a power switch for turning on / off the power, a power lamp for displaying a state in which the power switch is turned on / off, and a command for sending command signals for controlling various operations of the farm machine. A switch, a command lamp that displays a state in which the command switch is turned on, a storage unit that stores command signal data for controlling various operations, and a switch that is turned on when any of the command switch and the power switch is turned on The control unit reads the command signal data corresponding to the storage unit and sends the command signal data to the communication unit, and the control unit turns on the power lamp when the power switch is turned on and the farm work machine is in a state capable of performing a predetermined work. Switch to either the energy saving mode to reduce the power consumption of the command lamp or the auto power off mode to turn off the power lamp. That the lamp mode switching unit that comprises, when agricultural work machine is a posture capable of performing predetermined work, lamp mode switching unit performs switching to the energy saving mode and auto power-off mode. For this reason, the power lamp and the command lamp are not always turned on during farm work, and the capacity reduction of the power source provided in the remote control device can be suppressed.

The remote control apparatus of the agricultural machine concerning one Embodiment of this invention is shown, The same figure (a) is a front view of a remote control apparatus, The same figure (b) is a side view of a remote control apparatus. 1 shows a plan view of a coater equipped with a wireless communication control device operated using a remote control device of an agricultural machine according to an embodiment of the present invention. The front side partial perspective view of the hull coater which mounts the radio | wireless communication control apparatus operated using the remote control apparatus of the agricultural working machine concerning one Embodiment of this invention is shown. The top view of the radio | wireless communication control apparatus operated using the remote control apparatus of the agricultural machine concerning one Embodiment of this invention is shown. The functional block diagram of the radio | wireless communication control apparatus operated using the remote control apparatus of the agricultural machine concerning one embodiment of this invention is shown. The functional block diagram of the remote control apparatus of the agricultural machine concerning one embodiment of this invention is shown. The functional block diagram of the control part of the remote control apparatus of the agricultural machine concerning one embodiment of this invention is shown. The flowchart explaining the procedure performed by the control program at the time of starting in the remote control apparatus of the agricultural working machine which concerns on one embodiment of this invention is shown. The flowchart explaining the procedure performed by a control program when each switch in the remote control apparatus of the agricultural working machine which concerns on one embodiment of this invention is pushed is shown. Explanatory drawing for demonstrating the mode in which the lamp provided in the remote control apparatus of the agricultural working machine which concerns on one embodiment of this invention lights. The flowchart explaining the procedure performed by a control program, when the power switch provided in the remote control apparatus of the agricultural working machine which concerns on one embodiment of this invention is turned on is shown. The top view of the hull coater with respect to the wrinkles for demonstrating whether the hull coater of the remote control device which concerns on one embodiment of this invention exists in the attitude | position which can perform a haze painting operation | work is shown. The side view of the state by which the agricultural working machine of the remote control device which concerns on one embodiment of this invention was lifted up by the traveling body is shown.

  Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

  First, before explaining the remote control device for agricultural machines, a plastering machine equipped with a wireless communication control device will be explained. In the present embodiment, an explanation will be given by taking, as an example, a basket coater that forms baskets on a farm field as an agricultural machine. An example of the farm work machine is not limited to a paddle coater, but may be a ditcher.

  As shown in FIG. 2 (plan view), the hull coater 1 is connected to a three-point link connecting mechanism (not shown) provided at the rear portion of the traveling machine body 90, and according to the forward movement of the traveling machine body 90. It is the one to perform the haze painting work. The wrinkle coater 1 is mounted on the traveling machine body 90 and has a mounting part 10 having an input shaft 4 to which power from the traveling machine body 90 is input, and an offset cylinder 3 provided on the mounting part 10 from the mounting part 10 to the left and right. An offset mechanism 20 that can move in the direction and a rotation fulcrum O that extends in the vertical direction are provided on the moving end side (rear end side) of the offset mechanism 20, and the rotation fulcrum O rotates in the horizontal direction around the rotation fulcrum O. And a working unit 50 that is movably disposed and works at a position offset laterally with respect to the traveling position of the traveling machine body 90 by the power transmitted from the input shaft 4.

  The mounting portion 10 includes a hitch frame 11 that extends in the left-right direction, and a connection frame 13 that is attached to the front side of the hitch frame 11 and can be connected to the three-point link connection mechanism of the traveling machine body 90.

  The offset mechanism unit 20 is rotatably connected to the hitch frame 11 on the front end side and extends rearward. The offset mechanism unit 20 is arranged along the right side of the offset frame 21 and the front end side is the right end portion of the hitch frame 11. And a link member 25 that is pivotably connected to each other. The rear end side of the link member 25 is rotatably provided at a connecting member 23 that is rotatably provided at the rear end portion of the offset frame 21. The offset mechanism unit 20 forms a parallel link mechanism by the offset frame 21, the link member 25, the hitch frame 11, and the connecting member 23.

  The offset frame 21 can swing in the left-right direction by the expansion / contraction operation of the offset cylinder 3 described above that is pivotally connected between the rear end portion and the left end portion of the hitch frame 11. The offset cylinder 3 is a hydraulic telescopic cylinder, and its bottom end is attached to the hitch frame 11 so as to be rotatable and position adjustable. On the left side of the hitch frame 11, two pivot holes 14 and 15 for adjusting the mounting position of the bottom side end of the offset cylinder 3 are provided. These pivot support holes 14 and 15 are provided with a predetermined distance in the front-rear direction, and a bottom end portion of the offset cylinder 3 is inserted into a pin 16 (see FIG. 3) inserted into one of the pivot support holes 14 and 15. The bottom end of the offset cylinder 3 is pivotally supported.

  When the offset cylinder 3 is pivotally supported in the pivot support hole 15 disposed on the rear side of the two pivot support holes 14 and 15, the offset cylinder 3 is pivotally supported on the pivot support hole 14 disposed on the front side. In comparison, the offset amount of the working unit 50 can be increased. The cylinder mounting position when the offset cylinder 3 is pivotally supported by the pivot support hole 15 provided on the rear side is “L”, and the offset cylinder 3 is pivotally supported by the pivot support hole 14 provided on the front side. The cylinder mounting position is described as “M”.

  In this way, by making the mounting position of the bottom side end of the offset cylinder 3 adjustable, for a vehicle (for example, 1600 mm to 1900 mm) having a large width of the traveling machine body 90 (for example, the outer width of the rear wheel of the tractor). In this case, the cylinder mounting position is “L”, the width of the traveling machine body 90 is a normal vehicle (for example, 1300 mm to 1600 mm), the cylinder mounting position is “M”, and the working unit 50 is connected to the traveling machine body 90. It can be moved to a predetermined offset position Po.

  A power transmission mechanism is provided in the offset frame 21. The power transmission mechanism includes a driven shaft 29 that is disposed coaxially with the rotation fulcrum O of the working unit 50 on the rear end side of the offset frame 21, and is transmitted from the traveling machine body 90 to the input shaft 4. The power is transmitted to the driven shaft 29. The expansion / contraction operation of the offset cylinder 3 is controlled by a wireless communication control device 70 described later.

  A main shaft 7 is connected to a lower portion of the driven shaft 29 so as to be coaxial with the driven shaft 29 and extend downward. The main shaft 7 rotates with the rotation of the driven shaft 29 and can transmit power to the working unit 50. A spindle case 8 that covers the spindle 7 is disposed outside the spindle 7, and an upper end portion of the spindle case 8 is rotatably connected to a lower portion of the rear end of the offset frame 21. The part 50 is attached in a fixed state.

  The working unit 50 can be rotated with respect to the rotation fulcrum O by expansion and contraction of the turning cylinder 41 connected between the connecting member 23 and the spindle case 8, and the offset mechanism unit 20 is controlled by the expansion and contraction of the turning cylinder 41. The working direction of the working unit 50 is held so as to be parallel to the traveling direction A of the traveling machine body 90 with respect to the rocking motion. In addition, the expansion / contraction operation | movement of the turning cylinder 41 is controlled by the radio | wireless communication control apparatus 70 mentioned later.

  The working unit 50 includes a heaven field processing unit 51 that cuts the upper part of the old fence formed along the periphery of the field, a pre-processing unit 61 that piles up the cut soil, and the old ground that has been cut off And a trimming portion 80 to be applied on the collar.

  The trimming unit 80 includes a polyhedral drum 82 attached to a rotating shaft 81 that extends in the left-right direction and is rotatably supported, and a cylindrical portion 83 that is attached to the right end of the polyhedral drum 82 and extends in the lateral direction. Do it. The trimming unit 80 is connected to and supported by the spindle case 8 via a trimming power transmission case. A straightening power transmission mechanism (not shown) is built in the straightening power transmission case, and this straightening power transmission mechanism is connected to the main shaft 7 so that power from the main shaft 7 can be transmitted to the straightening portion 80. ing.

  The pretreatment unit 61 is connected to and supported by the spindle case 8 via a pretreatment power transmission case 64. In the pretreatment power transmission case 64, a power transmission mechanism having a pretreatment side drive shaft that receives and rotates the power from the main shaft 7 is incorporated. A pretreatment unit 61 is connected to the tip of the pretreatment side drive shaft. The rotation shaft of the pretreatment unit 61 is connected coaxially with the pretreatment side drive shaft. The rotation axis of the preprocessing unit 61 is inclined to the old heel K side in a plan view.

  A plurality of tilling claws are radially attached to the outer periphery of the rotation shaft of the pretreatment unit 61. The tilling claws rotate together with the tilling shaft to plow the soil in the field and deposit on the old hail side.

  The heaven processing unit 51 is supported by the preprocessing unit 61 via the heaven power transmission case 54. A plurality of tilling claws 53 are radially attached to the rotation shaft 52 of the heaven field processing unit 51, and the rotation shaft 52 of the heaven field processing unit 51 is arranged to be inclined toward the old ridge K side in a plan view. A power transmission mechanism is provided in the heaven power transmission case 54, and this power transmission mechanism is connected to the tilling shaft of the preprocessing unit 61 and can transmit the power from the preprocessing unit 61 to the heaven processing unit 51. .

  The celestial power transmission case 54 is disposed on the base end side of the celestial processing unit 51 and extends in a direction orthogonal to the rotation axis 52 of the celestial processing unit 51, and this base end portion is a tilling shaft of the preprocessing unit 61. It is attached with respect to the front-end | tip part. For this reason, the heavenly power transmission case 54 is rotatable in the vertical direction with the base end portion as the rotation center.

  Next, the wireless communication control device 70 will be described. The wireless communication control device 70 receives a command signal from the manually operated remote control device 100 that commands an operation command for commanding the operation of the coater 1 by a radio signal, and the coater 1 according to the received command signal. It controls the operation of. That is, the wireless communication control device 70 is a receiving device that receives a command signal from the remote control device 100 and is also a controller device that controls the operation of the hull coater 1 in accordance with the received command signal.

  First, before describing the wireless communication control device 70, the remote control device 100 will be outlined. As shown in FIG. 1 (a) (plan view) and FIG. 1 (b) (side view), the remote control device 100 can be operated by an operator who is on the driver's seat of the traveling machine body 90 (see FIG. 2). A radio signal of an operation command corresponding to a pressing operation of the plurality of operation switches 101 is output. The remote control device 100 has an operation box 102 having a size that can be gripped by an operator, and a plurality of operation button switches 101 are arranged on the surface of the operation box 102. The operation box 102 contains a communication unit that outputs a wireless signal, a battery that supplies power, and the like. When the operation switch 101 is pressed, an operation command (command) corresponding to the operation switch 101 is transmitted with the wireless signal. It is output from the communication unit. For the radio signal, a radio medium such as weak radio waves in the FM wavelength range or infrared rays is used.

  As shown in FIGS. 2, 3 (front perspective view), and FIG. 4 (plan view), the wireless communication control device 70 is attached to the front end of one side in the left-right direction of the hitch frame 11 and fixed to the mounting plate 35. ing. The attachment plate 35 is inclined upward in the vertical direction so that the front side is lower than the rear side in the working state of the coater 1. The attachment plate 35 may be attached to the hitch frame 11 so that the inclination angle thereof can be adjusted.

  A wireless communication control device 70 is mounted on the mounting plate 35. The wireless communication control device 70 is formed in a cap shape having a top plate portion 71 and a side plate portion 72 that is connected to the periphery of the top plate portion 71 and extends downward so as to surround the top plate portion 71, and accommodates an electronic substrate 74 therein. A control box 73 is included. The control box 73 has flange portions 73 a formed at four corners, and bolts 75 inserted through the flange portions 73 a are fastened to the mounting plate 35, and the control box 73 is fixed to the mounting plate 35.

  The side plate portion 72 on the front side in the front-rear direction of the control box 73 is provided with a cylindrical portion 76 having a pair of insertion holes 76 a communicating with the inside of the control box 73. An electric wire connected to the electronic board 74 accommodated in the control box 73 is passed through the insertion hole 76a. The control box 73 is integrally formed of resin, synthetic resin (ABS resin, FRP) or the like, and can transmit a command signal transmitted from the remote control device 100.

  As will be described in detail later, the electronic board 74 accommodated in the control box 73 has an antenna that receives a command signal from the remote control device 100, and a hydraulic offset cylinder 3 and a swivel according to the command signal received by the antenna. A control unit that controls the operation of the actuator such as the cylinder 41 is provided. The antenna is formed on the surface side of the electronic substrate 74, and the length of the antenna is set by the wavelength of the radio wave transmitted from the remote control device 100.

  On the top plate portion 71 of the control box 73, an M state display lamp 73c for notifying the state where the offset cylinder 3 is mounted at the cylinder mounting position “M”, and the offset cylinder 3 are mounted at the cylinder mounting position “L”. An L state display lamp 73b for informing the state and a communication lamp 73d for informing that the communication state is established between the control box 73 and the remote control device 100 are provided.

  Thus, as shown in FIGS. 2 and 3, the electronic board 74 accommodated in the wireless communication control device 70 is oriented toward the worker who is on the traveling machine body 90 in the working state of the coater 1. Therefore, when the worker who has boarded the driver's seat of the traveling machine body 90 faces the agricultural machine, the electronic board 74 in the wireless communication control device 70 faces the worker side. The remote control device 100 can be operated with the 100 facing the electronic substrate 74 side. For this reason, the radio signal transmitted from the remote control device 100 can be more reliably received by the electronic board 74.

  FIG. 5 is a functional block diagram of the wireless communication control device 70. The wireless communication control device 70 includes a control unit 200, a storage unit 201, a communication unit 202, and an I / O unit 203. In FIG. 5, the wireless communication control device 70 is provided with a power supply 204 and a power switch 205, but a battery mounted on the traveling machine body 90 is used as the power supply 204, and a key switch of the traveling machine body 90 is used as the power switch 205. Can be used. The I / O unit 203 is electrically connected with an operation control valve V1 for controlling the expansion / contraction operation of the offset cylinder 3, an operation control valve V2 for controlling the expansion / contraction operation of the swing cylinder 41, and the electric pump P of the spraying device 44. Has been.

  The communication unit 202 receives and demodulates radio waves from the remote control device 100 (see FIG. 1A) via the antenna 207 (which may be infrared rays in addition to radio waves, but will be described in this embodiment by radio waves). Then, the command placed on the radio wave from remote control device 100 is sent to control unit 200. Further, it receives a radio wave when the remote control device 100 is started up, and sends ID information carried on the radio wave to the control unit 200.

  The control unit 200 decodes the command according to the command data stored in the storage unit 201, and operates the operation control valve V1 of the offset cylinder 3 and the operation control valve V2 of the swing cylinder 41 through the I / O unit 203 according to the command. The electric pump P, the M state display lamp 73c, the L state display lamp 73b, and the communication lamp 73d of the spraying device 44 are controlled. In addition, the control unit 200 collates the ID extracted from the received radio wave with the ID stored in the storage unit 201, and sends a reply radio wave from the communication unit 202 to the remote control device 100 if they match.

  The storage unit 201 stores programs, settings, and the like used in the control performed by the control unit 200. In addition, the storage unit 201 stores ID information, operation control valve V1 of the offset cylinder 3, operation control valve V2 of the swing cylinder 41, and command data for operating the electric pump P of the spraying device 44. Furthermore, the storage unit 201 stores the offset position of the work unit 50 when a work position storage switch 101a and a power switch 101b described later are pressed. When the working unit 50 is offset, the offset mechanism unit 20 forms a parallel link mechanism as shown in FIG. 2, and the orientation of the working unit 50 with respect to the offset frame 21 is constant. Therefore, the offset position of the working unit 50 can be determined by the detection value of the swing sensor 27 that detects the swing angle θ of the offset frame 21. Therefore, the detected value of the swing sensor 27 is stored for the position of the working unit 50 stored in the storage unit 201 shown in FIG.

  In addition, in addition to the swing sensor 27 described above, the wrinkle coater 1 detects the relative angle of the working unit 50 with respect to the offset frame 21 but also detects the head sensor 28 and the working direction of the working unit 50. An angle sensor 30 and a position sensor 31 for detecting the working position of the working unit 50 are provided.

  The angle sensor 30 does not detect the relative angle of the working unit 50 with respect to the offset frame 21, but detects a change in the working direction with respect to the field scene of the working unit alone. The angle sensor 30 is disposed around the main shaft 7 in the main shaft case. Further, the position sensor 31 is provided at the distal end portion of the mounting arm 33 extending from the support case supported by the spindle case, and is disposed on the rear side of the trimming portion 80.

  As shown in FIG. 5, the I / O unit 203 sends control signals for the operation control valve V <b> 1 of the offset cylinder 3, the operation control valve V <b> 2 of the swing cylinder 41, and the electric pump P of the spraying device 44 to and from the control unit 200. Relay. The power source 204 supplies power to the communication unit 202, the control unit 200, the I / O unit 203, and the storage unit 201. The power switch 205 is a switch for turning on / off the power. It is also possible to use a battery of a traveling machine body (tractor) as a power source and a key switch of the traveling machine body 90 as a power switch 205.

  The spraying device 44 is attached as an option to the coater 1. Although not shown in FIG. 2, the spraying device 44 includes a nozzle for spraying liquid (water) to the surface of the soil plowed by the pretreatment unit 61 and trimmed by the leveling unit 80, and a liquid ( Water), a pipe connecting between the tank and the nozzle for supplying the liquid in the tank to the nozzle, and an electric pump P for flowing the liquid in the tank to the pipe. The operation of the electric pump P is controlled by the wireless communication control device 70.

  By supplying water to the soil cultivated by the spraying device 44, even if the soil cultivated by the pretreatment unit 61 is somewhat dry, the finishing work on the old ridges by the trimming unit 80 is performed well. Can be made.

  FIG. 6 is a functional block diagram of remote control device 100. As shown in FIGS. 1 (a) and 1 (b), the remote control device 100 has a power switch 101b, a power lamp (LED) 101c, a battery replacement lamp 101d, an automatic square coating switch 101e, an automatic enable on the front side. A lamp 101f, a storage operation lamp 101g, an offset off switch 101h, an offset inside switch 101i, a work position storage switch 101a, a storage switch 101j, a drum right turn switch 101k, a drum left turn switch 101m, a spray switch 101n, and a spray lamp 101q. ing.

  In addition, the remote control device 100 includes a control unit 110, a storage unit 111, a communication unit 112, a power source 113, and a buzzer 114 therein. In addition, the communication unit 112 includes an output control unit 112a. The control unit 110 includes a command signal data selection unit 110a, a lamp mode switching unit 110b, and a timer 110c. It should be noted that the power switch 101b, the off-offset switch 101h, the off-set switch 101i, the automatic square coating switch 101e, the work position storage switch 101a, the storage switch 101j, the drum right turn switch 101k, the drum left turn switch 101m, and the spreading switch 101n It is called a command switch.

  The power switch 101 b is a switch for turning on and off the power supply 113 of the remote control device 100. When the power switch 101b is pressed, the power is turned on, and when it is pressed again, the power is turned off. When the power is turned on, the power lamp (LED) 101c is turned on when communication is established in the radio wave range. If communication is not established outside the radio range, a communication error occurs and flashes.

  The battery replacement lamp 101d blinks when the battery capacity decreases, and turns off when the battery capacity is large. The automatic corner coating switch 101e is a switch that is operated when the corner portion of the field is to be painted, and when this switch is pressed, when the traveling machine body 90 turns in the corner portion of the field, the working unit 50 is moved to the traveling machine body 90. Regardless of the turning, the line moves linearly along the ridges and the corners of the field are painted (hereinafter, this operation is referred to as “automatic corner coating operation”). When the automatic cornering switch 101e is pressed once while the automatic enable lamp 101f is lit, the automatic cornering operation starts, and when it is pressed again, the automatic cornering operation stops. When an automatic cornering operation is being performed, a buzzer sounds and the automatic enable lamp 101f blinks.

  The automatic enable lamp 101f informs that the automatic cornering operation is possible when the lamp is turned on, and informs that the automatic cornering operation is impossible or that a communication error has occurred when the lamp is turned off. Further, when blinking, as described above, it is informed that the automatic cornering operation is in operation.

  The storage operation lamp 101g blinks with a buzzer sound while the working unit 50 moves from the storage state to the non-storage state or from the non-storage state to the storage state, and turns off when the operation is stopped. The off-offset switch 101h swings the offset frame 21 to the right in the traveling direction while the switch is being pressed, and the offset frame 21 stops swinging when the switch is released. In the offset switch 101i, the offset frame 21 swings to the left in the traveling direction while the switch is being pressed, and when the switch is released, the offset frame 21 stops swinging.

  The work position storage switch 101a is operated when storing the offset position of the work unit 50, and is operated when moving the work unit 50 to the stored offset position of the work unit 50. When only the work position storage switch 101a is pressed once, the work part 50 moves from the current position of the work part 50 to the stored offset position, and when it is pressed once more, the offset movement of the work part 50 stops.

  Here, a method for storing the offset position of the working unit 50 will be described. After operating the off-offset switch 101h and the off-offset switch 101i to move the working unit 50 to the offset position suitable for the operator's work method, the power is temporarily turned off by the power switch 101b, and then the work position storage switch 101a. When the power switch 101b is pressed, the position of the working unit 50 is stored in the storage unit 201 (see FIG. 5) of the wireless communication control device 70. In order to make this procedure easy to understand, the procedure may be guided by voice. When the position of the working unit 50 is stored, the buzzer 114 sounds “beep”, and when the position storage of the working unit 50 is not completed, the buzzer 114 sounds “beep”. The state can be recognized.

  When the storage switch 101j is pressed once, the working unit 50 moves to the storage position, and when the storage switch 101j is pressed again, the movement of the working unit 50 toward the storage position is stopped. While the working unit 50 is being stored, the buzzer 114 sounds and the storage operation lamp 101g blinks. The storage position of the working unit 50 refers to a position where the offset frame swings so as to extend rearward and the amount by which the working unit 50 protrudes from the side of the traveling machine body 90 becomes small.

  The drum left switch 101m is operated when turning the entire trimming unit 80 (see FIG. 2) counterclockwise, turns when pressed, and stops when released. The drum right switch 101k is operated when turning the entire trimming unit 80 clockwise, turns when pressed, and stops when released. When the spray switch 101n is pressed once, the power is turned on and the electric pump P is driven to operate the spray device 44. When the spray switch 101n is pressed again, the power is turned off and the electric pump shown in FIG. P stops and the spraying device 44 is deactivated.

  The communication unit 112 puts command data or ID data stored in the storage unit 111 on the radio wave via the antenna 115 and transmits it via the antenna 115 when each switch is pressed. Further, the communication unit 112 receives a signal from the wireless communication control device 70. When each switch is pressed, the control unit 110 reads command data corresponding to each switch stored in the storage unit 111 and sends the command data to the communication unit 112. When the power switch 101 b is pressed, the ID data stored in the storage unit 111 is sent to the communication unit 112. Further, when the work position storage switch 101a and the power switch 101b are pressed, the control unit 110 causes the command signal data selection unit 110a of the control unit 110 to store command data stored in the storage unit 111. Is sent to the communication unit 112. The storage unit 111 stores programs and settings used in the control performed by the control unit 110. Further, the storage unit 111 stores ID information, command signal data for operating the operation control valve V1 of the offset cylinder 3, the operation control valve V2 of the turning cylinder 41, and the electric pump P of the spraying device 44. The power supply 113 supplies power to the communication unit 112, the control unit 110, and the storage unit 111. The command signal data includes command data for controlling various operations and intensity data of radio wave output.

  When the power switch 101b is turned on, the output control unit 112a of the communication unit 112 performs control to output with a strength smaller than the strength of the radio wave output when each switch other than the power switch 101b is operated. In particular, when the power switch 101b is turned on, radio waves are transmitted with a first radio wave output, and when operating switches other than the power switch 101b, radio waves are transmitted with a second radio wave output. At this time, the intensity of the first radio wave output is smaller than the intensity of the second radio wave output. The intensity data of the first radio wave output and the intensity data of the second radio wave output are stored in the storage unit 111.

  Moreover, the output control part 112a of the communication part 112 performs control which adjusts and outputs the intensity | strength of the electromagnetic wave output when operating a command switch for every command signal which controls various operation | movement. At that time, the output control unit 112a adjusts the output intensity of the radio wave on which the command data is placed according to the radio wave output intensity data included in the command signal data.

  The control unit 110 receives the command signal data stored in the storage unit 111 corresponding to these switch operations when the work position storage switch 101a is pressed alone and when the power switch 101b is pressed together. The command signal data selection unit 112a to be selected is provided. The command signal data selection unit 112 a selects command signal data for moving the work unit 50 to the offset position of the work unit 50 stored in the storage unit 111 when the work position storage switch 101 a is pressed alone. In addition, when the work position storage switch 101a and the power switch 101b are pressed together, the command signal data selection unit 110a sets the offset position of the work unit 50 when these switches are pressed, in the storage unit 201 of the wireless communication control device 70. The command signal data to be stored in is selected.

  As described above, the offset cylinder 3 can have its mounting position on the hitch frame 11 set to “M” or “L” as shown in FIG. Since the offset amount of 50 changes, the workable range of the working unit 50 also changes. Therefore, when storing the position of the working unit 50 in the storage unit 201, the control unit 200 of the wireless communication control device 70 illustrated in FIG. 5 is based on the workable range corresponding to the mounting position of the offset cylinder 3. The offset position of the working unit 50 is stored within the workable range. For this reason, when the remote control device 100 performs switching setting of the workable range and this switch setting information is sent to the wireless communication control device 70, the control unit 200 can work based on the switching information of the workable range. A range is selected, and it is determined whether or not the position of the working unit 50 to be stored exceeds the workable range. When the position of the work unit 50 exceeds the workable range, the control unit 200 sounds the buzzer 114 to inform the worker that the work position has not been stored.

  The workable range is switched by an operation of simultaneously pressing the spray switch 101n and the power switch 101b after turning off the power switch 101b of the remote control device 100. Each time these switches are operated, M and L are switched alternately. Confirmation of the switched state can be confirmed by turning on the M state display lamp 73c or the L state display lamp 73b provided in the control box of the wireless communication control device. Note that the buzzer 114 will beep when the workable range is switched. The operation of switching the workable range is not limited to the spray switch 101n and the power switch 101b, and may be performed using the power switch 101b and another command switch. When the actual mounting position of the offset cylinder 3 and the mounting position to be stored in the storage unit 201 do not coincide with each other, the display lamp is not turned on to prevent an operator's mistake.

  In addition, when the power switch 101b is turned on and the working unit 50 of the smear coater 1 is moved to the offset position Po and is ready for the smearing operation, the control unit 110 starts the power lamp 101c from the normal mode. And a lamp mode switching unit 110b for switching between an energy saving mode for suppressing power consumption of the automatic enable lamp 101f and an auto power off mode for turning off the power lamp 101c.

  The power lamp 101c is in a lighting state in which the light emission state continues when the power switch 101b is turned on in the normal mode. In the energy saving mode, the power lamp 101c is in a flash mode in which the lighting time is repeatedly turned on and off for a shorter lighting time. In the flash mode, lighting is performed with a lighting time shorter than the lighting time when light flashes. In the drawing, the lighting time of the flash mode is about 1/3 of the lighting time of blinking and about 1/5 of the lighting time of the normal mode. For this reason, when the flash mode is set, the power consumption can be suppressed to about 1/3 as compared with blinking.

  FIG. 7 is a functional block diagram of the control unit 110. The control unit 110 includes a CPU 120, a memory 121, an input unit 122, an output unit 123, and a timer 110c. The input unit 122 includes a power switch 101b, an automatic square coating switch 101e, an offset offset switch 101h, an offset offset switch 101i, a storage switch 101j, a work position storage switch 101a, a drum right rotation switch 101k, a drum left rotation switch 101m, a scatter A signal from the switch 101n is input.

  The output unit 123 outputs signals to the communication unit 112, the power supply lamp 101c, the battery replacement lamp 101d, the automatic enable lamp 101f, the storage operation lamp 101g, the scattering lamp 101q, the buzzer 114, and the power supply 113. The memory 121 stores ID data 124, a control program 125 that controls the operation when each switch is pressed, and a startup control program 126 that is executed when the remote control device 100 is started by pressing the power switch 101b. ing.

  Further, the memory 121 includes automatic square filling command data 130a that is a command to be transmitted when the automatic square filling switch 101e is pressed, and radio wave output intensity data 130b for setting the radio wave output intensity when the command data is transmitted. Command signal data 130, non-offset command data 131a which is a command to be transmitted when the off-offset switch 101h is pressed, and radio wave output intensity data 131b for setting the radio wave output intensity when the command data is transmitted. A command signal comprising command signal data 131, command data 132a within offset which is a command sent when the switch 101i within offset is pressed, and radio wave output strength data 132b for setting the radio wave output strength when the command data is sent. Data 132 and Command signal data 133 including stored command data 133a which is a command to be transmitted when the storage switch 101j is pressed, and radio wave output intensity data 133b for setting the radio wave output intensity when the command data is transmitted, and work position storage Command signal data 134 including work position storage command data 134a which is a command to be transmitted when the switch 101a and the power switch 101b are pressed, and radio wave output intensity data 134b for setting the radio wave output intensity when the command data is transmitted. A command signal comprising work position movement command data 135a which is a command to be transmitted when only the work position storage switch 101a is pressed, and radio wave output intensity data 135b for setting the radio wave output intensity when the command data is transmitted. With data 135 A command signal comprising drum right turn command data 136a, which is a command to be transmitted when only the drum right turn switch 101k is pressed, and radio wave output intensity data 136b for setting the radio wave output intensity when sending the command data. Data 136, drum left turn command data 137a which is a command to be transmitted when only the drum left turn switch 101m is pressed, and radio wave output intensity data 137b for setting the radio wave output intensity when sending the command data. Command signal data comprising command signal data 137, scatter command data 138a which is a command transmitted when the scatter switch 101n is pressed, and radio wave output intensity data 138b for setting the radio wave output intensity when the command data is transmitted. 138 is stored.

  As the above-mentioned radio wave output intensity data, a small value, for example, as radio wave output intensity data, when a third party near the coater 1 is in a high-risk operation such as being caught or caught in, for example, If the operator does not go near the coater 1, the radio wave with the command is prevented from reaching the wireless communication control device 70, and a third party near the coater 1 is caught. In the case of an operation with a low risk of being caught, the radio wave output intensity data is set to a large value, for example, 1 mW, and the radio wave carrying the command is wirelessly communicated even if the operator is away from the coater 1. It is set so as to reach the control device 70.

  The memory 121 stores first radio wave output intensity data 140 and second radio wave output intensity data 141.

  For example, when the off-offset switch 101h is pressed, the “control program” 125 is read by the CPU 120 from the off-offset command signal data 131 stored in the memory 121, and sends the data from the output unit 123 to the communication unit 112. In the communication unit 112, the off-offset command data 131a is placed on the carrier wave and transmitted from the antenna 115. At this time, the output control unit 112a of the communication unit 112 sets the output of the radio wave to be transmitted based on the radio wave output intensity data 131b.

  The communication unit 202 in the wireless communication control device 70 receives the radio wave via the antenna 207, demodulates it, sends out-offset command data 131a to the control unit 200, and the control unit 200 decodes the command data, An off-offset command is executed, the operation of the operation control valve V1 of the offset cylinder 3 is controlled via the I / O unit 203 to operate the offset cylinder 3, and the offset frame 21 is swung. The other switches of the remote control device 100 are operated in the same manner.

  The “start-up control program” 126 is a program that is executed when the power supply 113 is turned on. When the power supply 113 is turned on, a command for transmitting radio waves from the control unit 110 to the communication unit 112 is sent. At that time, first radio wave output data (for example, 0.2 mW) is sent to the output control unit 112a of the communication unit 112. At this time, the ID data 124 is also placed on the radio wave. As a result, the first radio wave output radio wave is transmitted from the communication unit 112 via the antenna 115. When a reply radio wave from the wireless communication control device 70 is not received after a predetermined time, that is, when the radio communication control device 70 does not receive a radio wave, the radio communication control device 70 is off, or the ID is different, the power lamp ( LED) 101c blinks.

  When the radio wave reaches the radio communication control device 70, the radio communication control device 70 takes out the ID data 124 from the received radio wave and collates the ID data 124 with the ID data in the storage unit 201. When the ID data does not match, the reply radio wave is not sent, and when the ID data matches, the reply radio wave is sent. When receiving a radio wave from the wireless communication control device 70, the remote control device 100 turns on the power lamp (LED) 101c.

  The “lamp control program” 151 is a program that is executed when the power supply 113 is turned on. If the power supply 113 is turned on, is the working unit 50 in a state in which the work unit 50 is ready to be painted through the communication unit 112? The time from when the automatic enable lamp 101f is turned on to when the automatic corner coating switch 101e is pressed when the radio wave control signal 70 is received from the wireless communication control device 70 and the working unit 50 is ready to be painted. Accordingly, the lighting state of the automatic enable lamp 101f and the power lamp 101c is set to the flash state of the energy saving mode, or the power lamp 101c is turned off.

  As described above, the work machine is controlled by operating the remote control device 100.

  Next, a procedure executed by the startup control program 126 in the remote control device 100 will be described with reference to the flowchart of FIG. The startup control program 126 is started when the operator turns on the power switch 101b of the remote control device 100. The control program for the wireless communication control device 70 is also started by turning on the power switch 205 of the wireless communication control device 70.

Step S11: The control unit 110 reads the ID data 124 from the memory 121 and sends it to the communication unit 112.
Step S12: The control unit 110 sends the first radio wave output data 140 of the memory 121 to the output control unit 112a of the communication unit 112, and the communication unit 112 places the ID data 124 on the radio wave, and the output control unit 112a performs the first operation. Transmission is performed from the antenna 115 while controlling the radio wave output.

Step S13: The control unit 110 determines whether or not a reply radio wave from the wireless communication control device 70 has been received.
Step S14: If no reply radio wave is received in step S13, the power lamp (LED) 101c is blinked.

  Step S15: It is determined whether or not a power-off condition has been met. Here, the power-off condition is whether the power switch 101b is pressed, no operation is continued for a predetermined time (for example, 5 minutes), or key input is continued for a predetermined time (for example, 2 minutes) or more. If it is not a power-off condition, step S13 is executed. If the power-off condition is satisfied, step S25 is executed and the power source 113 is turned off.

Step S16: The wireless communication control device 70 determines whether or not a radio wave from the remote control device 100 has been received. If not received, return. Thus, the reception interrupt process is terminated.
Step S17: If the radio wave from the remote control device 100 is received in step S16, the communication unit 202 extracts the ID data 124 from the received radio wave and sends it to the control unit 200.

Step S18: The control unit 200 collates the ID data stored in the storage unit 201 with the ID data 124 from the received radio wave.
Step S19: The control unit 200 determines whether or not the ID data collated in step S18 matches. If the ID data does not match, the process returns. Thus, the reception interrupt process is terminated.

Step S20: If the ID data match in step S19, the control unit 200 transmits a reply radio wave from the communication unit 202. Then, the process returns to end the reception interrupt process.
Step S21: When the control unit 110 of the remote control device 100 receives the radio wave from the wireless communication control device 70 by the communication unit 112, the power lamp (LED) 101c is turned on.

Step S22: The control unit 110 turns on the buzzer 114.
Step S23: The control unit 110 sends the second radio wave output intensity data 141 from the memory 121 to the output control unit 112a of the communication unit 112, and the communication unit 112 converts the radio wave output to the second radio wave output intensity by the output control unit 112a. To do.

Step S24: It is determined whether or not a power-off condition has been met. Here, the power-off condition is whether the power switch 101b is pressed, no operation is continued for a predetermined time (for example, 5 minutes), or key input is continued for a predetermined time (for example, 2 minutes) or more. If it is not a power-off condition, step S24 is executed again. This establishes a standby state until a power-off condition such as pressing the power switch 101b is established or each switch is pressed.
Step S25: If the power-off condition is satisfied in step S24, the power source 113 is turned off and the program is terminated.

  As described above, when the power supply 113 is turned on, the intensity of the output radio wave is the first radio wave output intensity of about 0.2 mW, and the radio wave output intensity is low. Even if the radio wave does not reach the communication control device 70 and the operation command switch is turned on without the operator's intention, at the same time as the power supply 113 is turned on, the operation of the coater 1 which is not intended by the operator is executed. The possibility can be eliminated. As a result, it is possible to prevent an unintended operation when the command switch is pressed when the power is on, and to ensure safety.

  Next, the procedure when each switch is pressed will be described with reference to the flowchart of FIG. Here, the case where the power switch 101b and the work position storage switch 101a are pressed will be described as an example.

Step S31: The control unit 110 checks whether or not the power switch 101b and the work position storage switch 101a are pressed by the worker.
Step S32: When the power switch 101b and the work position storage switch 101a are pressed, the CPU 120 reads out the command signal data 134 of the work position storage stored in the memory 121 in the command signal data selection unit 110a of the control unit 110.

Step S33: The control unit 110 sends the work position storage command signal data 134 to the communication unit 112, and the communication unit 112 places the work unit storage command data 134a on the carrier wave.
Step S34: The output control unit 112a of the communication unit 112 sets the output of the radio wave to be transmitted based on the radio wave output intensity data 134b.

Step S35: The control unit 110 transmits the radio wave carrying the work position storage command data 134a from the communication unit 112 through the antenna 115 with the output intensity set based on the radio wave output intensity data 134b.
Step S36: The communication unit 202 in the wireless communication control device 70 determines whether or not the radio wave is received via the antenna 207. If no radio wave is received, the process returns and ends this reception interrupt process.

Step S37: If a radio wave is received in step S36, the communication unit 202 transmits a return radio wave.
Step S38: The communication unit 202 extracts the work position storage command data 134a and sends it to the control unit 200.

Step S39: The control unit 200 stores the work storage command data 134a sent from the communication unit 202. Then, the process returns to end this reception interrupt process.
Step S40: The control unit 110 of the remote control device 100 determines whether or not a reply radio wave from the wireless communication control device 70 has been received. If no reply wave is received, return. As a result, the interrupt process is terminated. Then, this program is started after a predetermined time, for example, 10 msec.

  Step S41: If a reply radio wave is received in step S40, a reply completion process such as turning on a buzzer is performed, and the process returns.

  The above processing in the remote control device 100 is repeatedly executed every predetermined time, for example, every 10 msec.

  FIG. 9B is a flowchart of timer interrupt processing executed by the control unit 200 of the wireless communication control device 70 every predetermined time, for example, every 20 msec.

Step S42: The control unit 200 checks the command stored in step S39 and decodes the command. In this embodiment, it is read that the work position storage command is stored.
Step S43: The control unit 200 executes an operation process. In this embodiment, the control unit 200 executes a work position storage command and causes the storage unit 201 to store the detection value of the swing sensor 27. Then return.

  Next, a procedure when the work position storage switch 101a is pressed alone will be described. When the work position storage switch 101a is pressed after the offset position of the work unit 50 is stored in the storage unit 201, the control unit 200 moves the work unit 50 to the stored offset position of the work unit 50 in step S39 described above. Is stored in the work position movement command data 135a. Since S11 to S38 are the same as those described above, description thereof is omitted. And the control part 200 checks the command memorize | stored by step S39 (step S40), and decodes a command. In this embodiment, it is read that the work position movement command is stored. Then, the control unit 200 executes a work position movement command, controls the operation of the operation control valve V1 of the offset cylinder 3 via the I / O unit 203, and expands / contracts the offset cylinder 3, thereby moving the offset frame 21. The working unit 50 is moved to the stored offset position.

  The procedure by other switch operations of remote control device 100 is executed in substantially the same manner, although the operation is different from the command.

  Next, the procedure executed by the lamp control program 151 in the remote controller 100 will be described with reference to the flowchart of FIG. The lamp control program 151 starts when the operator turns on the power switch 101b of the remote control device 100 (step 51). When the power switch 101b is turned on, the control unit 110 turns on the power lamp 101c according to the normal mode (step 51-1).

  Step S52: The lamp mode switching unit 110b of the control unit 110 swings whether or not the work unit 50 is in an appropriate offset position and posture so that the work unit 50 automatically paints the corners of the field. The determination is made based on the detection values of the sensor 27 and the swing sensor 28. In this determination, the control unit 110 sends a command signal for transmitting the detection values of the swing sensor 27 and the swing sensor 28 to the remote control device 100 to the wireless communication control device 70 via the communication unit 112. .

  Step S53: When the lamp mode switching unit 110b of the control unit 110 determines that the working unit 50 is not in an appropriate offset position and posture based on the received detection values of the swing sensor 27 and the swing sensor 28, automatic corner coating is performed. The automatic enable lamp 101f of the switch 101e is turned off.

  FIG. 12 is a plan view illustrating whether the working unit 50 is in an appropriate offset position and posture. In FIG. 12B, the offset position of the working unit 50 is appropriate, and the working unit 50 is oriented in the direction along the ridge K. Therefore, it is determined that the working unit 50 is in an appropriate state, and the automatic operation is performed automatically. The enabling lamp 101f (see FIG. 6) lights up. In FIG. 12 (a), the offset position of the working unit 50 is appropriate, but the working unit 50 is not oriented in the direction along the ridge K, so it is determined that the working unit 50 is not in an appropriate state. The automatic enable lamp 101f (see FIG. 6) is turned off. In FIG. 12C and FIG. 12D, the working unit 50 is appropriate because it is oriented in the direction along the ridge, but the offset position of the working unit 50 is located on the traveling machine body side. Then, it is determined that the working unit 50 is not in an appropriate state, and the automatic enable lamp (see FIG. 6) is turned off.

Step S54: The controller 110 determines whether or not a command switch other than the power switch has been operated.
Step S55: When a command switch other than the power switch is not operated, the lamp mode switching unit 110b switches to the auto power off mode and turns off the power lamp 101c. On the other hand, if the command switch other than the power switch is operated, the process returns to step S51-1, and the power lamp 101c is turned on.

Step S56: When the control unit 110 determines that the working unit 50 is in a posture in which it can automatically paint the corners of the field, the automatic enable lamp 101f is turned on.
Step S57: Further, when the control unit 110 determines that the working unit 50 is in a posture capable of automatically painting the corners, the timer 110c is started.

  Step S58: The controller 110 determines whether or not the automatic cornering switch 101e and other command switches have been operated within a predetermined time from when the timer 110c is started. In this embodiment, the predetermined time is set to 2 minutes. This predetermined time can be set to any time. If the control unit 110 determines that a command switch other than the automatic cornering switch 101e has been operated within a predetermined time, the control unit 110 returns to step S51-1, and if it determines that the automatic cornering switch 101e has not been operated, the lamp mode switching unit. 110b switches to an energy saving mode. If it is determined that the automatic corner coating switch 101e has been operated, the process proceeds to step S63 without switching to the energy saving mode.

  Step S59: The lamp mode switching unit 110b of the control unit 110 switches the lamp lighting mode to the energy saving mode, and causes the power lamp 101c and the auto-enable lamp 101f to blink in the flash mode. At this time, when the spraying device 44 is operated, the spraying lamp 101q also blinks in the flash mode.

Step S60: The lamp mode switching unit 110b of the control unit 110 determines whether or not the working unit 50 is in an appropriate offset position and posture so that the corner of the field is automatically painted. Judgment is made based on the detection value of the swing sensor 28.
Step S61: As a result, when the working unit 50 is not in an appropriate offset position and posture, the lamp mode switching unit 110b switches the lighting mode to the normal mode and turns on the power lamp 101c to automatically turn on the lamp. 101f is turned off (step S53).

Step S62: When the lamp mode switching unit 110b determines that the working unit 50 is in an appropriate offset position and posture, the lamp mode switching unit 110b determines whether or not the automatic cornering switch 101e is turned on.
Step S63: When the lamp mode switching unit 110b determines that the automatic square coating switch 101e is turned on, the lamp mode switching unit 110b switches the lighting mode to the normal mode, lights the power lamp 101c, and blinks the automatic enable lamp 101f (step S63). Then, the lamp mode switching unit 110b determines whether or not the automatic square filling switch 101e is turned off (step S63-1), and if it is turned off, the process returns to step S53 to turn off the automatic enable lamp 101f. If the automatic square filling switch 101e remains on, the process returns to step S63.

  Step S64: When the lamp mode switching unit 110b determines that the automatic square filling switch 101e and other command switches are not turned on, the lamp mode switching unit 110b determines whether or not a predetermined time has elapsed since the timer 110c was started. In this embodiment, the predetermined time is set to 30 minutes. The predetermined time can be set to an arbitrary time longer than the predetermined time (for example, 2 minutes) described above.

Step S65: When the lamp mode switching unit 110b determines that the command switch has been turned on before the predetermined time has elapsed since the timer 110c started, the lamp mode switching unit 110b switches to the normal mode and turns on the power lamp 101c to step S51-1. Return.
Step S66: When the lamp mode switching unit 110b determines that the predetermined time has elapsed since the timer 110c started, the lamp mode switching unit 110b switches the lighting mode to the auto power off mode and turns off the power lamp 101c.

  As described above, in the present embodiment, when the power unit 101c is lit, the automatic enable lamp 101f is lit when the work unit 50 of the wiping machine 1 automatically takes a wiping operation at the corner of the field. However, if the subsequent turn-on operation of the automatic square coating switch 101e is not within a predetermined time (for example, 2 minutes), the power lamp 101c and the automatic enable lamp 101f are lit in the flash mode. Furthermore, after that, if the automatic corner coating switch 101e is not turned on within a predetermined time (for example, 30 minutes), the power lamp 101c is turned off. For this reason, the capacity | capacitance reduction of the power supply 113 can be suppressed reliably compared with the case where the power supply lamp 101c and the automatic enable lamp 101f are always lit. As a result, it is not necessary to replace the battery many times during farm work, and it is possible to reliably suppress a situation in which the command switch that is supposed to be turned on does not operate or an operation that cannot be performed in an emergency.

  The lamp mode switching unit 110b determines whether the work unit 50 is appropriate as shown in FIG. 12 (b) when the work unit 50 determines whether the corner of the field can be automatically painted. When the coater 1 is lifted up in the state of moving to the position, as shown in FIG. 13, the working unit 50 is lifted up and cannot be applied with the coater. For this reason, in addition to the sensor that detects the offset position of the working unit 50 and the orientation of the working unit 50, a sensor that detects that the working unit 50 has been lifted up is provided so that the working unit 50 can automatically detect the corner of the field. It is possible to more reliably determine whether or not the part can be smeared.

  The configurations, shapes, sizes, and arrangement relationships described in the above embodiments are merely schematically shown to the extent that the present invention can be understood and implemented, and the numerical values and the compositions (materials) of the respective components Is just an example. Therefore, the present invention is not limited to the described embodiments, and can be variously modified without departing from the scope of the technical idea shown in the claims.

1 Spider coater (agricultural machine)
70 wireless communication control device 90 traveling machine body 100 remote control device 101a work position storage switch (command switch)
101b Power switch 101c Power lamp 101d Battery replacement lamp 101e Automatic square coating switch (command switch)
101f Automatic enabling lamp 101g Retraction operation lamp 101h Off-offset switch (command switch)
101i Offset switch (command switch)
101j Retraction switch (command switch)
101k Drum right turn switch (command switch)
101m Drum left turn switch (command switch)
101n Spraying switch (command switch)
101q Spreading lamp 110 Control unit 110b Lamp mode switching unit 111 Storage unit 112 Communication unit 113 Power source 207 Antenna

Claims (6)

A radio wave including the command signal is transmitted to a wireless communication control device that controls an operation of the agricultural machine according to a command signal included in a radio wave received by an antenna provided in a farm machine mounted on the rear part of the traveling machine body. A remote control device for agricultural machines with a communication unit,
An automatic lamp capable of indicating whether or not the working unit of the agricultural machine is at an offset position, posture and height at which automatic cornering work is possible;
A control unit having a lamp mode switching unit that switches to a mode that suppresses power consumption of the automatic lamp when a predetermined time has elapsed since the automatic lamp has been turned on, apparatus.   2. The farm work according to claim 1, wherein the lamp mode switching unit is capable of switching from a mode that suppresses power consumption of the automatically enabled lamp to a mode that turns off a power lamp that indicates whether or not power is turned on. Remote control device.   The lamp mode switching unit is an energy-saving mode for performing a flash mode in which lighting and extinguishing are periodically repeated so that a lighting time becomes shorter than a light-off time when a first predetermined time elapses from when the automatic enable lamp is lit. The farm work according to claim 2, wherein the mode is switched to a mode in which the power lamp is turned off when a second predetermined time longer than the first predetermined time elapses from when the automatic enable lamp is turned on. Remote control device.   The automatic enabling lamp is lit when it is determined that the working unit of the farm working machine is at the offset position, posture, and height at which automatic cornering work is possible. The agricultural machine remote control device according to any one of the above.   An agricultural machine comprising the wireless communication control device that communicates with the remote control device according to any one of claims 1 to 4. Furthermore, the agricultural machine of Claim 5 provided with the sensor which detects that the said working part was lifted up.

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