JP2000072060A - Working vehicle suitable for traveling on inclined ground and its use - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working vehicle suitable for traveling on an inclined ground in which the stable maintenance of the posture and the traveling are possible even on a steeply inclined ground with complicated unevenness and inclination combined with each other. SOLUTION: A working vehicle M which is traveled and moved on a working ground including an inclined ground E, is provided with a vehicle body 10 which is a body of a working vehicle, traveling wheels 20b, 20c which are arranged in three sides of the vehicle body, and a supporting leg 30 to support three traveling wheels and to elevate/lower them in an independent manner from each other. In the movement on the inclined ground E, one traveling wheel out of three traveling wheels is arranged on the crest side of the inclined ground, and two remaining traveling wheels are arranged on the same contour line on the valley side of the inclined ground.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work vehicle suitable for running on a slope and a method of using the same. More specifically, the invention relates to a work vehicle including mountainous forests, parks, streets, etc., which includes a steep slope such as a mowing operation or a disinfection operation. The present invention relates to a work vehicle suitable for performing various kinds of work in a certain work place and a method of running the work vehicle.

[0002]

2. Description of the Related Art When cutting down undergrowth or spraying a disinfectant in a forest or a park, the inclination of a work place is large, and the posture of a vehicle body changes frequently. In addition, it is often difficult to manually or automatically drive a normal work vehicle or tractor. Forests, parks,
In a street or the like, there are obstacles such as trees, stumps, and rocks, so that it is often difficult to avoid such obstacles with a normal work vehicle or tractor for traveling on level ground.

[0003] Therefore, a work vehicle suitable for traveling on a slope has been proposed. For example, a technique has been proposed in which traveling means such as crawlers and wheels are attached to four sides of a vehicle body via support legs that can freely turn in a vertical direction. By controlling the vertical position of the traveling means in accordance with the inclination of the traveling ground, the vehicle travels by contacting four wheels or the like with the ground while the vehicle is kept horizontal.

[0004]

When the sloping ground on which the work vehicle travels is not a flat and uniform surface, there are irregularities and undulations, and there are also inclinations and irregularities in the direction intersecting the inclination direction. In this case, even if the four wheels and the like are adjusted in the vertical direction, all the wheels cannot be stably brought into contact with the ground, and some wheels often float. In such a state, if a load is applied to a floating wheel or the like, the vehicle body suddenly loses its posture, and stable traveling cannot be performed.

[0005] During the mowing operation by operating the robot arm installed on the work vehicle, if the above-mentioned unstable posture or a sudden change in the posture occurs, the working tools such as the mowing blades are used. The position changes suddenly or becomes unstable, making the work difficult or incorrect. An object of the present invention is to provide a work vehicle suitable for running on a slope that can maintain a stable posture and run even on a steep slope having a combination of complicated unevenness and inclination, and a traveling method thereof.

[0006]

Means for Solving the Problems-Work Vehicle-A work vehicle according to the present invention is a work vehicle that travels and moves on a work place that may include a slope, and a body that is a main body of the work vehicle; Traveling wheels arranged on three sides,
The vehicle includes a support leg that independently supports the three running wheels on the vehicle body and moves up and down independently, and a unit that independently switches the running direction of the three running wheels.

[0007] Each component requirement will be specifically described below. [Body] The same structure as the body of a normal working vehicle can be adopted. Traveling wheels are arranged on three sides of the vehicle body via supporting legs, and a mechanism is provided for driving and controlling the operation of the traveling wheels and the supporting legs.

[0008] The vehicle body may be provided with an engine, a hydraulic pump and the like for generating a driving force. As needed,
It also has a generator and power supply. Various working tools can be made attachable in accordance with the purpose and use of the work vehicle. The vehicle body may be provided with a loading platform on which work materials and the like can be loaded and a seat on which personnel can be mounted. On the body,
In order for workers on board to control work vehicles and work implements,
A control device including a handle, a lever, and the like can be provided.

[0009] A control unit for electrically controlling various operating mechanisms provided in the work vehicle can be provided. The control unit includes an arithmetic processing unit such as a sensor that detects the posture or operation state of the vehicle body or the work implement, a microcomputer that issues a command to operate each part of the work vehicle based on the detection information from the sensor, and a work procedure. And a storage device for storing travel routes and the like.

[Traveling Wheel] The same mechanism and structure as those of a normal working vehicle such as a tractor can be adopted. Tires and shock absorbers suitable for running on uneven terrain and the like can be provided. The running wheels are arranged on three sides of the vehicle body. Preferably, the running wheels are arranged at each vertex of the triangle. It is preferable that the first traveling wheel is disposed on the leading side when the work vehicle normally travels, and the second and third traveling wheels are disposed symmetrically on the left and right sides on the rear side. However, at the time of actual traveling, depending on traveling conditions, all traveling wheels may be located at the head or tail.

The driving source for the traveling wheels may be on any of the vehicle bodies. However, since the traveling wheels are arranged at the tips of the support legs, the rotating wheels such as hydraulic motors and electric motors are provided on the support portions of the traveling wheels on the support legs. If the driving means is arranged and directly connected to the traveling wheels, the rotary driving means can always move integrally with the traveling wheels. The transmission of the driving force is easy, and the transmission structure is also simple.

[Support legs for traveling wheels] The basic structure is common to a structure for supporting traveling wheels on a vehicle body in a normal work vehicle. The three support legs independently support the traveling wheels on the vehicle body and move up and down. In this case, an actuator such as a hydraulic cylinder mechanism may be used to raise and lower the holding portions of the respective traveling wheels up and down. This elevating movement can be performed by combining a link mechanism, a gear mechanism, a cam mechanism, and the like.

If the support leg has a telescopic mechanism such as a hydraulic cylinder, and the upper part of the telescopic mechanism is mounted on the vehicle body and the lower part is provided with the holding portion of the traveling wheel, the structure is simple and space-saving. In addition, it is possible to cause the traveling wheels to perform a certain ascent / descent movement. At least one of the three support legs is pivotally attached to the vehicle body such that an upper portion thereof can change an opening angle of the support legs with respect to the vehicle body. The upper part of the support leg may be pivotally attached to the vehicle body so that the left and right positions of the tip of the support leg can be changed.
By turning the elevating leg, the height position of the traveling wheel changes, and in some cases, the right and left position also changes, so that the height of the vehicle body traveling wheel and the interval between the traveling wheels can be changed. By changing the height and the mutual distance of the running wheels, the running wheels can easily avoid obstacles, and the vehicle body can be easily stabilized. According to this mechanism, it is possible to stabilize the vehicle body by simultaneously raising and lowering the support leg (changing the opening angle) and expanding and contracting the support leg. This function is effective when traveling around obstacles such as trees and rocks.

[Traveling direction switching means for traveling wheels] The traveling directions of the three traveling wheels are independently switched. This switching of the running direction is preferably larger than the normal steering operation of the running wheels. That is, the change of the traveling angle of a normal work vehicle is limited to about 60 ° left and right with respect to the straight traveling direction, and the direction cannot be changed even 90 °. On the other hand, in the switching of the traveling direction in the present invention, the traveling direction of the traveling wheel can be switched to at least two directions orthogonal to each other. It is possible to steer. Specifically, the turning angle range of the holding portion of the traveling wheel is a range obtained by adding 90 ° that can be switched to the orthogonal direction and a steering angle for enabling a certain range of steering in that state. In order to be able to turn, the angle is usually set to about 150 °.

In order to make the traveling wheel turnable for switching the traveling direction of the traveling wheel, for example, the traveling wheel may be attached to a lower portion of the support leg via a turning mechanism such as a hydraulic rotary actuator. [Position Detection Control] In the present invention, three traveling wheels are independently raised and lowered in order to maintain the body of the work vehicle in a constant posture. In order to control the elevation of the traveling wheels, it is effective to provide a posture detecting means for detecting the posture of the work vehicle.

As the posture detecting means, an inclination sensor is preferably used. If the inclination sensors are provided in two directions perpendicular to the vehicle body, the correct posture of the vehicle body can be easily recognized. Based on the posture information detected by the posture detecting means,
Attitude control means raises and lowers the three running wheels. More specifically, since the control unit including a microcomputer or the like that controls the entire operation of the work vehicle described above adjusts the operation amount of the elevating mechanism in the support legs based on the information of the vehicle body posture, the posture control is performed. is there.

The provision of a sensor for detecting the position at which the traveling wheel is raised / lowered facilitates the above-mentioned traveling wheel elevation control.
Based on the work vehicle attitude information and the traveling wheel elevating position information, it is possible to easily determine the required amount of elevation of the traveling wheels for changing the attitude of the work vehicle. Normally, the posture of the vehicle body is preferably maintained in a horizontal posture. However, depending on the contents of work and the situation of the work place, the posture of the vehicle body may be controlled to be inclined in a specific direction.

In some cases, the position and posture of the robot arm and the work implement attached to the work vehicle are corrected and controlled based on the posture of the work vehicle. The position of the work vehicle can be detected by the GPS device, and the traveling position can be precisely specified and traveling control can be performed. For example, after traveling to a specific point set in advance, a mowing operation or the like is performed in a certain area including the specific point, and after the operation is completed, an action of returning to a predetermined collection position is automatically performed. Can be performed.

[Robot Arm] It is preferable that the vehicle body has a robot arm to which various working tools necessary for the work are attached. As the structure of the robot arm, the same structure as the arm mechanism in a normal robot device can be adopted. The robot arm is provided with joints capable of bending, rotating, expanding and contracting at one or more positions. The greater the number of joints or the greater the number of joints with a high degree of freedom in movement, the wider the range of movement of the robot arm and the smoother the movement, but the structure becomes more complicated.

If a work tool is provided at the tip of the robot arm, the position and posture of the work tool can be changed over a wide range. The work implement is, specifically, a mowing blade, a disinfectant sprayer, or the like. The work vehicle preferably includes a plurality of types of work tools. The robot arm can keep the working tools replaceable. For this reason, an attachment / detachment mechanism for detachably attaching a working tool can be provided at the tip of the robot arm.

The robot arm can be provided with a driving force transmission mechanism for driving the work implement. When the work implement is driven by the electric motor, a power cable extending from the vehicle body to the work implement via the robot cable may be provided as the drive force transmission mechanism. When the work implement is hydraulically driven, a hydraulic piping hose may be provided instead of the power cable. Furthermore, a rotation axis is arranged inside each arm that composes the robot arm, and at each joint portion, a rotational force is transmitted from arm to arm by a universal joint or the like,
It is also possible to mechanically supply rotational force to the work implement.
In this case, the working tool does not require a driving mechanism such as a motor.

[Remote operation] The work vehicle can be driven by a person, but can also be driven remotely. It is also possible to automatically run and work on a fixed route according to a program previously input to the microcomputer of the control unit. If the vehicle is operated by remote control or an automatic program, equipment and mechanisms for the operator to board are not required, and the structure of the work vehicle can be simplified and the weight can be reduced. Weight reduction is effective for stable running on uneven terrain, and the protection structure and safety measures are reduced if no workers are on board.

In order to remotely control the work vehicle, a control unit of the work vehicle and a remote controller disposed outside the work vehicle are operated by:
Instructions can be exchanged wirelessly or by wire. It is preferable that not only the command from the remote controller be transmitted to the work vehicle, but also information such as the posture, the surrounding state, and the work status of the work vehicle be transmitted from the work vehicle to the remote controller.

The remote controller is provided with operating means such as a handle, a lever, and a switch. If you have a joystick lever that can be tilted in any direction, smooth operation is possible. The remote controller may be provided with a display for displaying data on the attitude of the work vehicle and work status. -Traveling method of work vehicle-[Running method] A method of traveling on a slope with the above-mentioned work vehicle, wherein one of the three traveling wheels is arranged on the mountain side of the slope, and Are arranged on the same contour on the valley side of the slope. This wheel arrangement is convenient for traveling uphill and downhill and traveling on contour lines. In this case, it is preferable that the opening angle of the support legs of the traveling wheels arranged on the mountain side with respect to the vehicle body is adjusted to the inclination angle of the work place.

In turning the interlining, for example, there is a mode in which the direction of each central axis of the three running wheels is directed to the center of the vehicle body. In consideration of the specific traveling of the work vehicle including the flat terrain and the like, it is generally preferable to adopt the following method according to the work site conditions. One of the three running wheels is arranged at the head of the running direction. The remaining two traveling wheels are symmetrically disposed behind and behind the leading traveling wheel. This state is
This is a wheel arrangement of a normal three-wheeled vehicle. Change the running direction by steering the leading running wheel left and right. Driving force may be applied to all three running wheels, or driving force may be applied to the rear left and right running wheels, but the running direction is fixed, and operation is performed without applying driving force to the first running wheel. It is also possible to use only the direction. According to the latter, stable running and smooth steering are possible. This traveling method is effective at the time of transportation on a flat ground or at the time of normal climbing and descent.

In the contour traveling on a slope, one traveling wheel is arranged on the mountain side, and the other two traveling wheels are arranged on the same contour on the valley side. The traveling direction of each traveling wheel is caused to travel in parallel with the contour line. Since the work vehicle travels along the contour line while being stably supported by the pair of traveling wheels on the valley side, it is possible to prevent the work vehicle from sliding down the slope or overturning, thereby achieving stable contour travel. It is possible.
If the traveling direction of each traveling wheel is slightly inclined with respect to the contour line,
It is also possible to run while gradually increasing or decreasing the altitude while being stably supported on the slope. This method is more preferable than the method described above in order to smoothly perform a descent on a steep slope.

[Avoidance of Obstacles] There are cases where obstacles, such as trees planted and their seedlings, which must be prevented from colliding with the work vehicle or stepping on the traveling wheels, are present in the work place. Buildings such as drains and fences and rocks also become obstacles. In order to travel while avoiding these obstacles, a sensor for obstacle detection can be provided.
As the sensor, a structure similar to a collision prevention mechanism or an obstacle avoidance mechanism in a normal vehicle or a mechanical device can be employed, and a sensor using a sound wave or an ultrasonic wave, a sensor using a light beam such as a laser beam, or a magnet. And those utilizing a mechanically contacting stylus. Obstacles can be detected and avoided by analyzing an image captured by a video camera.

The work implement can be operated while avoiding obstacles such as seedlings so as not to damage the seedlings planted during the mowing operation. Therefore, a marker is arranged at an obstacle to be avoided or a place adjacent to the obstacle, and a sensor capable of detecting the marker is provided on the working tool or the robot arm or the body of the working vehicle. It can be controlled so as not to approach.

As the marker, a magnetic generator such as a permanent magnet can be used. Those that react electromagnetically by the action of an electromagnetic field, such as an electromagnetic coil, can also be used. It may emit or reflect radio waves, light rays, or sound waves.

[0030]

DESCRIPTION OF THE PREFERRED EMBODIMENTS [Working vehicle] As shown in FIGS.
The work vehicle M includes a box-shaped vehicle body 10, traveling wheels 20a, 20b, 20c arranged on three sides of the vehicle body, and traveling wheels 20a.
20c independently supported by the vehicle body 10, and a robot arm 40 performing various operations
And

The vehicle body 10 includes an engine that operates on gasoline or light oil, and a hydraulic pump driven by the engine. The generated hydraulic pressure is used as a drive source for the support legs 30 and the traveling wheels 20a to 20c via piping. . The car body 10
Control panel 1 with microcomputer and wireless transceiver
2 is also provided. The control panel 12 performs wireless communication with a wireless operating device (not shown), and controls operation of various mechanisms included in the work vehicle M based on a command from the wireless operating device.

As shown in FIG. 3, a pair of traveling wheels 20a and 20b are arranged at both corners of one side of the box-shaped vehicle body 10, and one center is located at the center of the opposite side.
A base traveling wheel 20c is arranged. Each traveling wheel 20
Reference numerals a to 20c denote wheels provided with ordinary tires. The traveling wheels 20a to 20c are rotatably held by holding portions 32 arranged at the lower ends of the respective support legs 30. The holding portion 32 includes a hydraulic motor with a speed reducer (not shown), and this motor is directly connected to the traveling wheels 20a to 20c. The hydraulic motor with a speed reducer is connected to the vehicle body 10 through a hydraulic pipe (not shown) disposed through the support leg 30.
And the traveling wheels 20a to 20c are rotated independently.

As shown in FIG. 1, the support leg 30 has an elevating mechanism 36 composed of a hydraulic cylinder mechanism, and the lower end (the tip of the operating portion) of the elevating mechanism 36 moves vertically. . The elevating mechanism 36 has a stroke sensor (not shown) that detects the amount of expansion and contraction of the lower end and sends information to the control panel 12. The vertical position of the traveling wheels 20a to 20c with respect to the vehicle body 10 is changed by the elevating operation of the elevating mechanism 36.

The holding section 32 is attached to the tip of an operating section of a lifting mechanism 36 via a rotary actuator 34 driven by hydraulic pressure. The holding portion 32 is turned by the operation of the rotary actuator 34, and the traveling wheels 20
The traveling direction of a to 20c is changed. The rotary actuator 34 includes a turning angle sensor (not shown) for detecting the turning position, and transmits turning angle information to the control panel 12.
Each of the traveling wheels 20a to 20c is capable of turning within a range of about 150 °.

Support leg 3 for supporting one traveling wheel 20c
0, since the upper end of the elevating mechanism 36 is supported rotatably with respect to the vehicle body 10, the opening angle with respect to the vehicle body 10 can be changed as shown by a solid line and a two-dot chain line in FIG. . The elevating mechanism 36 performs this turning motion by the operation of the hydraulic cylinder 37. The turning angle of the lifting mechanism 36 is detected by a sensor (not shown) and transmitted to the control panel 12. As the turning angle (opening angle) of the lifting mechanism 36 increases, the position of the traveling wheel 20c moves upward. The opening angle of the support leg 30 of the traveling wheel 20c can be adjusted according to the inclination angle of the work place E, as shown by a two-dot chain line in the figure. The distance between the traveling wheel 20c and a pair of traveling wheels 20a, 20b opposed to the vehicle body 10 with the vehicle body 10 interposed therebetween, that is, the so-called wheel interval, can be adjusted by the turning motion of the lifting / lowering mechanism 36.

According to the present invention, since the traveling wheels 20a to 20c are arranged on three sides of the vehicle body 10, the work vehicle M can be supported on the ground E at three points, and a geometrically stable support is provided. it can. Regardless of the inclination angle of the ground E, the presence or absence of irregularities and undulations, stable support and running can always be achieved. Moreover, by appropriately setting the traveling direction of each traveling wheel 20a to 20c, for example, by switching the traveling direction of the traveling wheels 20a to 20c to two directions orthogonal to each other depending on the situation,
The vehicle body 10 can be reliably prevented from leaning or sliding down along the slope, and traveling on a slope can be facilitated.

[Work Vehicle Travel] The work vehicle M travels by rotating and driving the three traveling wheels 20a to 20c. As can be seen from FIGS. The wheels 20a to 20c basically basically always travel in the same direction. FIG. 3 shows contour traveling, in which traveling wheels 20a and 20b in a pair travel on one line,
FIG. 4 shows traveling uphill and downhill, and a pair of traveling wheels 20a,
20b runs in parallel. In the contour traveling in FIG. 3, the traveling direction indicated by the white arrow in the figure is steered left and right by simultaneously turning the three traveling wheels 20a to 20c left and right. In the traveling uphill and downhill of FIG. 4, one traveling wheel 20c is used.
Is the leading or trailing end (white arrow), so that only the traveling wheel 20c is turned left and right to steer the work vehicle M.

When traveling on a flat ground or going up or down a slope, as shown in FIGS. 4 to 6, one traveling wheel 20c is arranged at the top, and a pair of traveling wheels 20a and 20a are arranged.
If b is arranged on the left and right rear, stable traveling and free steering are possible. On a slope, as shown in FIG. 1, one traveling wheel 20c is arranged on the mountain side, and the remaining two traveling wheels 20a and 20b are arranged on the valley side. The lifting mechanism 36 of the traveling wheel 20c on the mountain side is contracted, and the lifting mechanism 36 of the traveling wheel 20a, 20b on the valley side is contracted.
, The vehicle body 10 can be maintained in a horizontal state even on a slope. When traveling down a slope, one traveling wheel 20c is set to the mountain side, and the other two traveling wheels 20a, 20b.
It is preferable that the vehicle is run with each of them arranged on the valley side in order to stabilize the posture.

When performing various operations on a sloping ground, or when performing horizontal movement at the same altitude on the sloping ground, that is, when performing so-called contour line movement, the traveling wheels 20a to 20a-2
The direction of 0c is turned 90 degrees as shown in FIG. 3, and the traveling wheels 20a to 20c are arranged so that the traveling direction is orthogonal to the inclination direction. In the figure, it is assumed that the inclination of the ground has a height in the left-right direction.

As shown in FIG. 1, if the traveling wheels 20a to 20c are arranged in a state perpendicular to the inclination of the ground, the work vehicle M can be prevented from sliding down along the inclination. Even in the middle of the slope, the vehicle can be stopped in a stable state and various operations can be performed. If the traveling wheels 20a to 20c are driven in this state, the work vehicle M moves along the contour of the slope. The direction is the direction of the white arrow shown in FIG. Also in this case, since the traveling wheels 20a to 20c are arranged in a direction orthogonal to the inclination, stable traveling is possible.

If the traveling direction of the traveling wheels 20a to 20c is slightly angled with respect to the contour line, a motion of gradually increasing or decreasing the altitude is possible. Also in this case, since the traveling wheels 20a to 20c are arranged in a direction intersecting the inclination, slipping hardly occurs and stable traveling is possible. Therefore, on a steep terrain, if the traveling direction at a slight plus or minus angle with respect to the contour line is alternately selected and the vehicle is climbed or descended while changing its direction in a zigzag manner, a stable climb can be reliably performed.

Of the three running wheels 20a to 20c, for example, one running wheel 20c is fixed, and the other two running wheels 20a and 20b are turned around the one running wheel 20c. By running the vehicle, the entire work vehicle M can be turned slightly while remaining substantially at the same position. By turning the two traveling wheels 20c while fixing the two directional wheels 20a and 20b, it is possible to make a small turn. As shown in FIG. 7, if the three driving wheels 20 a to 20 c are directed on the center of the vehicle body with the respective rotation center lines directed toward the center of the vehicle body, and these are run on concentric circles, a quick small turning can be performed. That is, interlining turning.

[Work] As shown in FIG. 1, the robot arm 40 attached to the upper surface of the vehicle body 10 includes a first arm 42 and a second arm 44 which are connected to bend.
A tool mounting portion 46 is provided at the tip of the second arm 44.
The first arm 42 is capable of both horizontal rotation and vertical rotation, as indicated by arrows in FIG. Tool mounting part 46
Allows the tip of the second arm 44 to turn in a vertical plane. The driving of the robot arm 40 and the tool mounting portion 46 is based on hydraulic pressure supplied from the vehicle body 10.

For example, a rotary disk-type mowing blade (not shown) is detachably attached to the tip of the tool mounting portion 46, and rotates at a high speed slightly above the ground E to cut weeds and the like. At this time, a grounding sensor (not shown) provided in the tool mounting section 46 detects the distance from the ground E in a non-contact manner, and sends the obtained information to the control panel 12, and the tool mounting section 4
6 and the mowing blade are always kept at a constant height position relative to the ground E.

In addition to the tool mounting portion 46, a working tool such as a reciprocating mowing blade or a clipper-type mowing blade can be mounted. When performing work other than mowing work, attach another tool suitable for the work. [Avoidance of Obstacles] In FIG. 1, when the robot arm 40 is operated, the cutting blade 50 is used to move the planted tree W
It is desired that obstacles such as are automatically avoided and only the undergrowth s is cut off. Therefore, the marker m that generates magnetism is placed adjacent to the seedling W as an obstacle or attached to the seedling W, and the tool attachment part 46 is provided with a magnetic sensor (not shown). Since the magnetic sensor outputs a different detection signal depending on the distance from the marker m, using this, for example, the cutting blade 50 may output a stronger signal as it approaches the marker m, or the cutting blade 50 may An alarm signal is output when the marker m approaches a certain distance. The signal of the magnetic sensor is monitored by a microcomputer or the like provided in the control panel 12 of the work vehicle M, and if it is determined that the magnetic sensor has approached the marker m too much, the operation of the robot arm 40 is controlled to control the marker m.
To avoid.

[0046]

According to the present invention, a work vehicle suitable for traveling on a slope and a traveling method thereof are provided on a steep slope by raising and lowering traveling wheels disposed on three sides of a vehicle body and switching a traveling direction. Even if unevenness or obstacles are present, stable running and various operations can be performed.

[Brief description of the drawings]

FIG. 1 is a side view showing a state in which a work vehicle according to an embodiment of the present invention travels on a slope.

FIG. 2 is a front view of the work vehicle shown in FIG.

3A is a plan view of FIG. 2 and FIG.

FIG. 4 is a plan view (a) in a state where the direction of the traveling wheels is switched from FIG. 3, and a traveling wheel layout diagram (b).

FIG. 5 is a side view of FIG. 4;

FIG. 6 is a rear view of FIG. 4;

FIG. 7 is a layout diagram of traveling wheels in the case of interlining turning.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Body 20a, 20b, 20c Running wheel 30 Support leg 34 Rotary actuator (running direction switching means) 36 Elevating mechanism 40 Robot arm

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Takeshi Imoto 2109-8 Yashima Nishimachi, Takamatsu City F-term in Shikoku Research Institute, Inc. (reference) 2B083 BA11 BA19 HA06 HA07 HA21 HA32 HA34 HA57 HA59 HA60 JA09 3F060 AA00 BA00 CA12 CA26 EB14 EC13 GD11 HA00 HA35

Claims (8)

[Claims] 1. A work vehicle that travels and moves on a work site that may include a slope, comprising: a vehicle body that is a main body of the work vehicle; traveling wheels disposed on three sides of the vehicle body; A work vehicle comprising: a support leg that is independently supported by the vehicle body and lifts and lowers independently; and a unit that independently switches a traveling direction of the three traveling wheels. 2. The work vehicle according to claim 1, wherein at least one of the three support legs is pivotally attached to the vehicle body so that an opening angle between the support legs and the vehicle body can be changed. 3. An attitude detecting means for detecting an attitude of the vehicle body, and an attitude controlling means for controlling the attitude of the vehicle body by raising and lowering the running wheels based on the attitude information detected by the attitude detecting means. The work vehicle according to claim 1 or 2, further comprising: 4. The work vehicle according to claim 1, further comprising a work robot arm on said vehicle body. 5. The work vehicle according to claim 1, further comprising an operation device for remotely controlling an operation of the work vehicle. 6. A method for traveling on a slope with the work vehicle according to any one of claims 1 to 5, wherein one of the three traveling wheels is moved toward a mountain side of the slope when moving. A method of running on an incline on a slope, where the two remaining wheels are arranged on the same contour on the valley side of the slope. 7. The method according to claim 6, wherein the angle of opening of the support legs of the traveling wheels arranged on the mountain side with respect to the vehicle body is adjusted to the inclination angle of the work site. 8. A method of traveling with a work vehicle according to any one of claims 1 to 5, wherein a direction of each center axis of said three traveling wheels is directed to a center of said vehicle body when turning at interlining. Dodge, driving method.