JP2006247467A - Self-travelling working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-travelling working vehicle capable of spraying to regulate the film thickness of a liquid chemical on a part the liquid chemical in this lane and that in a next lane are overlapped in the self-travelling working vehicle for carrying out a work on a floor. <P>SOLUTION: The self-travelling working vehicle is provided with a nozzle for applying the liquid chemical on the floor and a control means for controlling to decrease the dropping quantity of the liquid chemical in the vicinity of both end over a fixed coating width W in the horizontal direction Y crossing the travelling direction X of the working vehicle at a right angle compared to that on the nearly center part of the coating width. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a self-propelled work vehicle that performs work on a floor surface.

As a conventional technique related to a working device, there has been proposed one that controls the dripping amount of the working fluid to be proportional to the traveling speed (Patent Document 1).
In addition, there has been proposed a method in which a path is divided so as to be overcoated before the wax dries (Patent Document 2).
Furthermore, a mechanism for scanning the dropping nozzle for liquid application left and right has been proposed (Patent Document 3).
JP-A-8-322774 JP-A-11-65657 JP2003-010088A

  (1) When a liquid agent such as wax is applied, the overlap portion with the adjacent lane is applied twice, but in a liquid agent with high viscosity, smoothing after application is not sufficiently performed. For this reason, the film thickness of the overlap portion becomes thick after drying, and there is a problem that a streaked pattern appears on the floor.

  Therefore, in the self-propelled working vehicle of the first invention, the liquid agent is dropped over the working width by scanning the nozzle for dropping the liquid agent to the left and right, and the right and left position detecting means of the nozzle is used. By recognizing the position of the nozzle and lowering the pump output during the period when the nozzle is in the overlap portion, the coating thickness of the overlap portion is prevented from increasing, thereby preventing the coating film thickness from being increased over the entire work area. It was configured so that it could be made uniform.

  (2) In addition, in the conventional self-propelled working vehicle for applying a liquid agent, when adjusting the coating film thickness, the amount of dripping is adjusted by adjusting the output of the liquid agent dropping pump. However, the coating film thickness varies depending on the traveling speed. Further, since the overlap amount with the adjacent lane is adjusted from the relationship with the entire width of the work area, the overlap amount is changed. For this reason, since the average film thickness changes even with the same amount of dripping, it is necessary to correct the pump output set value by calculation in advance in consideration of the traveling speed and overlap amount in order to accurately manage the film thickness. is there. Therefore, there is a problem that the setting operation is complicated.

  Therefore, in the second invention, when the coating film thickness is set by the coating film thickness input means, the self-propelled work vehicle automatically calculates the pump output based on the traveling speed, the lateral movement distance, and the coating film thickness setting value. It is configured. As a result, the user can accurately manage the coating film thickness without worrying about the running speed or the amount of overlap with the adjacent lane.

  (3) When working with a self-propelled work vehicle to apply a liquid agent such as wax or disinfectant to the floor surface, the wheels do not run on the floor surface to which the liquid agent has been applied in order to maintain good application quality. It is desirable and it is required to carry out the operation without leaving any coating residue.

  Also, in the floor surface liquid application work on a self-propelled work vehicle, in order to make the coating film thickness uniform, a zigzag that combines straight travel of multiple travel lanes, direction change, and lateral movement to the adjacent lane. Many running patterns are used. In this case, it is necessary to set the lateral movement distance so as to provide an overlap region so that there is no gap between the application region of the adjacent lane and the application region of the current lane.

  However, when the lateral movement distance calculated from the relationship between the work width of the work vehicle and the width of the work area becomes shorter than a predetermined value, the wheel steps on the applied area of the adjacent lane while the lane is traveling straight. In particular, in the case of wax application, since the wheel trace may remain, the lateral movement distance cannot be less than a predetermined value. Further, since there is a maximum value of the lateral movement distance for preventing a gap from forming between adjacent lanes, the adjustment range of the lateral movement distance is narrowed. As the work area width becomes narrower, there is a problem that it becomes difficult to set the work area width to a desired value accurately.

  Therefore, in the self-propelled work vehicle of the third invention, the work assembly is installed so as to be movable to the left and right with respect to the travel assembly, and the work assembly is projected to the already-worked lane side while the lane is going straight, The wheel is made difficult to step on the existing work area by moving the wheel away from the existing work lane. As a result, the minimum value of the lateral movement distance can be reduced. As a result, the adjustment range of the lateral movement distance can be expanded, and the work area width can be accurately set with respect to the target.

Example 1:
Embodiments of the present invention will be described below with reference to the drawings.
As shown in FIG. 1, this self-propelled working vehicle includes a traveling assembly 1 having drive wheels 6a and 6b for self-propelling on the floor, and a working assembly 22 (FIG. 2) for performing work on the floor surface. ing. The work vehicle can perform various operations on the floor surface by exchanging the operation assembly 22, but in the following description, a case where the operation assembly 22 that applies a liquid agent to the floor surface is used is used. An example will be described.

Travel assembly 1:
As shown in FIGS. 1A and 1B, the traveling assembly 1 includes a pair of drive wheels 6 a and 6 b for traveling the traveling assembly 1, and auxiliary wheels 9 a and 9 b for balancing the traveling assembly 1. I have. The drive wheels 6a and 6b are driven by drive motors 5a and 5b, respectively. The drive motors 5a and 5b can be rotated forward and backward, and are controlled by a control means 8 comprising, for example, a microcomputer.

  When the vehicle travels straight, the traveling assembly 1 can move forward or backward by rotating the two drive motors 5a and 5b in the same direction. When performing the turning operation, the two drive motors 5a and 5b can turn by rotating in opposite directions. By controlling the rotation ratio of the two drive motors 5a and 5b, the traveling assembly 1 can also perform curve traveling.

Working assembly 22:
As shown in FIGS. 2 and 3, a working assembly 22 for applying the liquid agent to the floor is attached to the rear part of the traveling assembly 1. The work assembly 22 is for performing a work of uniformly applying a liquid agent such as wax, a disinfectant, or a photocurable resin to the floor surface.

An upper surface unit 21 is placed on the traveling assembly 1. The upper surface unit 21 includes a tank holding base 25 and a tank 21a that is detachably mounted thereon. The tank 21a stores the liquid agent.
The working assembly 22 includes a dropping nozzle 31 and a pump 27, and the pump 27 is connected to the tank 21a through a liquid supply tube 23. The pump 27 supplies the liquid agent in the tank 21 a to the nozzle 31 through the liquid agent supply tube 23.

Nozzle 31:
As shown in FIG. 4, the nozzle 31 is reciprocated left and right (hereinafter referred to as “scan movement”) at a predetermined speed (for example, 1 reciprocation 1 to 2 seconds) by a nozzle scanning motor 53. The liquid agent is dripped in a saw blade shape on the floor as the vehicle travels forward. The liquid dropped onto the floor is uniformly spread by the application cloth 29.

Nozzle moving means:
The nozzle 31 is fixed to the nozzle holder 50. The nozzle holder 50 is slidable in the left-right direction Y along a guide shaft 55 provided in the left-right direction Y of the work assembly 22. The end of the nozzle holder 50 is fixed to the timing belt 51. The timing belt 51 is stretched between pulleys 52 provided at the left and right ends of the work assembly 22. When the pulley 52 on one side is repeatedly rotated and reversed by the nozzle scanning motor 53, the nozzle holder 50 is reciprocated in the left-right direction Y, and the nozzle 31 is scanned and moved in the left-right direction Y. The nozzle holder 50, the timing belt 51, the pulley 52, and the motor 53 constitute nozzle moving means.
The nozzle moving means, nozzle 31, application cloth 29, tank 21a, and pump 27 constitute application means for applying a liquid agent to the floor surface.

Proximity sensors 54 for detecting the position of the nozzle holder 50 are provided in the vicinity of both pulleys 52 (both ends of the moving area of the nozzle). The proximity sensor 54 detects that the nozzle holder 50 has reached near both ends of the scanning range, and outputs a nozzle detection signal to the control means 8.
The proximity sensor 54 detects that the nozzle 31 has reached the vicinity of both ends of the guide shaft 55. On the other hand, the encoder incorporated in the motor 53 measures the rotation angle of the motor 53 and grasps the more detailed position of the nozzle 31.

  Instead of using an encoder for the nozzle scanning motor 53, the position of the nozzle 31 may be calculated by measuring the elapsed time after the proximity sensor 54 detects the nozzle 31.

  The coating cloth 29 is driven up and down by a motor (not shown). The application cloth 29 is lowered so as to come into contact with the floor when the liquid agent is applied, and is separated from the floor when traveling without applying the liquid agent.

Slide movement of working assembly 22:
A mounting plate 11 for mounting the work assembly 22 is provided at the rear of the traveling assembly 1. As shown in FIG. 1A, the mounting plate 11 is attached to a slide rail 14 and is connected to a slide drive motor 15 via a timing belt and a pulley. The mounting plate 11 is slid in the left-right direction Y along the slide rail 14 by the slide drive motor 15.

  The work assembly 22 is slidable with respect to the traveling assembly 1 by connecting a mounting bracket 28 provided at the center of the front portion of the work assembly 22 shown in FIG. 6B, the working assembly 22 is moved relative to the traveling assembly 1 in the horizontal direction Y on the left and right, and is eccentric with respect to the traveling assembly 1.

  As shown in FIG. 1A, a plurality of ultrasonic sensors (detection means) 3 and a plurality of optical sensors (detection means) 17 are provided at the front of the traveling assembly 1. Of these sensors, two ultrasonic sensors 3 measure distances to obstacles on the left and right of the traveling assembly 1. On the other hand, the remaining ultrasonic sensor 3 and optical sensor 17 measure the distance to the obstacle ahead of the traveling assembly 1. The ultrasonic sensor 3 and the optical sensor 17 are provided separately from each other in the width direction X of the traveling assembly 1.

  A bumper sensor 10 for detecting contact with an obstacle is provided on the front outer edge of the traveling assembly 1. In the vicinity of the rotation center O, a gyro sensor (orientation sensor) 7 for measuring the rotation angle (azimuth) of the traveling assembly 1 around the rotation center O is provided.

  In addition, about the more detailed apparatus structure of this self-propelled working vehicle, the liquid application traveling apparatus of Unexamined-Japanese-Patent No. 2003-10088 can be employ | adopted, for example.

Control configuration:
As shown in FIG. 2, the work assembly 22 is mounted with a control board constituting a work assembly control unit 32 for controlling the work assembly 22. The control means 8 is provided with a connector 12. As shown in FIG. 3, a cable 24 provided on the work assembly 22 is connected to the connector 12, so that the control means 8 and the work assembly control section 32 are connected. Are electrically connected.

Working assembly controller 32:
As shown in FIG. 5, the work assembly control unit 32 includes a drop amount control means 33, a nozzle control means 34, a nozzle position detection means 35, a cloth lifting / lowering control means 36, a work module contact sensor control means 37, and the like.

The dripping amount control means 33 controls the pump 27 based on the dropping amount control signal from the control means 8 and adjusts the amount of the liquid agent discharged from the nozzle 31.
The nozzle control means 34 controls the nozzle moving means, and causes the nozzle 31 to scan in the left-right direction Y by the nozzle scanning motor 53.

  The nozzle position detection unit 35 specifies the position of the nozzle 31 based on the nozzle detection signal from the proximity sensor 54 and the rotation angle from the nozzle scanning motor 53, and transmits the nozzle position to the control unit 8. The control unit 8 causes the nozzle control unit 34 to control the movement of the nozzle 31 based on the nozzle position signal.

  The cloth raising / lowering control means 36 controls the raising / lowering drive of the said application | coating cloth 29, and detects the position of a cloth with the position detection sensor (not shown) using a photo interrupter or a microswitch.

  Contact sensors 30 are provided at the left and right ends and the rear end of the working assembly 22 shown in FIG. The contact sensor control means 37 in FIG. 5 detects the ON / OFF state of the contact sensor 30 and transmits it to the control means 8. Information detected by the contact sensor 30 is used by the control means 8 for slide movement of the work assembly 22 and feedback control of traveling.

Control means 8:
As shown in FIG. 5, the control means 8 provided in the travel assembly 1 includes a drive signal output means 39, a sensor signal input means 40, a travel control means 41, a work assembly moving means 42, sensor control means 43 to 45, A CPU (arithmetic means) 46, a RAM 47, and a ROM 48, and a coating film thickness input means 49a, a pitch setting means 49b, and a speed setting means 49c, for example, comprising a numeric keypad and input setting buttons are provided.
Each means 39-45, 49a-c and CPU46 are mutually connected by the interface which is not shown in figure.

  The drive signal output means 39 outputs a drive signal for operating the work assembly 22 to the control substrate 32 of the liquid application unit 20, and outputs a drive signal to the drip amount control means 33 and the nozzle moving means 34. The sensor signal input means 40 receives each detection signal from the nozzle position detection means 35, the cloth lifting / lowering control means 36 and the contact sensor control means 37 and outputs it to the CPU 46.

The travel control means 41 controls the drive motors 5a and 5b (FIG. 1A) of the travel assembly 1.
The work assembly moving means 42 controls the rotation of the slide drive motor 15 shown in FIG. 1A and controls the slide movement of the mounting plate 11.

The CPU 46 in FIG. 5 corresponds to each information from each of the devices 39 to 45 connected to the CPU 46, according to the program stored in the ROM 48 and the work command information stored in the RAM 47. 41 and the slide control means 42 are controlled, and a work signal is outputted from the drive signal output means 39 to each work assembly 22.
The RAM 47 is a random access memory that stores work information input from the setting input units 49a to 49c, various control variables, and the like. The ROM 48 is a read-only memory that stores programs.

The coating film thickness input means 49a is a means for inputting a set value of the film thickness of the liquid agent to be applied.
The pitch setting means 49b is a means for setting the pitch of a plurality of traveling lanes.
The speed setting means 49c is a means for setting and inputting the traveling speed of the work vehicle.
Based on the set value of the film thickness input by the coating film thickness input means 49a, the pitch input by the pitch setting means 49b, and the running speed input by the speed setting means 49c, the CPU 46 drops the drop amount control means 33. The amount of dripping of the liquid agent is controlled via

Application operation description:
Prior to explaining the operation of the floor surface liquid agent application operation of the work vehicle, first, the application operation of the conventional work vehicle will be described.
FIG. 6A shows an example of a traveling pattern of a conventional self-propelled work vehicle. When performing an operation of applying a liquid agent to the floor surface such as waxing, the operation is performed while zigzag traveling in a plurality of traveling lanes C parallel to each other.

Zigzag running pattern;
When working on the substantially square area shown in FIG. 6, the traveling assembly 1 goes straight in the vertical first direction X1, then turns 90 °, goes slightly in the lateral direction Y, and turns 90 ° again. And go straight in the second vertical direction X2. By repeating this straight direction in the vertical direction X, turning, and straight direction in the horizontal direction Y, the vehicle travels in a zigzag manner and works in a square area without any gaps.

Conventional application operation;
Hereinafter, the application | coating operation | movement of the conventional traveling assembly 1 is demonstrated.
In order to apply the liquid agent evenly on the floor surface, it is necessary to prevent a gap between the application portions of the liquid agent from being generated between adjacent lanes C. Therefore, the lateral movement distance P in the lateral direction Y is set so that the application width W of the adjacent lane C that has already been applied and the application width W to which the liquid agent is applied this time by the work assembly 22 overlap. There is a need to.

That is, the lateral movement distance P needs to be smaller than the application width W of the working assembly 22 by the minimum value d of the overlap amount (overlapping region), and the relationship of the following equation (1) is established.
P ≦ W−d (1)
Where P: lateral movement distance W: coating width d: minimum overlap amount

By the way, when the drive wheels 6a and 6b pass over the area where the application work has already been performed, especially in the case of wax application or the like, the marks of the drive wheels 6a and 6b may remain on the already applied area. Is not good. Therefore, it is necessary to prevent the drive wheels 6a and 6b from passing through the painted area. Therefore, when the width between the drive wheels 6a and 6b is E, the lateral movement distance P has a lower limit expressed by the following equation (2).
P> (W + E) ÷ 2 (2)
E: Width between drive wheels

On the other hand, the lateral movement distance P is also related to the work area width L. That is, the work area width L is determined by the following equation (3) from the lateral movement distance P, the number of lanes N, and the coating width W.
L = P × (N−1) + W (3)
N: Number of lanes

From the equation (3), the following equation (4) is obtained.
P = (L−W) ÷ (N−1) (4)
Therefore, the value of the number of lanes N in the equation (4) may be selected so that the lateral movement distance P is within the range satisfying the equations (1) and (2) with respect to the work area width L.

However, if the width in the left-right direction Y of the entire area where the conventional work vehicle performs work is defined as the work area width L, all the expressions (1), (2), and (4) are satisfied when the work area width L is small. There may be no lane number N.
For example, assuming that the coating width W = 70 cm, the width E between the drive wheels E = 30 cm, and the overlap amount d = 10 cm, when the work area width L is 2.6 m or less, the value of the lateral movement distance P is the upper limit value (W -D) may be greater than or less than the lower limit ((w + E) ÷ 2). Therefore, in practice, the target work area width L cannot be set as it is, and a value smaller or larger than the work area width L must be set.
Therefore, in the conventional traveling pattern, depending on the target work area width L, the traveling traces of the drive wheels 6a and 6b may remain on the floor surface.

Application operation of this example;
Therefore, in this work vehicle, the above-described problem is solved by sliding the work assembly 22 and moving it relative to the traveling assembly 1 in the horizontal direction. Hereinafter, the slide movement will be described.

FIG. 6B shows a running pattern of this embodiment.
As shown in FIG. 6B, when the work vehicle starts traveling, the vehicle first travels in the first lane C1. Thereafter, in the second lane C2 and thereafter, the work assembly moving means 42 slides the work assembly 22 to the already-worked side and travels. In this case, if the slide movement amount (eccentricity amount) of the work assembly 22 is S, the lower limit value of the lateral movement distance is determined by the following (5).
P> (W + E) ÷ 2-S (5)
However, S: slide movement amount of the working assembly 22

  Therefore, for example, when the coating width W = 70 cm, the width E between the drive wheels E = 30 cm, and the slide movement amount S = 15 cm, the lower limit value is compared with 50 cm when the work assembly 22 described in the conventional example is not slid. Thus, the slide movement amount S is reduced to 35 cm. In this case, even if the work area width L is reduced to 1.05 m, the lateral movement distance P is between the upper limit value and the lower limit value, and the settable range of the work area width L can be greatly expanded. .

Calculation of lateral movement distance;
Here, in FIG. 6B, in the first lane C1 where the work vehicle travels first, the work assembly 22 is located at the center and travels.
This is because when the working assembly 22 is not working, the working assembly is positioned in the center because of less contact with obstacles during movement, convenient storage, and easy to carry. This is because it is more convenient.
In addition, if the work can be started as it is in the state before the work is started at the start of the work, the process of sliding the work assembly 22 immediately after the work is started, or the traveling assembly in the lateral direction Y by the amount of slide movement of the work assembly 22 is performed. This is because the step of moving the position 22 can be omitted, and the working time can be shortened.

When the work vehicle turns back the first lane C1 and proceeds to the second lane C2, as described above, the work assembly 22 is slid and moved toward the traveled first lane C1.
Here, the lateral movement distance P1 at the time of ending the first lane C1 and moving laterally toward the adjacent second lane C2 is equal to the distance P between the conventional lanes C indicated by the broken line in the second lane C2. The distance is obtained by adding the slide movement amount S of the work assembly 22. This is because the center of the work assembly 22 slid toward the first lane C1 is positioned at the center after the second lane C2 by moving the travel assembly 1 by the calculated lateral movement distance P1. The lateral movement distance P2 after the second lane C2 is the same distance as the conventional lateral movement distance P.

  The slide movement amount S may be set smaller in the case of performing the work in the last nth lane Cn than in the case of performing the work in the second lane C2. In addition, the slide movement amount S is smaller when the operations of the first lane C1 and the nth lane Cn are performed than when the operations of the second lane C2 to the n-1 lane C (n-1) are performed. It may be set.

Control of dripping amount and running speed of liquid agent;
Incidentally, the lateral movement distance P is calculated by the control means 8 in accordance with the input work area width L. Therefore, the lateral movement distance P changes according to the value of the work area width L, and as a result, the overlap amount d changes, so that the average coating film thickness changes according to the lateral movement distance P. That is, since the overlap amount d increases as the lateral movement distance P decreases, the average coating film thickness increases. Also, the average coating film thickness varies depending on the traveling speed of the self-propelled work vehicle.

The average coating film thickness F in the lanes C2 to C (n-1) excluding the start lane C1 and the ending lane Cn in the work area has a dripping amount of G (m ³ / min) per minute and a traveling speed of V (m / Min) and the lateral movement distance as P (m), it is expressed by the following equation (6). (In the start lane and the end lane, since the overlap is only on one side, the coating film thickness is reduced accordingly, but since it is at the end of the work area, a slight decrease in film thickness is not a problem.)
F = G / (VP) (6)
From the equation (6), the following equation (7) is obtained.
G = F ・ V ・ P (7)

  Here, in the conventional work vehicle, the adjustment of the coating film thickness F is performed by setting the dropping amount G (output of the pump). Therefore, the traveling speed V, the lateral movement distance P, It is necessary to prepare a correspondence table of the dripping amount G or to calculate the dripping amount G using the formula (6) before setting the dripping amount G.

On the other hand, in this embodiment, the control means 8 is based on the pitch input from the coating film thickness input means 49a, the lateral movement distance P calculated from the work area width L which is also input and set, and the traveling speed V. In addition, the dripping amount G is calculated from the equation (7). That is, when the pitch input by the pitch setting means 49b in FIG. 5 is larger than the predetermined width, the dripping amount of the liquid agent is automatically increased. On the other hand, when the pitch is smaller than the predetermined width, the dripping amount of the liquid agent is increased. It is decreasing automatically.
Therefore, the user can accurately manage the coating film thickness only by setting the work area size and the desired coating film thickness.

  The travel speed V may be input and set by the user using the speed setting means 49c, or the control means 8 may automatically determine if there is no such input.

However, since there is an upper limit for the dropping amount G (pump output), the traveling speed V has an upper limit value depending on the values of the average coating film thickness F and the lateral movement distance P. Therefore, when the user sets the traveling speed V, the value of the drop amount G calculated by the formula (7) by the drop amount calculation means from the values of the average coating film thickness F and the lateral movement distance P that are set similarly is obtained. When exceeding the upper limit, the dripping amount calculation means sets the value of the dripping amount G to the upper limit value Gmax, gives priority to the values of the average coating film thickness F and the lateral movement distance P, and sets the new traveling speed V ′. The value is calculated by the following equation (8) and set as the value of the traveling speed V, and the value of the traveling speed V is displayed to the user.
V '= Gmax / (F · P) (8)

  More specifically, when the user sets the traveling speed V, control is performed so that a value equal to or higher than the traveling speed V calculated from (8) cannot be set. When setting L (or lateral movement distance P), the drop amount G is calculated from the equation (7). If the value of the drop amount G exceeds Gmax, a new travel speed V is calculated from the equation (8). The value of ′ is calculated and set as the value of the traveling speed V.

That is, when the speed is set and input by the speed setting means 49c, the CPU 46 controls the drop amount to increase or decrease according to the travel speed, and the drop amount calculated from the travel speed is a predetermined upper limit value. If it exceeds, reduce the running speed.
Therefore, the film thickness can be kept constant by adjusting the dropping amount of the liquid agent and the traveling speed according to the traveling speed.

Control of dripping amount of liquid agent;
By the way, since the overlap portion is applied twice, the coating thickness is doubled when uniformly applied. If the liquid agent has a small surface tension and good smoothness, there is no problem because it is almost uniform after coating. However, in the case of a liquid agent having a high viscosity and a large surface tension, the coating film thickness is increased only in the overlapping region, and a striped pattern is formed after drying, which may deteriorate the appearance.

  The CPU 46 in FIG. 5A detects the position of the nozzle 31 (FIG. 4) to be scanned and moves the drop amount Te when the nozzle 31 is in the vicinity 100E of both ends of the nozzle movement width NW. The nozzle 31 is controlled so as to be smaller than the dropping amount Tc when it is in the vicinity of the center 100C of the width NW. For example, at the overlapping end portions 100E, control is performed such that the amount of the liquid agent dropped from the nozzle 31 is halved. In other words, the CPU 46 calculates the overlap amount d from the lateral movement distance P and the coating width W, so that the drop amount control means 33 determines whether the nozzle 31 is in a position within the overlap amount d from the nozzle movement width NW. The amount of dripping from the nozzle 31 is reduced to half by setting the period of the dripping amount decreasing amount section 100E. By performing such control, a relatively uniform coating film thickness can be obtained immediately after coating.

  As another method, the width of the drop amount reduction amount section 100E may be constant, and the amount of decrease may be controlled according to the overlap amount (overlapping region) d in FIG. That is, as the overlap amount d increases, the liquid agent decrease amount in the period of the drip amount decrease amount section 100E is increased.

In the above-described embodiment, the liquid agent is applied to the floor surface by moving the nozzle 31 in the left-right direction Y. However, as shown in FIG. The liquid agent may be discharged from the outlet 31A all at once. In such a case, a flow rate adjustment valve 31V may be provided in the discharge port 31A near both ends so as to adjust the discharge amount of the liquid agent in the overlapping portion.
Further, the general-purpose cloth 29 is not necessarily provided.

  In each of the above-described embodiments, the operation for applying the liquid agent to the floor surface has been described as an example of the operation for the floor surface. However, as the operation for the floor surface, in addition, the dust on the floor surface is sucked to collect dust. There are various operations such as an operation to perform, an operation to irradiate the floor surface coated with the liquid with infrared rays and ultraviolet rays, and a floor surface wiping operation. In such a case, the working assembly 22 and the upper surface unit 21 are removed from the traveling assembly 1 and a working assembly suitable for the work purpose is attached to the traveling assembly 1 so that a traveling pattern suitable for the working purpose is performed. Good.

  The present invention can be applied to a self-propelled work vehicle that performs work on a floor surface.

FIG. 1A is a plan sectional view showing a traveling assembly of a self-propelled working vehicle according to an embodiment of the present invention, and FIG. 1B is a side sectional view of the traveling assembly. It is a disassembled side view of the work vehicle. It is a side view of the work vehicle. 1 is a schematic plan view of a work vehicle including a plane cross section of a work assembly. It is a schematic block diagram of a work vehicle. FIG. 6A is an operation diagram showing a traveling pattern of a conventional work vehicle, and FIG. 6B is an operation diagram showing a traveling pattern of the work vehicle of the present invention. It is a schematic front view which shows the modification of a nozzle.

Explanation of symbols

1: Traveling assembly 6a, 6b: Drive wheel 8: Control means 21a: Tank (part of application means)
22: Working assembly 27: Pump (part of application means)
31: Nozzle (part of application means)
34: Nozzle control means 35: Nozzle position detection means 41: Travel control means 42: Work assembly movement means 49a: Coating film thickness input means 49b: Pitch setting means 49c: Speed setting means C: Lane NW: Nozzle movement width W: Application Width Y: Horizontal direction

Claims (9)

A self-propelled work vehicle,
A nozzle for applying a liquid to the floor;
A control means for controlling the amount of dripping near both ends of the coating width to be smaller than that near the center of the coating width over a predetermined coating width in a lateral direction substantially perpendicular to the traveling direction of the work vehicle. A traveling work vehicle. The nozzle moving means according to claim 1, wherein the nozzle is reciprocated in a lateral direction substantially perpendicular to a traveling direction of the work vehicle.
Nozzle position detecting means for detecting a horizontal position of the nozzle,
The control means controls the dripping amount when the nozzle is in the vicinity of both ends of the nozzle movement width so as to be smaller than when the nozzle is in a position near the center of the nozzle movement width. Work vehicle. 3. The work vehicle according to claim 1, wherein the work vehicle applies the liquid agent while zigzag traveling in a plurality of lanes parallel to each other, and applies the liquid agent to lanes adjacent to each other. Apply the liquid so that they overlap each other,
A self-propelled working vehicle that is controlled so that the amount of the liquid agent discharged from the nozzle is smaller than that in the vicinity of the non-overlapping center at both overlapping end portions. The travel control means according to claim 1, 2 or 3, wherein the work vehicle controls the plurality of parallel travel lanes so as to travel zigzag.
An obstacle sensor for detecting the presence or absence of an obstacle,
An azimuth sensor for detecting the traveling direction;
A self-propelled work vehicle comprising a calculation means for calculating the overlapping end portions based on a pitch between adjacent traveling lanes and the coating width. A work vehicle that self-propells in a zigzag order in a plurality of parallel lanes,
An obstacle sensor for detecting the presence or absence of an obstacle,
An azimuth sensor for detecting the traveling direction;
An application means for applying the liquid agent to the floor;
A coating film thickness input means for inputting a set value of the film thickness of the liquid to be applied;
Pitch setting means for setting the pitch of the plurality of travel lanes,
A self-propelled work vehicle comprising control means for controlling a dripping amount of the liquid based on a set value of a film thickness to be applied and the set pitch.   6. The self-propelled work vehicle according to claim 5, wherein when the set pitch is large, the dripping amount of the liquid agent is increased, and when the set pitch is small, the dripping amount of the liquid agent is decreased. In claim 6, further comprising speed setting means for setting the traveling speed,
The control means controls the drop amount to increase or decrease according to the travel speed, and reduces the travel speed when the drop amount calculated from the travel speed exceeds a predetermined upper limit value. A self-propelled work vehicle characterized by A work vehicle that self-propels in a zigzag order in multiple lanes,
An obstacle sensor for detecting the presence or absence of an obstacle,
An azimuth sensor for detecting the traveling direction;
A traveling assembly having drive wheels for self-propelling on the floor;
A working assembly that is mounted so as to be movable in a horizontal direction substantially perpendicular to the traveling direction of the traveling assembly and that performs work on the floor surface;
Working assembly moving means for moving the working assembly relative to the traveling assembly in the horizontal direction and decentering the working assembly;
A self-propelled work vehicle that slides the work assembly toward the adjacent lane that has been driven by the relative movement when there is a lane that has already been driven.   2. The work assembly according to claim 1, wherein when the work is performed in the zigzag running from the first lane to the nth lane parallel to each other, the work of the first lane and / or the nth lane is performed with respect to the eccentric amount of the work assembly. Is a self-propelled work vehicle that is set smaller than the case where the work is performed from the second lane to the (n-1) th lane.

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