JPH08276037A - Golf ball collecting vehicle - Google Patents

Abstract

PURPOSE: To provide an unmanned golf ball collecting vehicle capable of efficiently collecting golf balls without damaging turf. CONSTITUTION: A mobile body is provided with a pick-up device and a storing container for golf balls as well as an electromagnetic pick-up sensor and a running control means to trail electromagnetic guide lines C1, C2, and C3. The mobile body automatically runs on running courses C1, C2, and C3 made of electromagnetic guide lines and collects golf balls. When the mobile body approaches iron bridges 52 and 53 on the way of the running courses C1 and C2 and a proximity sensor is activated, based on this detection, a storing control means automatically stops the mobile body and opens the ball discharge port of the storing container to automatically discharge collected golf balls into a ball collecting channel 51. After balls are discharged, the mobile body automatically runs along the running courses C1 and C2 and collects golf balls to store. This allows an unmanned ball collecting to be performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pickup device for picking up a golf ball from the ground, and a golf ball collection vehicle equipped with a self-propelled body equipped with a storage device for storing the golf ball from the pickup device.

[0002]

2. Description of the Related Art The above-mentioned golf ball collection work vehicle has conventionally been constructed, for example, as disclosed in Japanese Patent Application Laid-Open No. 5-192422. That is, a device for detecting the amount of stored balls,
And a traveling control means for operating the traveling device based on the information from the stored amount detecting device, and as the traveling ball travels around the work target location and accumulates the collected ball, a predetermined amount such as fullness of the accumulated ball. Then, the ball collecting operation is interrupted, the vehicle is moved to a predetermined unloading place, and the stored ball is unloaded.

[0003]

Conventionally, when collected balls accumulate, they are removed from the work area and travel to the unloading location. Therefore, while the collected balls are loaded and run to the unloading location, and the balls are unloaded. After that, the collection operation is interrupted until the ball collection is resumed after returning to the place where the ball collection was interrupted earlier, and the work interruption time is prolonged and the collection operation efficiency is deteriorated. In addition, when traveling to an unloading place with a collection ball, it is possible to avoid the weight of the entire work vehicle from becoming heavy and scratching the turf surface due to the accumulated balls, etc. Since it is necessary to interrupt the recovery work and drive the vehicle to an unloading point while the amount of work is relatively small and the weight of the work vehicle is relatively light, the recovery work was interrupted more times and the recovery work efficiency was further deteriorated. SUMMARY OF THE INVENTION An object of the present invention is to provide a golf ball collection vehicle capable of performing a collection operation efficiently and, in the case of a turf field, efficiently performing a collection operation while avoiding turf damage. An additional object of the present invention is to
Further, it is to make it possible to carry out the recovery work without requiring manpower, or to make the storage device lightweight and simple in structure.

[0004]

SUMMARY OF THE INVENTION In order to achieve the object, the present invention relates to a golf ball collection work vehicle described at the beginning,
An arrival detection device that detects that the self-propelled aircraft has arrived at the ball discharge station set between the work start point and the work end point of the work target area, and the time since the arrival detection device was detected. Timer means for measuring, a switching device for switching the storage device between the storage state and the ejection state of the golf ball, storage control means for operating the switching device and the traveling device, when the arrival detection device is in a non-detection state, The storage control means enables the driving of the traveling device based on information from the arrival detection device and automatically operates the switching device to the ball storage side, and when the arrival detection device is in the detection state, Storage control means automatically stops the traveling device based on information from the arrival detection device and the timer means, When the set stop time elapses after the arrival detection device is in the detection state, the storage control means automatically returns the switching device to the ball storage side. At the same time, the storage control means is linked to the arrival detection device and the timer means in a state in which the traveling device can be driven.

[0005]

When the golf ball travels while collecting while arriving at the ball discharge location, the arrival detecting device detects the arrival and the storage control means automatically stops the traveling device based on information from the arrival detecting device. In order to operate the switching device to the discharge side, the vehicle is automatically stopped at the ball discharge location, and the storage device is in the discharge state, so that the stored golf balls can be automatically dropped to the ball discharge location. When a predetermined amount of ball discharge is completed after the set stop time has elapsed from the stop, the storage control means automatically operates the switching device to the closing side and enables driving of the traveling device based on information from the timer means. Then, the player can re-run from the ball discharge location and resume the ball collection. In addition, for example, by providing a water channel that will flow to a desired recovery point such as a recovery pit when the ball falls, and by setting a bridge on this water channel to set the water channel on the water channel as a ball discharge point, the ball will be discharged at the ball discharge point. The collected balls can be easily collected in the collection pit,
Even if a ball discharge location is set in the middle of the work target location and the collected ball is discharged, the subsequent ball recovery can be performed without any trouble.

[0006] In the case of claim 2, the course setting by the course setting device and the automatic operation by the travel control means,
The machine automatically travels to the target area and automatically picks up and stores the golf ball. When arriving at the ball discharge location along with this recovery traveling, the golf ball automatically stops for the detection by the arrival detection device and the automatic operation by the storage control means, and the golf ball stored by the storage device is automatically stopped. When the predetermined amount of balls are discharged after the set stop time has elapsed from the stop, the storage device automatically returns to the storage state for automatic operation by the storage control unit based on the information from the timer unit. The aircraft will start running and ball collection will automatically resume.

In the third aspect of the invention, when the lid of the ball discharge port is opened, the ball naturally rolls out due to the inclination of the bottom surface, so that the ball can be stored and discharged simply by opening and closing the ball discharge port. Become.

[0008]

EFFECTS OF THE INVENTION By dropping the recovery ball in the middle of the work target point and restarting the ball recovery from the ball discharge setting position, the traveling stop and the switching of the storage device due to the ball discharge are automatically performed. By doing so, the time for suspending the recovery work for unloading the load can be reduced and the recovery work can be performed efficiently. Furthermore, even when the amount of balls to be collected from the entire work area is large, by increasing the number of times of unloading, the entire amount can be collected while reducing the loadable amount. In terms of loading capacity, it has also been made smaller and lighter so that it can be collected without damaging the turf even in a grassy field.

According to the second aspect of the present invention, both the collection traveling and the ball discharge at the ball discharge location are performed automatically, so that the time required for the collection operation to be interrupted by the discharge of the ball is shortened, the efficiency is improved, and even in the case of a turf field, the efficiency of the turf is improved. Not only can the collection work be done without damage, but also the collection work can be done advantageously without the need for a dedicated worker. Can be provided.

[0010] In the case of the third aspect, only the opening and closing of the ball discharge port is required, so that the storage device is made smaller and lighter than a device having a dump mechanism and a scraping device for discharging the ball. From the point of view, it is advantageous that the entire collection work vehicle can be made smaller and lighter so that the collection work can be performed advantageously without damaging the turf, or that the collection work can be made more unobtrusive even during business hours.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIGS. 1 and 2, a front wheel 1 made of one caster-type tire wheel, a pair of left and right drivable tire-type rear wheels 2, 2 and a pair of left and right rear wheels 2, 2 are located between them. In the self-propelled vehicle having the drive unit 3 for driving, the ball storage container 11 located near the rear side of the front wheel 1, the ball shifting arms 20 located on both sides of the storage container 11, the ball storage container 11
A pickup device 30 having a pair of left and right pickup rotors 31, 31 located between the motor and the drive unit 3 is provided. FR so as to cover the front wheels 1, the ball storage container 11, the pickup device 30, and the drive unit 3 and to reduce the impact and prevent the ball from rebounding when hit by a ball.
An airframe cover 4 made of P material is connected to the rear end of the self-propelled airframe so as to be able to swing up and down around an axis 4a in a horizontal direction of the airframe, and is present on the ground as the airframe travels. The golf ball collection vehicle is configured so that the golf ball B is automatically picked up by the pickup device 30 and stored in the storage container 11. Specifically, it is configured as follows.

As shown in FIG. 1, a pair of left and right axle frames 5 and 5 that rotatably support the axles 2a of the left and right rear wheels 2 and 2, respectively, are supported by the body frame F of the self-propelled vehicle. The left and right rear wheels 2 and 2 are supported by the self-propelled aircraft. An electric traveling motor M1 or M2 is mounted on each of the left and right axle frames 5 so as to be driven by using a battery 6 mounted on the drive unit 3 as a power source, and one of the pair of traveling motors M1 and M2 M1 Are transmitted to the axle 2a of the left rear wheel 2, and the rotational output of the other traveling motor M2 is transmitted to the axle 2a of the right rear wheel 2 by chain transmission. Can be driven. The axle frame 5 of each of the left and right rear wheels 2, 2 is connected to a body frame F of a self-propelled body so as to swing up and down around a body horizontal axis 5a located at a rear end portion thereof. When the adjusting rod 15 configured to fix the swing of the axle frame 5 with respect to the body frame F and attached across the front end side of the axle frame 5 and the body frame F is rotated,
The axle frame 5 swings up and down with respect to the body frame F due to the action of a screw mechanism (not shown) located between the adjustment rod 15 and the body frame F, and the mounting height of the rear wheels 2 with respect to the body frame F. Is configured to change.

That is, the height of the pickup rotor 31 of the pickup device 30 with respect to the ground can be adjusted by separately adjusting the mounting height of the left and right rear wheels 2. That is, it is possible to adjust to an inclined posture in which the ground height at one end is higher than the ground height at the other end, or to adjust a horizontal posture in which the ground height at both ends is the same. Then, it is possible to adjust the inclination angle and the ground height when the vehicle is in the inclined posture, or to adjust the ground height when the vehicle is in the horizontal posture. Then, the left and right rear wheels 2, 2 are connected to a pair of traveling motors M1,
M2 is driven separately, and the traveling and steering operations of the body are performed by controlling the rotational speeds of both traveling motors M1 and M2. That is, by adjusting the rotation speeds of both the traveling motors M1 and M2 so that the peripheral velocities of the left and right rear wheels 2 and 2 are equal, the body travels straight and the peripheral velocity of one of the left and right rear wheels 2 and 2 is reduced to the other. By adjusting the rotation speeds of the two traveling motors M1 and M2 so as to be lower than the peripheral speed of the vehicle, the aircraft travels leftward or rightward.

The ball shifting arms 20 on either the left or right
The horizontal end of the storage container 11 is supported so as to swing up and down around an axis 20a in the longitudinal direction of the fuselage, and the swinging operation is performed up and down to extend substantially horizontally outward from the storage container 11 to the lateral side of the fuselage. Between the storage vehicle 11 and the storage position, in which the body extends upward from the storage container 11 and enters the body of the rear wheels 2 to make the working vehicle overall narrower in width than in the use posture. . When the ball pulling arm 20 is in the use posture, a pulling roller rotatably supported by a rear arm portion of a pair of front and rear arm portions of the ball pulling arm 20 via a pair of left and right support links 21 and 21. 22 touches the ground in an inclined position that is located closer to the front of the fuselage than the fuselage laterally outside, and when the fuselage travels, it rolls on the ground for transport and ground contact by this travel of the fuselage, and The existing and abutted golf ball B is rotated. Then, the golf ball B is easily moved along the shifting roller 22, and the shifting roller 22 guides the golf ball B to move to the inside of the body due to the inclined posture. As a result, the ball pulling arm 20 in the use posture gathers the golf balls B existing on the ground inside the fuselage by the pulling rollers 22.
It is supplied to the ball receiving guide of the pickup device 30 which is composed of a pair of left and right ground rollers 32, 32 attached to the lower side of the storage container 11.

A connecting cylinder 23 connecting the pair of left and right support links 21 and 21 is moved to a rear arm portion of the ball moving arm 20 and an axis 23 parallel to the rotation axis of the roller 22.
The support roller 21 and the left and right support links 21 and 21 are configured to swing up and down around the axis 23 a with respect to the ball pulling arm 20, so that the pulling roller 22 is moved closer to the ball. It is possible to swing up and down with respect to the arm 20. The support roller 21 is downwardly biased by a ground biasing spring 24 attached to the connection cylinder 23 and the ball pulling arm 20, thereby biasing the pulling roller 22 to the ground. That is, when the approach roller 22 climbs on a convex portion or a stone on the ground, the approach roller 22 swings up with respect to the ball approach arm 20 to absorb the climb. Accordingly, the pickup rotor 31 of the pickup device 30 rises above the ground due to the riding-up of the shift roller 22, and the gap between the pickup rotor 31 and the ground is widened, so that it is easy to avoid occurrence of a mistake in picking up the ball of the pickup rotor 31. .

The pickup device 30 includes a pair of pickup rotors 31 and 31, a pair of left and right pickup guides 34 and 34, which are respectively arranged close to the rear sides of the pickup rotors 31 and 31, and the pair of ground rollers 32. , 32. That is, the pair of ground rollers 32, 32
The golf ball B is located near the front of the lower end of the pair of balls 31 and is supplied to the ball picking-up range by the pickup rotor 31 and the pickup guide 34. A pair of pickup rotors 3
1, 31 are pickup rotors 31 on their outer peripheral surfaces.
Are provided in parallel in the rotation direction and the rotation axis direction. The pickup blade body 31a is deformed or worn when the wheels 1 and 2 fall into a recess in the ground and come into contact with the ground, or when a projection or stone on the ground comes under the pickup rotor 31 and collides with it. It is made of a resin material that is highly flexible and abrasion resistant so that it is difficult to resist. The pair of pickup rotors 31, 31 are connected so as to be integrally rotated by a single rotation support shaft 33 facing the body, and are rotatably attached to the body frame F by the rotation support shaft 33. An electric pickup motor M3 is provided in the drive unit 3 so as to be driven by using the battery 6 as a power source, and the rotation output of the pickup motor M3 is chain-transmitted to the rotation support shaft 33. , A pair of pickup rotors 31, 31
Are integrally rotated by a pickup motor M3 in a rotation direction R shown in FIG. Each of the pair of pickup guides 34, 34 is provided with left and right side plates 34 a, 3 respectively located on both lateral sides of the pickup rotor 31.
4a and a guide plate body 34c which is formed in an arc shape so as to be provided with an arc guide surface 34b along the outer periphery of the pickup rotor 31 on the inner surface side and is connected to the left and right side plates 34a, 34a. The left and right side plates 34a are attached to the rotation support shaft 33 so as to be rotatable relative to each other, so that the pickup rotor 31 can freely move up and down with respect to the body frame F by swinging up and down about the same axis as the rotation axis of the pickup rotor 31. It is attached as follows. Guide plate body 3 of each of a pair of pickup guides 34, 34
A ground roller 36 is rotatably mounted on the back side of 4c via a pair of left and right brackets 35,35. That is, since the ground roller 32 guides the golf ball B from the left and right ball pulling arms 20 onto the ground near the front of the pickup rotor 31, the golf ball B comes to the lower side of the pickup rotor 31 as the machine body travels. . Then, the pickup ball 34 scoops and flies the golf ball B. At this time, even if the front wheel 1 or the rear wheel 2 rides on the convex portion of the ground or enters the concave portion of the ground and the ground height of the body frame F supporting the pickup guide 34 changes, the pickup guide 34 Aircraft frame F
Due to the swinging up and down with respect to the ground and the contact of the ground roller 36 with the ground, the scooping edge 34d, which is the lower edge of the guide plate body 34c of the pickup guide 34, is at a slightly lower level than the center of the golf ball B located on the ground. The pickup guide 34 keeps the height of the golf ball B located at the ground level and keeps picking up the golf ball B regardless of the change in the ground height of the body frame F. Then, the pickup rotor 31
Of the pickup blade body 31a of the pickup guide 34
By lifting the golf ball B scooped up by the above, the guide plate body 34c of the pickup guide 34 supports the golf ball B so as not to fall from the pickup blade body 31a.
As the vehicle travels, the golf ball B from the ball pulling arm 20 is picked up by the pickup rotor 31 and the pickup guide 34 and is lifted above the pickup rotor 31. The pick-up blade 31a of the pick-up rotor 31 enters the descending path after transporting the golf ball B to above the pick-up rotor 31, but at this time, it extends from the storage container 11 toward the rear of the machine and is arranged side by side in the machine lateral direction. The golf ball B that has passed between the ball guide rods 12 and conveyed remains down on the ball guide rods 12 while descending. Thus, the pickup device 30 transfers the golf ball B lifted above the pickup rotor 31 to the ball guide rod 12 above the pickup rotor 31.

As shown in FIGS. 1 and 3, the ball storage container 11 is formed by a container frame also used as a body frame of the self-propelled body, and a bottom plate and a side wall plate attached to the container frame. Since the ball guide rod 12 has a front-down inclination angle that is positioned at a low level toward the ball storage container 11, the golf ball B supplied from the pickup rotor 31 is naturally rolled to store the storage container 11 therein.
I will guide you to fall into. As a result, the ball storage container 11 receives and stores the golf ball B from the pickup device 30.

As shown in FIG. 3, on both sides of the storage container 11, a ball discharge port 1 opening to the outside of the body is provided.
3 a or 13 b is provided so as to be opened and closed by the lid 14. Both the left and right lids 14 are configured to open and close by swinging around a shaft core 14a in the front-rear direction of the machine body located on the upper end side. Both lids 14, 14
Link 1 linked to push-pull rod 15
6 is rotatably supported on the front side of the storage container 11, and an opening / closing motor M4, which is an electric servomotor, is connected to a rotation support shaft 16a of the interlocking link 16 via a link mechanism 17.
The opening / closing motor M4 can be used to open and close the lids 14 on either side. By forming the bottom plate of the storage container 11 into a bent shape as shown in FIG. 3, the lower half 18a of the left side of the fuselage of the ball receiving bottom surface of the storage container 11 becomes lower as far as the ball discharge port 13a on the left side. The right half 18b of the fuselage is
Are formed on the inclined bottom surface which becomes lower level as far as. That is, when the outlets 13a and 13b are closed by the closing operation of the lid 14 by the opening / closing motor M4, the ball storage container 11 enters the ball storage state, and the golf ball B from the pickup device 30 is stored by the ball guide rod 12 in the storage container. It will be introduced to 11 and stored. When the discharge ports 13a and 13b are opened by the opening operation of the lid body 14 by the opening / closing motor M4, the ball storage container 11 is in the ball discharge state, and the stored golf ball B is rolled by the inclination of the bottom surface 18a or 18b. Due to the movement, it is naturally dropped from the ball discharge port 13a or 13b.

As shown in FIG. 2, a pair of left and right electromagnetic pickup sensors 40a and 40b disposed between the ball storage container 11 and the pickup rotor 31, and one of the electromagnetic pickup sensors disposed between the ball storage container 11 and the front wheel 1. A proximity sensor 41 is provided at the bottom of the self-propelled body, and as shown in FIG. 4, the electromagnetic pickup sensors 40a and 40b and the proximity sensor 41, and drive circuits 42a, 42b and 42 for the two traveling motors M1 and M2 and the opening and closing motor M4, respectively.
A control mechanism 44 is provided on the side of the battery 6 of the drive unit 3 so as to link the electric wires C1, C2, and C3 provided with the high-frequency transmitter 50 at the work target as shown in FIG. C1 and C2 of C1 to C3 are wired so as to pass through an iron bridge 52 or 53 over a ball collection waterway 51, and a traveling course and a ball discharge location are formed. It is configured so that it can be done.

That is, the installation location of the high-frequency transmitter 50 becomes the home position H as a work start location and a work end location, and each of the wires C1, C2, and C3 causes a ball to be collected from a part of the work location. Courses C1, C2, and C3 for running. Running course C1
Iron bridge 52 or 5 at C1 and C2 of C3
The positions where 3 is located are ball discharge positions 52 and 53.

Since the high-frequency starter 50 applies a weak high-frequency current to the electric wires C1 to C3 to generate a magnetic field, and the electromagnetic pickup sensors 40a and 40b detect the magnetic field of the electric wires C1 to C3 and generate an induced voltage. When the steering operation of the self-propelled aircraft is performed so that no difference occurs between the induced voltages generated in the two electromagnetic pickup sensors 40a and 40b, the course on which the aircraft actually travels is changed to the traveling course C by an electric wire.
It can be set to match 1 to C3. Thereby, the electromagnetic pickup sensors 40a and 40b can set a traveling course by the electric wires C1 to C3 as a course in which the body actually travels for ball collection. The proximity sensor 41 is configured as a magnetic material detection sensor so as to detect the proximity of the iron bridge 52 or 53. Thus, when the self-propelled body arrives at the ball discharge location 52 or 53, this can be detected by the proximity sensor 41.

As shown in FIG. 4, the control mechanism 44 includes a traveling control means 44a, a steering direction setting means 44b, a timer means 44c, a vehicle stop time setting means 44d and a storage control means 4.
4e, and is configured to operate automatically based on the flow shown in FIG.

That is, both electromagnetic pickup sensors 4
0a, 40b, when the induced voltage difference occurs, the traveling control means 44a, the electromagnetic pickup sensor 40
a, 40b, it is determined that the traveling direction of the airframe needs to be corrected, and both electromagnetic pickup sensors 4
0a, 40b, and the information from the steering direction setting means 44b in which the steering direction and the steering angle of the airframe corresponding to the difference are preset and input, and both electromagnetic pickup sensors 40a, 40b By outputting a predetermined signal to both drive circuits 42a and 42b based on the information of
b so that the difference between the induced voltages of
The rotation speed of M2 is controlled. That is, the steering control of the self-propelled body is performed such that the self-propelled body follows the traveling course C1, C2, or C3.

When the proximity sensor 41 is in the non-detection state,
The storage control means 44e is in a control mode for automatically storing balls based on information from the proximity sensor 41, and outputs a predetermined signal to the drive circuits 42a and 42b of the travel motors M1 and M2, thereby controlling the travel control means. 44a makes it possible to control the rotation speed of the traveling motors M1 and M2 based on the information from the electromagnetic pickup sensors 40a and 40b, thereby enabling the self-propelled body to follow the traveling course C1 or C2. Further, at this time, the storage control means 44e outputs a predetermined signal to the drive circuit 43 of the opening / closing motor M4 to automatically operate the opening / closing motor M4 to the closing side to bring the ball storage container 11 into the ball storage state. To do. When the proximity sensor 41 detects the iron bridge 52 or 53, the storage control means 44e causes the proximity sensor 4 to operate.
1 is determined to have arrived at the ball discharge location 52 or 53 on the basis of the information from 1 and the control mode is switched to the ball discharge control mode, and a predetermined signal is output to the drive circuits 42a and 42b. The driving of the wheels 2 and 2 is stopped in priority to the traveling control means 44a. At the same time, the storage control means 44e automatically operates the opening / closing motor M4 to the open side by outputting a predetermined signal to the drive circuit 43. Further, at this time, the storage control means 4
4e, the timer unit 44c measures the time from when the proximity sensor 41 detects the iron bridge 52 or 53, and also requires the aircraft to stop to discharge the full amount of balls in the ball storage container 11. Based on the set parking time T preset by the stop time setting means 44d as the time and the time measured by the timer means 44c, the time elapsed since the proximity sensor 41 was in the detection state becomes the set time T. Until the elapsed time reaches the set parking time T, the opening / closing motor M4 is kept open and both the traveling motors M1 and M2 are kept in a drive stop state. When the elapsed time reaches the set parking time T, the storage control means 44e automatically returns the opening / closing motor M4 to the closing side by outputting a predetermined signal to the drive circuit 43, and the drive circuit 42a. , 42b by outputting a predetermined signal, the two traveling motors M1, M2 are controlled by the traveling control means 4
4a allows it to be operated automatically. That is, the self-propelled body travels again following the traveling course C1 or C2. Electromagnetic pickup sensor 40
When neither a nor 40b performs electromagnetic detection, the traveling control unit 44a determines that the aircraft has arrived at the home position H, and outputs a predetermined signal to both driving circuits 42a and 42b to output the traveling motors M1 and M4. The driving of M2 is stopped, and the traveling of the aircraft is stopped.

In short, the body is installed at the home position H at one of the start ends of the traveling courses C1 to C3, and the starting operation is performed. Then, the control operation of the follow-up traveling by the traveling control means 44a starts, and the aircraft is driven by the traveling course C1 or C1.
The golf ball B automatically travels in the direction of the arrow following 2 or C3, is gathered by the left and right ball gathering arms 20, picked up by the pickup device 30, and stored in the storage container 11. When the ball is collected following the traveling course C1 or C2,
When the vehicle arrives at the ball discharge point 52 or 53 located in the middle of 1 or C2, the proximity sensor 41 detects the iron bridge 52 or 53 and the storage control means 44e performs the control operation of the ball discharge. Stops to stop the machine running, and the opening / closing motor M4 switches the storage container 11 from the ball storage state to the ball discharge state. As a result, the aircraft interrupts the operation of collecting the golf balls B, and the golf balls B that have been picked up and stored until then on the iron bridge 52 or 53 from the discharge ports 13a and 13b on the left and right of the storage container 11 to collect the water. Discharge to 51 automatically. When the set stop time T has elapsed from the stop of the running, the storage control means 44e returns the opening / closing motor M4 to the closing side and releases the stop of the driving of the running motors M1 and M2.
The golf ball B automatically travels in the direction of the arrow following 1 or C2, picks up the golf ball B, and stores it in the storage device 10. Then, when the aircraft travels along the traveling course C1 or C2 over the entire length and returns to the home position H, the electromagnetic pickup sensors 40a and 40b stop detecting the electromagnetic waves, and the traveling control means 44a stops driving the traveling motors M1 and M2. As a result, the aircraft automatically stops.
When collecting the ball by following the traveling course C3,
Since there is no ball discharge point in the middle of the traveling course C3, the aircraft travels the traveling course C3 over the entire length without stopping midway and stops only after returning to the home position H. The golf ball B discharged to the ball collecting water channel 51 at the ball discharging points 52 and 53 is collected by being transported to the ball collecting pit 55 by the water supplied from the water supply pump 54 to the water channel 51.

As shown in FIG. 7, a sensor support rod 61 connected to the frame portion 7 of the self-propelled aircraft in the lateral direction of the machine body, the pair of electromagnetic pickup sensors 40a and 40b are attached to the sensor support rod 61, and the sensor A pair of left and right sensor mounting members 62a and 62b slidably connected to the support rod 61 and a connecting body 63 connecting the left and right sensor mounting members 62a and 62b to the traveling courses C1 to C3 of the self-propelled aircraft. An adjusting means 60 for changing the position in the lateral direction of the machine body is configured. That is, the left and right sensor mounting members 62a, 6
2b by sliding operation of the two mounting members 62b.
When the mounting positions of the a and 62b with respect to the sensor support rod 61 are changed, the left and right electromagnetic pickup sensors 40
The mounting positions of a and 40b with respect to the self-propelled aircraft change in the lateral direction of the aircraft. Then, the traveling direction of the self-propelled body is controlled so that there is no difference between the induced voltages generated by the left and right electromagnetic pickup sensors 40a and 40b detecting the magnetic fields of the electric wires C1 to C3. As shown in the figure, left and right electromagnetic pickup sensors 40a, 40b
If the mounting positions of the electromagnetic pickup sensors 40a and 40b on the self-propelled vehicle are separated from the left-right center CL of the self-propelled vehicle at equal intervals on both sides of the self-propelled vehicle, the self-propelled vehicle travels the course C1 to C3. The position with respect to the traveling courses C1 to C3 when traveling following the above is such that the left-right center CL of the self-propelled vehicle is located directly above the traveling courses C1 to C3. Also, as shown in FIG. 7B, the mounting positions of the left and right electromagnetic pickup sensors 40a and 40b with respect to the self-propelled body are determined such that the two electromagnetic pickup sensors 40a and 40b are biased rightward from the left and right center CL of the self-propelled body. When the self-propelled body travels following the traveling courses C1 to C3, the traveling course C
The positions with respect to 1 to C3 are such that the left-right center CL of the self-propelled body is eccentrically located to the left of the body with respect to the traveling courses C1 to C3. Although not shown, the mounting positions of the left and right electromagnetic pickup sensors 40a and 40b with respect to the self-propelled body are determined by the two electromagnetic pickup sensors 40a and 4b.
When 0b is set at an attachment position that is deviated to the left from the left-right center CL of the self-propelled body, the self-propelled body is moved along the traveling course C1.
As for the position with respect to the traveling courses C1 to C3 when traveling following C3, the left and right center CL of the self-propelled aircraft is the traveling course C1.
It is located eccentrically to the right side of the machine with respect to C3.

That is, the traveling courses C1 to C of the self-propelled body
If the position change with respect to No. 3 is impossible, when the self-propelled vehicle travels along the travel courses C1 to C3, the front wheels 1 and the rear wheels 2 always move on substantially the same ground.
Then, in the case of a lawn field, the load due to the passage of the front wheels 1 and the rear wheels 2 is applied to the same grass surface portion, and the grass is easily damaged. However, when the adjusting means 60 is provided, the position of the self-propelled vehicle with respect to the traveling courses C1 to C3 is changed by the adjustment means 60, so that the self-propelled vehicle travels along the traveling courses C1 to C3 as shown in FIG. The wheel locus can be changed so that the position where the front wheel 1 and the rear wheel 2 move when changing is changed. As a result, even in the case of a grass field, it is possible to avoid repeatedly stepping on the same turf surface portion by the front wheels 1 and the rear wheels 2 in a short period of time, and it is possible to repeat the ball collecting operation while preventing the turf from being damaged. Further, when changing the position of the self-propelled body with respect to the traveling courses C1 to C3, the left and right electromagnetic pickup sensors 40
When the movement adjustment of the sensors a and 40b is performed separately, in order to prevent the control accuracy of the traveling control from changing due to the change in the interval between the sensors 40a and 40b regardless of the change in the sensor mounting position. Therefore, every time the mounting position is changed, it is necessary to adjust the interval between the left and right sensors 40a and 40b so as to be a predetermined constant interval. However, since the connecting body 63 connects the left and right sensor mounting members 62a, 62b so as to slide integrally, the electromagnetic pickup sensors 40a, 4
The mounting position of both sensors 40a and 40b can be changed while maintaining the predetermined interval so as not to change the interval of 0b. As a result, the wheel locus can be easily changed without the need to adjust the sensor interval.

[Alternative Embodiment] Instead of the above-described embodiment, a test course of the airframe is used to detect a running course and a stop position at that time based on a running direction and a running distance, and to collect a running course and discharge a ball. The device automatically stores the travel based on the traveling course and the ball discharge location stored in the storage device,
Control means configured to execute a temporary stop for discharging the ball may be employed. Further, a sensor for detecting a location where the ball is present, and a means for determining the traveling direction with the location detected by the sensor as a traveling target direction and controlling traveling so as to automatically travel may be employed. Therefore, the electromagnetic pickup sensors 40a and 40b are collectively referred to as course setting devices 40a and 40b, and the proximity sensor 4
1 is collectively referred to as an arrival detection device 41.

As a means for collecting the ball from the ball discharge place set in the middle of the traveling course, the ball collecting water channel 51 as in the above-described embodiment is used, and the present invention is also applicable to a case where various conveying means such as a conveyor are employed. The invention is applicable. Therefore, the iron bridges 52 and 53 are simply referred to as ball discharge points 52 and 53.

The storage container 11 may be replaced by a container or a loading platform having various different ball discharging means, such as a dump loading platform configured to discharge the balls by dumping the loading platform. Therefore, these are collectively referred to simply as the storage device 11.

Instead of the opening / closing motor M4, an electromagnetic solenoid or a cylinder may be employed, and these are collectively referred to as a switching device M4.

The adoption of a tire-type wheel is advantageous because it can run on the turf surface while preventing damage to the turf. However, when there is no turf at the work target, a traveling crawler is employed. May be implemented. Therefore, these are collectively referred to as the traveling device 2.

As described in the above embodiment, in addition to the recovery work vehicle in which the recovery traveling is also performed automatically, the recovery travel is performed by remote control by radio control, or the recovery is performed by a worker riding and operating. The present invention can also be applied to a recovery work vehicle configured to perform traveling.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a schematic side view of the entire golf ball recovery work vehicle.

FIG. 2 is a schematic plan view of the entire golf ball collection work vehicle.

FIG. 3 is a sectional view of a ball storage container.

FIG. 4 is a block diagram of a control system

FIG. 5 is an explanatory view of a traveling course for collection.

FIG. 6 is a control flow diagram.

FIG. 7 is a schematic view of an electromagnetic pickup sensor mounting structure.

[Explanation of symbols]

 2 Traveling Device 11 Storage Device 13a, 13b Ball Discharge Port 18a, 18b Sloping Bottom 30 Pickup Device 40a, 40b Course Setting Device 41 Arrival Detection Device 44a Travel Control Means 44c Timer Means 44e Storage Control Means 52, 53 Ball Discharge Point B Golf Ball C1, C2, C3 Driving course M4 switching device T set time

Claims (3)

[Claims] 1. A self-propelled aircraft is provided with a pickup device (30) for picking up a golf ball (B) from the ground, and a storage device (11) for storing the golf ball (B) from this pickup device (30). A golf ball recovery work vehicle, wherein the self-propelled vehicle is a ball discharge station (52, 5) set between a work start point and a work end point of a work target point.
An arrival detection device (41) for detecting arrival at 3),
Timer means (44c) for measuring the time since the arrival detection device (41) enters the detection state, and a switching device (M4) for switching the storage device (11) between the storage state and the discharge state of the golf ball (B). ), Storage control means (44e) for operating the switching device (M4) and the traveling device (2), and when the arrival detection device (41) is in a non-detection state, the storage control means (44e) Based on the information from the arrival detection device (41), the traveling device (2) can be driven and the switching device (M4) is automatically operated to the ball storage side, so that the arrival detection device (41) When the detection state is reached, the storage control means (44e) automatically stops the traveling device (2) based on information from the arrival detection device (41) and the timer means (44c). When the set stop time (T) has elapsed since the switching device (M4) was automatically operated to the ball discharge side and the arrival detection device (41) was in the detection state,
The storage control means (44e) causes the switching device (M
4) is automatically returned to the ball storage side, and the storage control means (44e) is changed to the arrival detection device (41) and the timer means (44c) so that the driving device (2) can be driven. ) Is a golf ball collection work vehicle linked to). 2. A self-propelled body includes a pickup device (30) for picking up a golf ball (B) from the ground and a storage device (11) for storing the golf ball (B) from the pickup device (30). A golf ball collection work vehicle, comprising a course setting device (40a, 40) for setting a traveling course.
b) and the self-propelled aircraft is the course setting device (4
0a, 40b) and set driving course (C1, C2, C
3) is provided with traveling control means (44a) for automatically operating the traveling device (2) of the self-propelled aircraft while traveling along the set traveling course (C1, C2) by the course setting device (40a, 40b). ) An arrival detection device (41) for detecting arrival at the ball discharge place (52, 53) set in the middle of (), and a timer means for measuring the time after the arrival detection device (41) is in the detection state. (44c), a switching device (M4) for switching the storage device (11) between a storage state and a discharge state of the golf ball (B), and storage control means for operating the switching device (M4) and the traveling device (2). (44e), and when the arrival detection device (41) is in a non-detection state, the storage control means (44e) causes the traveling device (2) based on the information from the arrival detection device (41). ) Is operated by the travel control means (44a), and the switching device (M4) is automatically operated to the ball storage side. When the arrival detection device (41) is in the detection state, the storage control means (44e) is operated. Based on information from the arrival detecting device (41) and the timer means (44c), stop the driving of the traveling device (2) in preference to the traveling control means (44a) and switch the switching device (M4).
Is automatically operated to the ball discharge side, and when the set stopping time (T) elapses after the arrival detection device (41) enters the detection state, the storage control means (44e) switches the switching device (M4). The operation is automatically returned to the ball storage side, and the traveling device (2) is moved to the traveling control means (44).
a), the storage control means (4
4e) a golf ball collection work vehicle linked to the arrival detection device (41) and the timer means (44c). 3. The storage device (11) has a ball discharge port (13a, 13b) that can be freely opened and closed, and the ball discharge port (1).
3a, 13b) is provided with an inclined bottom surface (18a, 18b) for receiving a ball, the level of which decreases to a lower level as far as the ball discharge port (13a, 13b) is closed. , The lid (14)
When the golf ball (B) is opened by opening the golf ball (B), the golf ball (B) is ejected from the ball (13a, 13b).
The golf ball recovery work vehicle according to claim 1 or 2, which is a device for allowing the golf ball to naturally drop from the golf ball.