Remote control system for agricultural machinery

Abstract

To provide a remote control system for agricultural machine used for an agricultural machine that is attached to a tractor in which the work efficiency in the time of power activation is improved.SOLUTION: A remote control system for agricultural machine comprises: a control device 20 which controls an actuator 22 provided in a work machine 2; and a remote control device 10 which can wirelessly communicate to the control device 20. The control device 20 and the remote control device 10 are connected to a main battery 5 in a tractor 1 and an external power harness 7 via an external power switch 6. When the external power switch 6 is turned ON from OFF, the remote control device 10 and the control device 20 establish communication with each other to transition to a normal operation mode. When the remote control device 10 and the control device 20 transition to the normal operation mode, the control device 20 receives an operation signal from the remote control device 10 to be in the state where the actuator 22 can be operated.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a remote control system for agricultural work machines, and more particularly to a remote control system for agricultural work machines used for work machines attached to a tractor.

Background Art

[0002] Many work machines attached to a tractor for agricultural work have an actuator, and this actuator is generally controlled by a control unit on the work machine side by an operation from an operation unit of a remote control device. On the other hand, a tractor may have an external power supply switch interlocked with a switch for starting the tractor engine. In this case, it was possible to use this external power supply as the power supply required for the work machine attached to the tractor.

[0003] Patent Document 1 describes a remote control device that, in controlling the operation of an agricultural work machine, continues a predetermined operation even if a command switch is not continuously pressed, and the control unit sends command signal data for stopping the predetermined operation to a communication unit when any one of a plurality of switches is pressed during the predetermined operation.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, when the remote control unit and the control unit on the implement attached to the tractor communicated wirelessly, it was necessary to operate the switch on the remote control unit after the external power was turned on to establish wireless communication with the control unit. Therefore, even when the tractor's engine start switch was turned ON, it was not possible to immediately operate the actuators on the implement unit using the remote control unit. In this case, every time the tractor's engine was stopped, it was necessary to operate the switch on the remote control unit and wait for wireless communication with the control unit to be established, which reduced work efficiency.

[0006] Furthermore, Patent Document 1 concerns technology related to control during operation, and not technology related to power-on.

[0007] In view of the above problems, the present invention aims to provide a remote control system for agricultural implements that are attached to tractors and improve work efficiency when power is turned on. [Means for solving the problem]

[0008] To achieve the above objective, one representative remote control system for agricultural implements of the present invention is a remote control system for agricultural implements used in implements that are attached to a tractor to perform agricultural work, comprising a control device provided on the implement to control actuators having the implement, and a remote control device that can communicate wirelessly with the control device, wherein the control device and the remote control device are connected to the main battery of the tractor and an external power harness via an external power switch, and when the external power switch is turned from OFF to ON, the remote control device and the control device establish communication with each other and transition to normal operation mode, and the remote control device and the control device The aforementioned When the system switches to normal operation mode, the control device receives the operation signal from the remote control device and the actuator becomes operational. Furthermore, the remote control device is equipped with a remote control battery, and has a function that allows it to be set to charge the remote control battery when the external power switch is turned from OFF to ON, without switching the remote control device to the normal operating mode. It is characterized by the following:

[0009] Furthermore, one of the remote control systems for agricultural machinery of the present invention is characterized in that when the external power switch is turned OFF, the power to the remote control device and the control device is turned OFF. 。 difference Furthermore, one of the remote control systems for agricultural machinery of the present invention is characterized in that it includes a power supply unit between the remote control device and the external power harness, the power supply unit converts the voltage of the external power harness to a voltage suitable for charging the remote control battery, and the power supply unit and the remote control device are separable.

[0010] Furthermore, one of the remote control systems for agricultural machinery of the present invention is characterized in that the control device includes an external power supply determination unit, and the external power supply determination unit detects input from the external power harness and detects that the external power switch has been turned ON. Furthermore, one of the remote control systems for agricultural machinery according to the present invention is characterized in that the external power supply determination unit detects that the external power harness is not connected to ground when it is not connected. Furthermore, one of the remote control systems for agricultural machinery of the present invention is characterized in that the external power switch is a switch that is shared with or linked to the start switch of the tractor. [Effects of the Invention]

[0011] According to the present invention, the operational efficiency when power is turned on can be improved in a remote control system for agricultural machinery. Other issues, configurations, and effects will be clarified by the following embodiments. [Brief explanation of the drawing]

[0012] [Figure 1] A block diagram showing one embodiment of the remote control system for agricultural machinery of the present invention. [Figure 2] This is a plan view showing a first embodiment of the present invention. [Figure 3]It is a diagram showing the wiring state when connecting to an external power source in the first embodiment of the present invention. [Figure 4] It is a diagram showing another example of the wiring state when connecting to an external power source in the first embodiment of the present invention. [Figure 5] It is a diagram showing the wiring state when not connecting to an external power source in the first embodiment of the present invention. [Figure 6] It is a diagram showing the remote control device of the first embodiment of the present invention. [Figure 7] It is a flowchart of the first embodiment of the present invention. [Figure 8] It is another example of the flowchart of the first embodiment of the present invention. [Figure 9] It is a rear view of an agricultural working machine applied to the second embodiment of the present invention. [[ID=二十]] [[ID=二十一]]

Embodiments for Carrying Out the Invention

[0013] [[ID=二十五]] [[ID=二十六]]Embodiments for carrying out the present invention will be described. [[ID=二十七]] [[ID=二十八]]

[0014] [[ID=二十九]] [[ID=三十]]<Block Diagram>[[ID=三十一]] [[ID=三十二]]FIG. 1 is a block diagram showing an embodiment of a remote control system for an agricultural working machine of the present invention. [[ID=三十三]] [[ID=三十四]]

[0015] [[ID=三十五]] [[ID=三十六]]A working machine 2 equipped with a working part for performing agricultural work is attached to the tractor 1. On the tractor 1 side, there are a main battery 5, an external power switch 6, a remote control device 10, and a power supply unit 11. Also, on the working machine 2 side, there are a control device 20, a sensor 21, and an actuator 22. [[ID=三十七]] [[ID=三十八]]

[0016] [[ID=三十九]] [[ID=四十]]The main battery 5 is a battery provided in the tractor 1 and can be used as the power source of the tractor 1. On the other hand, by connecting to the main battery 5, it becomes possible to use it as the power source for various devices. [[ID=四十一]] [[ID=四十二]]

[0017] [[ID=四十三]] The external power switch 6 is a switch for turning the connection to the main battery 5 ON and OFF. When the external power switch 6 is turned ON, power is supplied to the main battery 5, and when it is turned OFF, the power is cut off. The external power switch 6 can be shared with or linked to a start switch (for example, an engine start key switch) that turns the power of the tractor 1 ON and OFF. That is, for example, when the power of the tractor 1 is turned ON, such as by starting the engine of the tractor 1, the external power switch 6 turns ON. On the other hand, for example, when the power of the tractor 1 is turned OFF, such as by stopping the engine of the tractor 1, the external power switch 6 turns OFF.

[0018] The power supply unit 11 is a device that converts voltage. For example, it converts a voltage suitable for the main battery 5 to a voltage suitable for charging the remote control battery 10e. Specifically, it converts the 12V voltage of the main battery 5 to a 5V voltage suitable for charging the remote control battery 10e. This makes it possible to use the USB (Universal Serial Bus) standard between the power supply unit 11 and the remote control device 10. The power supply unit 11 and the remote control device 10 are connected by a power supply harness 15. This power supply harness 15 can use a USB standard (micro USB, etc.) cable due to the voltage conversion by the power supply unit 11.

[0019] The remote control device 10 is primarily for remotely operating the actuator 22 on the implement 2. It may also acquire control information for the actuator 22 and information from the sensor 21 from the control device 20 on the implement 2. The remote control device 10 and the control device 20 can exchange information via wireless communication R. The remote control device 10 comprises a display unit 10a, an operation unit 10b, a wireless communication unit 10c, a processing unit 10d, and a remote control battery 10e. The remote control device 10 can be positioned near the driver's seat of the tractor 1.

[0020] The remote control device 10 can be connected to the power supply unit 11. When the power supply unit 11 is connected to the main battery 5 and the external power switch 6 is ON, power is supplied to the remote control device 10 via the power supply unit 11 using the main battery 5 as the power source. The power from the power supply unit 11 is used to power the remote control device 10 and to charge the remote control battery 10e.

[0021] The display unit 10a is a device that displays various information related to operation, settings, and the work machine 2. For example, a liquid crystal screen or an organic light-emitting diode (OLED) screen may be used. It may also have the functions of the operation unit 10b as a touch panel.

[0022] The control unit 10b is equipped with switches for operating the remote control device 10. Various types of switches, such as push-button switches, can be used. Alternatively, a touch panel system may be adopted.

[0023] The wireless communication unit 10c communicates wirelessly with the wireless communication unit 20c of the control device 20. It can be configured using a wireless module or the like. Wireless communication can use standards such as Wi-Fi or Bluetooth, and frequency bands such as the 920MHz band or the 2.4GHz band.

[0024] The processing unit 10d performs processing such as transmitting information from the wireless communication unit 10c based on the operation of the operation unit 10b, and displaying necessary information on the display unit 10a. Furthermore, it can perform power-linked processing, which will be described later. The processing unit 10d is composed of electronic devices necessary for arithmetic processing, such as a CPU (central processing unit) and memory.

[0025] The remote control battery 10e is a battery that powers the remote control device 10, and can be a rechargeable battery, for example. When the external power switch 6 is ON while the remote control battery 10e is connected to the power supply unit 11, it can be charged with electricity from the main battery 5 via the power supply unit 11. Also, when the remote control device 10 is disconnected from the power supply unit 11, the remote control device 10 can operate using the remote control battery 10e as its power source.

[0026] The control device 20 controls the actuator 22 based on operation signals transmitted via wireless communication R from the remote control device 10. It also uses information from the sensor 21 for control as needed. Furthermore, the control device 20 transmits control information for the actuator 22, information from the sensor 21, etc., to the remote control device 10. The control device 20 comprises a control unit 20a, an input / output unit 20b, a wireless communication unit 20c, and an external power supply determination unit 20d.

[0027] The control unit 20a receives information (electrical signals) from the remote control device 10 and information detected by the sensor 21, and performs processing to control the actuator 22. Furthermore, it can perform power-linking processing, which will be described later. The control unit 20a is composed of electronic devices necessary for calculation processing, such as a CPU (central processing unit) and memory.

[0028] The input / output unit 20b performs functions such as supplying power to the actuator 22 based on the control of the control unit 20a.

[0029] The wireless communication unit 20c communicates wirelessly with the wireless communication unit 10c of the remote control device 10. It can be configured using a wireless module or the like.

[0030] The external power supply determination unit 20d is a processing unit that determines whether the external power switch 6 is ON when the control device 20 is connected to the main battery 5 via the external power switch 6. It consists of devices for this purpose. Details of the processing will be described later.

[0031] Sensor 21 is installed on the work machine 2 side, and various types of sensors are provided as needed for the work machine 2. Examples of sensors 21 include acceleration sensors, angular velocity sensors, tilt sensors, geomagnetic sensors, rotation sensors, potentiometers, limit switches, etc. This allows the actuator 22 to detect the state of the work machine 2, etc.

[0032] The actuator 22 is installed on the implement 2 side. The actuator 22 is, for example, an actuator for moving a part of the implement 2 as needed. As the actuator 22, for example, a cylinder such as a hydraulic cylinder or an electric hydraulic cylinder, or a motor can be applied. In particular, by using an actuator to move the position of the working part of the implement 2, it is possible to control this and improve the work efficiency of agricultural work.

[0033] <First Embodiment> Figure 2 is a plan view showing a first embodiment of the present invention. In Figure 2, the left-right direction is the lateral direction, and the top direction is the forward direction. An implement 2 is attached to the rear of the tractor 1, and agricultural work is performed with the implement 2. Note that the tractor is simplified in the illustration. In the first embodiment, the case in which the implement 2 is a levee-forming machine 50 will be described.

[0034] The main battery 5 and connector connection 25 are connected by external power harness 7 and power harness 8. The power supply unit 11, connector connection 25, and connector connection 26 are connected by intermediate harness 9. The power supply unit 11 and remote control device 10 are connected by power supply harness 15. The connector connection 26 and control device 20 are connected by connection harness 16. Connector connections 25 and 26 are located on the tractor 1 side. When removing the tractor 1 and implement 2, simply disconnect the connector connection 26. Details of the connections of external power harness 7, power harness 8, intermediate harness 9, and connection harness 16 are explained in Figure 3.

[0035] The levee-forming machine 50 is mounted by connecting a mounting section 51 located at the front to the rear of the tractor 1. The mounting section 51 and the intermediate frame 52 are connected by a pivot point 52a that can rotate horizontally, and the intermediate frame 52 and the work section 58 are connected by a pivot point 52b that can rotate horizontally. The work section 58 has a pre-processing section 55, a tilling section 56, and a disc section 57 from the front in the working direction. During operation, power transmitted from the tractor 1 is used to pre-process the old levees with the pre-processing section 55, to pile up the soil of the old levees with the tilling section 56, and to form the levee shape by the rotation of the disc section 57. The tilling section 56 has multiple tines 56a that rotate to pile up the soil. The disc section 57 has a main disc section 57a ​​that forms the slope of the levee and an upper disc section 57b that forms the upper surface of the levee.

[0036] The first electric hydraulic cylinder 61 is connected between the mounting section 51 and the intermediate frame 52. The third electric hydraulic cylinder 63 is connected in a way that allows the depth of the tilling section 56 relative to the disc section 57 to be changed. These electric hydraulic cylinders correspond to the actuator 22 in Figure 1. The control device 20 is installed on the mounting section 51. A second electric hydraulic cylinder may also be provided, which is connected to a link mechanism that interlocks with the work section 58 and the intermediate frame 52.

[0037] Figure 2 shows the forward working state. In the forward working state, the working section 58 extends outward (to the right) beyond the total lateral width of the tractor 1, and the amount of outward extension (offset) of the working section 58 can be adjusted by the first electric hydraulic cylinder 61. When the first electric hydraulic cylinder 61 is retracted from the state shown in Figure 2, the working section 58 is retracted to the center in the width direction of the tractor 1. Furthermore, if a second electric hydraulic cylinder is provided, activating the second electric hydraulic cylinder from the retracted state will reverse the working section 58, allowing it to extend outward (to the left) beyond the total lateral width of the tractor 1, resulting in a reverse working state. In the reverse working state, the rear of the tractor 1 is the direction of travel for the working section 58, allowing work to be performed while the tractor 1 is moving in reverse.

[0038] Furthermore, the levee plastering machine 50 is equipped with a watering device 65, which uses a motor or the like to release water from the tank 65a through a nozzle 65b near the disc section 57 to adjust the moisture content of the levee. The motor of the watering device 65 corresponds to the actuator 22 in Figure 1.

[0039] Figure 3 shows the wiring configuration when connected to an external power supply in the first embodiment of the present invention.

[0040] The harness between the main battery 5, the power supply unit 11, and the control device 20 is equipped with connectors 31 to 38. Here, the connection between connector 31 and connector 32 corresponds to connector connection 25. Also, the connection between connectors 33 to 35 and connectors 36 to 38 corresponds to connector connection 26.

[0041] The connector 31 has two connection parts 31a and 31b. Connection part 31a is connected to the end of the wiring of the external power harness 7, which is connected to the positive side (12V in Figure 3) of the main battery 5 via the external power switch 6. Connection part 31b is connected to the end of the wiring of the external power harness 7, which is directly connected to the ground 4 side of the main battery 5.

[0042] The connector 32 has two connection parts 32a and 32b. The connection parts 32a and 32b are connected to the ends of the wiring of the intermediate harness 9.

[0043] The connector 33 is equipped with a connection portion 33a. The connection portion 33a is connected to the end of the wiring of the power harness 8, which is directly connected to the positive side of the main battery 5.

[0044] The connector 34 has two connection parts 34a and 34b. Connection part 34a is connected to the end of the wiring of the intermediate harness 9 which is connected to connection part 32a. Connection part 34b is connected to the end of the wiring of the intermediate harness 9 which is connected to connection part 32b.

[0045] The connector 35 is equipped with a connection portion 35a. The connection portion 35a is connected to the end of the wiring of the power harness 8, which is directly connected to the ground 4 side of the main battery 5.

[0046] The connector 36 is equipped with a connection portion 36a. The connection portion 36a is connected to the end of the wiring of the connection harness 16 which is connected to the control device 20.

[0047] The connector 37 has two connection parts 37a and 37b. The connection parts 37a and 37b are connected to the ends of the wiring of the connection harness 16 which is connected to the external power supply determination unit 20d of the control device 20.

[0048] The connector 38 is equipped with a connection portion 38a. The connection portion 38a is connected to the end of the wiring of the connection harness 16 which is connected to the control device 20.

[0049] Here, connectors 31 and 32 are detachable, and when connected, connection parts 31a and 31b are connected to connection parts 32a and 32b, respectively. Also, connectors 33 and 36 are detachable, and when connected, connection part 33a is connected to connection part 36a. Also, connectors 34 and 37 are detachable, and when connected, connection parts 34a and 34b are connected to connection parts 37a and 37b, respectively. Also, connectors 35 and 38 are detachable, and when connected, connection part 35a is connected to connection part 38a.

[0050] In the connection state shown in Figure 3, connectors 31 and 32, 33 and 36, 34 and 37, and 35 and 38 are connected to each other. In the connection state shown in Figure 3, the power from the main battery 5 is supplied to the control device 20 via the power harness 8, regardless of the external power switch 6. This allows the actuator 22, which requires more power than the specifications of the external power harness 7, to be supported. However, if the external power switch 6 is OFF, the power to the control device 20 is turned OFF.

[0051] A predetermined potential is set in the external power supply determination unit 20d. The potential set in the external power supply determination unit 20d is a potential other than 0V (other than the ground potential), for example, +5V. In the connection state shown in Figure 3, when the external power switch 6 is OFF, the connection destination of the connection part 37a is not connected anywhere, so there is no input to the external power supply determination unit 20d, and the voltage remains at the set voltage. On the other hand, the connection harness 16 connected to the connection part 37b is connected to ground 4, so the potential of ground 4 (0V) is input to the external power supply determination unit 20d. Furthermore, in the connection state shown in Figure 3, when the external power switch 6 is ON, the connection part 37a of the connector 37 is connected to the positive side of the main battery 5, so the potential of the positive side of the main battery 5 (12V in Figure 3) is input to the external power supply determination unit 20d. On the other hand, the connection harness 16 connected to the connection part 37b is connected to ground 4, so the potential of ground 4 (0V) is input to the external power supply determination unit 20d. The external power supply determination unit 20d can determine whether the external power switch 6 is in the ON state by detecting these inputs.

[0052] Furthermore, by disconnecting the connections between connectors 31 and 32, and connectors 34 and 37, the power supply unit 11 can be separated.

[0053] Figure 4 shows another example of the wiring configuration when connected to an external power supply in the first embodiment of the present invention. Figure 4 mainly explains the differences from Figure 3, the same parts are denoted by the same reference numerals, and the same explanations are omitted for parts that are not specifically explained.

[0054] The wiring in Figure 4 differs from that in Figure 3 in that the power harness 8 is omitted. Therefore, in the connection state in Figure 4, connector 31 and connector 32, and connector 34 and connector 37 are connected, respectively. This means that if only low power is required, or if the power usage is within the specifications of the external power harness 7, there is no need to provide the power harness 8 in Figure 3. The external power determination unit 20d can operate in the same way as in Figure 3. In Figure 4, the connection between connector 34 and connector 37 corresponds to connector connection 26.

[0055] Figure 5 shows the wiring configuration when the device is not connected to an external power supply in the first embodiment of the present invention.

[0056] Figure 5 shows an example of a connection when the tractor 1 does not have an external power switch 6. In this case, the power supply unit 11 is not connected. The remote control device 10 can be powered by its internal battery. On the other hand, the external power determination unit 20d of the control device 20 is configured to determine that it is not connected to the external power switch 6 based on the connection in Figure 5. This allows for accurate determination of power interlocking.

[0057] In Figure 5, since there is no external power switch 6, the tractor 1 does not have an external power harness 7. On the other hand, the control device 20 has a connector 39 that connects to connector 37. Connector 39 has two connection parts 39a and 39b. Connection part 39a is connected to the end of the wiring that branches off from the wiring of the connection harness 16 which is connected to connection part 36a of connector 36. Connection part 39b is not connected to anything. Note that connector 39 is not used in the connection state shown in Figure 3, so it can be covered with a cover or something similar.

[0058] Here, connectors 37 and 39 are detachable, and when connecting, connection parts 37a and 37b are connected to connection parts 39a and 39b, respectively.

[0059] In the connection state shown in Figure 5, connectors 33 and 36, 39 and 37, and 35 and 38 are connected to each other. In the connection state shown in Figure 5, the power from the main battery 5 is supplied to the control device 20 via the power harness 8.

[0060] Furthermore, in the connection state shown in Figure 5, the connection portion 37a of connector 37 is connected to the positive side of the main battery 5 via the power harness 8, and is therefore at the potential of the positive side of the main battery 5 (12V in Figure 5). On the other hand, the connection portion 37b of connector 37 is not connected to anything, and is therefore at the potential set by the external power detection unit 20d (for example, +5V). By detecting these inputs, the external power detection unit 20d can determine that it is not connected to the external power harness 7 equipped with the external power switch 6.

[0061] Figure 6 shows a remote control device according to the first embodiment of the present invention.

[0062] The remote control device 70 is equipped with push-button switches 71a to 71o. It also has a display unit 72. The remote control device 70 is an example of the remote control device 10 in Figure 1, where the switches 71a to 71o correspond to the operation unit 10b in Figure 1, and the display unit 72 corresponds to the display unit 10a in Figure 1.

[0063] Switch 71a is the power switch for the remote control device 70. Switch 71b is the mode selector switch. Switch 71m is a switch for setting. Switch 71n is a switch for switching the display content of the display unit 72. Switch 71o is a switch for confirming the selected content, etc.

[0064] Switch 71c is a switch that puts the levee plastering machine 50 into the retracted position. Switch 71d is a switch that puts the levee plastering machine 50 into the reverse operation position when a second electric hydraulic cylinder is provided. Switch 71e is a switch that puts the levee plastering machine 50 into the forward operation position. These can be performed by controlling the first electric hydraulic cylinder 61 and the second electric hydraulic cylinder.

[0065] Switches 71f and 71g are switches that adjust the offset amount of the working section 58 of the ridge-forming machine 50. These can be controlled by controlling the first electric hydraulic cylinder 61.

[0066] Switches 71h and 71i are switches that adjust the depth of the tilling unit 56. These can be controlled by controlling the third electric hydraulic cylinder 63.

[0067] Switch 71j is a switch that turns the watering device 65 ON and OFF. Switches 71k and 71l are switches that adjust the amount of water dispensed by the watering device 65. These can be controlled by controlling the motor of the watering device 65.

[0068] The display unit 72 can be fitted with an LCD screen or an OLED screen. The display unit 72 can display various information related to operation, settings, and the work machine 2.

[0069] Figure 7 is a flowchart of the first embodiment of the present invention. Figure 7 shows the process of interlocking with an external power supply, with the processing of the control device 20 on the left and the processing of the remote control device 10 on the right. Here, the processing when the connection state shown in Figures 3 and 4 is observed is shown.

[0070] First, I will explain the processing on the control device 20 side.

[0071] When the external power switch 6 of tractor 1 is OFF, the power to the control device 20 is also OFF, and the control device 20 is in a state where it cannot receive operation signals from the remote control device 10 (non-operation mode).

[0072] In step S101, when the external power switch 6 of the tractor 1 is turned from OFF to ON, the process proceeds to step S102, and the power to the control device 20 is turned ON. As shown in Figures 3 and 4, the control device 20 and the main battery 5 are connected by a power harness 8, but the main power to the control device 20 is not on until the external power switch 6 is turned ON. At this time, the wireless module of the control device 20 is also turned ON. That is, the wireless communication unit 20c of the control device 20 becomes capable of transmitting and receiving.

[0073] Next, in step S103, a determination is made regarding external power supply interlock. The control device 20 can determine whether the external power switch 6 is ON or OFF based on the connection status shown in Figures 3 and 4. This determination is made by the external power supply determination unit 20d of the control device 20. If the external power switch 6 is ON, it is determined that external power supply interlock is possible. If external power supply interlock is possible, the process proceeds to S104.

[0074] The determination of whether external power is linked can be performed by the external power determination unit 20d detecting inputs from the wiring connected to connection part 37a and connection part 37b of the connector 37 shown in Figures 3 and 4. When the external power switch 6 is ON, the wiring connected to connection part 37a receives input of the positive side potential of the main battery 5 (e.g., 12V). Also, the wiring connected to connection part 37b receives input of the ground potential (0V) of 4. The external power determination unit 20d detects these inputs. On the other hand, when the external power switch 6 is OFF, the connection destination of connection part 37a is not connected to anything, so there is no input from the wiring connected to connection part 37a. Also, in the connection state shown in Figure 5, the connection destination of connection part 37b is not connected to anything, so there is no input from the wiring connected to connection part 37b. For this reason, when the external power switch 6 is OFF or in the connection state shown in Figure 5, it is not determined that external power linkage is possible.

[0075] In step S104, the control device 20 determines whether or not it has received a start command signal from the remote control device 10. The transmission of the start command signal from the remote control device 10 is performed by wireless communication R in the process of step S205. The process proceeds to step S105 only if the start command signal is received. Otherwise, the system enters a standby state for the start command. This determination can be made by the control unit 20a of the control device 20.

[0076] In step S105, the control device 20 transmits a start command signal to the remote control device 10. The start command signal is sent from the wireless communication unit 20c of the control device 20 to the wireless communication unit 10c of the remote control device 10 via wireless communication R, through processing by the control unit 20a of the control device 20.

[0077] Next, in step S106, the control device 20 is switched to normal operation mode. In this normal operation mode, when the control device 20 receives an operation signal from the remote control device 10, the control unit 20a controls and operates the actuator 22 according to the received operation signal.

[0078] Next, in step S107, it is determined whether the external power switch has been turned OFF or not. This determination can be made by the external power determination unit 20d of the control device 20. If it has been turned OFF, the process proceeds to step S108. If it has not been turned OFF, the normal operation mode of step S106 is continued.

[0079] The external power switch can be determined by the external power determination unit 20d detecting the input from the wiring connected to the connection part 37a of the connector 37 shown in Figures 3 and 4. When the external power switch 6 is OFF, there is no input to the wiring connected to the connection part 37a. The external power determination unit 20d just needs to detect this.

[0080] In step S108, the normal operation mode is terminated and the power to the control device 20 is turned OFF, ending the process. In this case, it is a non-operation mode in which the actuator 22 is not activated.

[0081] Next, we will explain the processing on the remote control device 10 side.

[0082] When the external power switch 6 of tractor 1 is OFF, the power to the remote control device 10 is also OFF, and the remote control device 10 is unable to transmit operation signals (non-operation mode).

[0083] In step S201, when the external power switch 6 of the tractor 1 changes from OFF to ON, the process proceeds to step S202, where the remote control device 10 is powered on and enters standby mode. In other words, the wireless communication unit 10c of the remote control device 10 becomes capable of sending and receiving data.

[0084] Next, in step S203, it is determined whether or not the remote control device 10 is set to be linked to an external power supply. If it is not set to be linked to an external power supply, the process proceeds to step S204; if it is set to be linked to an external power supply, the process proceeds to step S205.

[0085] Whether or not the remote control device 10 is set to external power interlock is determined by whether or not this setting has been made in advance on the remote control device 10. If it has not been set in advance, the user may be allowed to select the setting at this time. In the case of the remote control device 70 in Figure 6, this setting can be made by pressing and holding switch 71m, for example, to display options on the display unit 72 and allowing the user to set the external power interlock. It is also possible to select not to set the external power interlock. In this case, the process proceeds to step S204 as described above. Furthermore, the determination of whether or not the external power interlock is set is based on the connection state in Figures 3 and 4, with the remote control device 10 and the power supply unit 11 connected, and the external power switch 6 being ON. In this case, the remote control device 10 can detect that power is being supplied from the power supply unit 11 and make the determination. That is, if the external power interlock is not set in advance, or if power is not being supplied to the remote control device 10 from the power supply unit 11, it will not be determined that the external power interlock is set. For this reason, if the remote control device 10 is disconnected from the power supply unit 11, it will not be determined that the external power interlock is set. These determination processes can be performed by the processing unit 10d of the remote control device 10.

[0086] In step S204, the remote control battery 10e of the remote control device 10 is charged. This makes it possible to use the remote control device 10 independently even when it is separated from the power supply unit 11. However, in this case, the external power supply linkage process is not performed.

[0087] In step S205, the remote control device 10 transmits a start command signal to the control device 20. The start command signal is processed by the processing unit 10d of the remote control device 10 and sent from the wireless communication unit 10c to the wireless communication unit 20c of the control device 20 using wireless communication R.

[0088] Next, in step S206, it is determined whether the remote control device 10 has received a start command signal from the control device 20. The start command signal from the control device 20 is transmitted via wireless communication R as processed in step S105. If the start command signal is received, the process proceeds to step S208; otherwise, the process proceeds to step S207. This determination can be made by the processing unit 10d of the remote control device 10.

[0089] In step S207, the screen of the display unit 10a of the remote control device 10 is turned OFF and the process returns to step S205. In this case, since communication between the remote control device 10 and the control device 20 has not been established, the screen of the display unit 10a is turned OFF to reduce unnecessary power consumption, and a start command signal is sent again from the remote control device 10 to the control device 20.

[0090] In step S208, the remote control device 10 is switched to normal operation mode. This normal operation mode is a state in which communication between the remote control device 10 and the control device 20 is established, and the remote control device 10 can send operation signals to the control device 20 to operate the actuator 22.

[0091] Next, in step S209, it is determined whether the external power switch has been turned OFF or not. This determination can be made by the processing unit 10d of the remote control device 10. If it has been turned OFF, the process proceeds to step S210. If it has not been turned OFF, the normal operation mode of step S208 is continued.

[0092] The processing unit 10d can determine whether the external power switch is OFF by detecting whether the remote control device 10 is receiving power from the power supply unit 11. If the external power switch is OFF, no power is supplied from the power supply unit 11.

[0093] In step S210, the normal operation mode is terminated and the power to the remote control device 10 is turned off, ending the process. In this case, it is in non-operation mode.

[0094] Furthermore, as described above, the processes in steps S205, S104, S105, and S206 bring the remote control device 10 and the control device 20 into a communication state where they can operate in normal mode. However, the pairing process may be applied at this time. The remote control device 10 and the control device 20 identify each other using IDs or the like and establish communication.

[0095] Figure 8 is another example of a flowchart of the first embodiment of the present invention. Figure 8 mainly illustrates the differences from Figure 7, with the same reference numerals used for identical parts, and the same explanations omitted for parts that are not specifically explained.

[0096] Figure 8 differs from Figure 7 in that steps S104, S105, S205, S206, and S207 are changed to steps S104', S105', S205', S206', and S207'.

[0097] In step S104', the control device 20 transmits a start command signal to the remote control device 10. The start command signal is sent from the wireless communication unit 20c of the control device 20 to the wireless communication unit 10c of the remote control device 10 via wireless communication R, through processing by the control unit 20a of the control device 20.

[0098] In step S105', the control device 20 determines whether or not it has received a start command signal from the remote control device 10. The transmission of the start command signal from the remote control device 10 is performed by wireless communication R in step S206'. If the start command signal is received, the process proceeds to step S106. Otherwise, the system enters a standby state for the start command. This determination can be made by the control unit 20a of the control device 20.

[0099] In step S205', it is determined whether the remote control device 10 has received a start command signal from the control device 20. The start command signal from the control device 20 is transmitted via wireless communication R through the processing in step S104'. If the start command signal is received, the process proceeds to step S206'; if the start command signal is not received, the process proceeds to step S207'. This determination can be made by the processing unit 10d of the remote control device 10.

[0100] In step S206', the remote control device 10 transmits a start command signal to the control device 20. The start command signal is sent from the wireless communication unit 10c of the remote control device 10 to the wireless communication unit 20c of the control device 20 using wireless communication R, through processing by the processing unit 10d of the remote control device 10.

[0101] In step S207', the screen of the display unit 10a of the remote control device 10 is turned OFF and the process returns to step S205'. In this case, since communication between the remote control device 10 and the control device 20 has not been established, the screen of the display unit 10a is turned OFF to reduce unnecessary power consumption and to enter a waiting state for a start command from the control device 20.

[0102] Thus, Figures 7 and 8 differ in whether the activation command is sent first from the remote control device 10 to the control device 20, or from the control device 20 to the remote control device 10. Although the order is different, these processes make it possible to establish communication between the remote control device 10 and the control device 20.

[0103] In the connection state shown in Figure 5, the control device 20 and the remote control device 10 are not connected to the external power harness 7 equipped with the external power switch 6. Therefore, the external power interlocking process shown in Figures 7 and 8 is not performed.

[0104] <Second Embodiment> Figure 9 is a rear view of an agricultural implement applied to a second embodiment of the present invention. In Figure 9, the left-right direction is the horizontal direction, and the up-down direction is the up-down direction. In the second embodiment, the case in which implement 2 is a puddling implement 100 will be described. The other configurations are the same as in the first embodiment.

[0105] The side work sections 105', located on either side of the central work section 105, are foldable relative to the central work section 105. The central work section 105 is equipped with a mounting section 101, which is a mast 101a and left and right hitches 101b, to which the puddling implement 100 is attached to the rear of the tractor 1. Power from the tractor 1 is input via an input shaft located at the front, and the tilling section, equipped with puddling tines, rotates inside the cover 102 and the first leveling body 103 behind it, breaking up the soil. The first leveling body 103 and the second leveling body 104 located behind it then level the surface of the soil. In this manner, the puddling operation is performed.

[0106] The left and right electric hydraulic cylinders 106 extend and retract, acting on the rotation mechanism 107 to fold the side working sections 105' on both sides inward relative to the central working section 105, thereby shortening the overall width of the puddling machine 100. The left and right extension leveling body drive devices 110, through the rotation of their internal motors, can rotate the left and right extension leveling bodies 111 around the pivot axis 111a via the arms 112 and wires 113. This allows for the selection of whether to extend the extension leveling bodies 111 provided at both ends of the second leveling body 104 outward or fold them inward. The second leveling body drive device 116, through the rotation of its internal motor, can rotate the second leveling body 104 via the second leveling body link means 117, allowing for the selection of whether to set it in a soil-pulling state with the soil fixed at the bottom or in a normal puddling state where the rotation is not fixed.

[0107] These, the electric hydraulic cylinder 106, the motor of the extended leveling body drive unit 110, and the motor of the second leveling body drive unit 116, can be used as actuators 22. The control device 20 is located on the side of the mast 101a.

[0108] With these configurations, in the second embodiment, each actuator of the puddling machine 100 can be operated from the remote control device 10. The configuration of the remote control device 10 can be similar to that of the remote control device 70 in Figure 6, with buttons to activate each actuator of the puddling machine 100.

[0109] <Effects> With the above embodiment, simply by turning on the external power switch 6, communication between the remote control device 10 and the control device 20 is automatically established, and the actuator 22 on the implement 2 can be operated by operating the remote control device 10. This makes it possible to improve the worker's work efficiency. Furthermore, by turning off the external power switch 6, the power to the remote control device 10 and the control device 20 is also automatically turned off, preventing unnecessary power consumption of the main battery 5. Moreover, by sharing the external power switch 6 with the switch for starting the tractor 1, the worker can operate the actuator 22 by operating the remote control device 10 simply by starting the tractor 1. Furthermore, when the tractor 1 is turned off (for example, when the engine is stopped), the power to the remote control device 10 and the control device 20 are also automatically turned off, further reducing unnecessary power consumption of the main battery 5.

[0110] Furthermore, by changing the connection state in Figures 3, 4 and 5, a configuration can be made that allows connection whether or not the tractor 1 is equipped with an external power switch 6. In this case, by providing an external power determination unit 20d in the control device 20 and detecting the input to it, it is possible to accurately determine whether the external power switch 6 is turned ON when the external power switch 6 is equipped.

[0111] Furthermore, by providing the remote control battery 10e in the remote control device 10, it becomes possible to charge the remote control device 10 from the external power harness 7. In particular, by enabling charging even when external power linkage is not performed, it becomes easier to secure power for the remote control device 10. This makes it possible to operate the remote control device 10 independently and disconnected. In addition, charging using general-purpose standards such as the USB standard is made easy by using the power supply unit 11.

[0112] As described above, embodiments of the present invention have been explained, but the present invention is not limited to the embodiments described above, and various other modifications are also included. For example, it is not limited to having all the configurations provided in the embodiments described above. Furthermore, it is possible to delete or replace some of the configurations of a certain embodiment with other configurations.

[0113] For example, while embodiments of a levee-forming machine and a puddling machine were shown as applicable implements, other implements that can be attached to a tractor, such as rotary implements, fertilizer spreaders, and seeders, can also be applied.

[0114] Furthermore, the power supply unit 11 and the remote control device 10 can be configured to be directly connected without going through the power supply harness 15. [Explanation of Symbols]

[0115] 1 tractor 2. Work equipment 5 Main Battery 6. External power switch 7. External power harness 8 Power harness 9. Intermediate harness 10 Remote control device 11 Power supply section 20 Control device 20d External power supply determination section 21 sensors 22 Actuators 50 Ridge plastering machine 58 Work Section 61. First electric hydraulic cylinder 63 Third electric hydraulic cylinder 65 Sprinkler system 70 Remote control device 71a~71o Switch 72 Display section 100-unit plowing machine 106 Electric Hydraulic Cylinder 110 Extended Ground Leveling Drive System 116 Second Ground Leveling Drive Device

Claims

1. In a remote control system for agricultural implements used with implements attached to tractors for agricultural work, The work machine is provided with a control device for controlling the actuators of the work machine, and a remote control device capable of wireless communication with the control device is also provided. The control device and the remote control device are connected to the main battery and external power harness via an external power switch provided in the tractor. When the external power switch is turned from OFF to ON, the remote control device and the control device establish communication with each other and transition to normal operation mode. When the remote control device and the control device switch to the normal operating mode, the control device receives an operation signal from the remote control device and the actuator becomes operational. The remote control device is equipped with a remote control battery, and is characterized in that it has a function that allows the remote control device to charge the remote control battery without switching to the normal operation mode when the external power switch is turned from OFF to ON.

2. In the remote control system for agricultural machinery described in claim 1, A remote control system for agricultural machinery, characterized in that when the external power switch is turned OFF, the power to the remote control device and the control device is turned OFF.

3. In the remote control system for agricultural machinery described in claim 1, A remote control system for agricultural machinery, characterized in that a power supply unit is provided between the remote control device and the external power harness, the power supply unit converts the voltage of the external power harness to a voltage suitable for charging the remote control battery, and the power supply unit and the remote control device are separable.

4. In the remote control system for agricultural machinery described in claim 1, The control device comprises an external power supply determination unit, the external power supply determination unit detects input from the external power harness and detects that the external power switch has been turned ON, characterized in that it is a remote control system for agricultural machinery.

5. In the remote control system for agricultural machinery described in claim 4, The remote control system for agricultural machinery is characterized in that the external power supply determination unit detects that the external power harness is not connected to ground when it is not connected.

6. In the remote control system for agricultural machinery according to any one of claims 1 to 5, The remote control system for agricultural machinery is characterized in that the external power switch is a switch that is shared with or linked to the start switch of the tractor.

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