JP2018174759A - Self-propelled work device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled work device capable of reducing a workload on an operator on a traveling surface.SOLUTION: A self-propelled work device 10 includes a moving body 11 equipped with a grass cutter, travelling wheels 12 equipped with at least right and left front wheels, and right and left rear wheels, and a variable operation part 15 for adjusting inclination angles of the travelling wheels 12 individually. The travelling wheels 12 are supported by the moving body 11, and are configured so as to individually adjust the inclination angles viewed from the front face of the moving body 11. Therefore, when the moving body 11 moves in a direction crossing an inclination direction of an inclined travelling surface 30, the inclination angles of the travelling wheels 12 can be adjusted by the variable operation part 15. Thus, while the moving body 11 is travelling on the inclined travelling surface 30, a side slip in the inclination direction of the moving body 11 can be suppressed by the travelling wheels 12.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a self-propelled working device.

  A mowing machine is known in which a mowing machine is closely attached to the side of the body by a hanging cord, and mowing the grass while swinging a cutting blade around the body (see, for example, Patent Document 1). This mower is also used, for example, for mowing bushes. The moxibustion is a muddy soil in the paddy field built on the border between the paddy field and the paddy field so that the water does not leak to the outside, and the side is formed to be inclined.

JP, 2016-82914, A

  By the way, the side surface of the bale is formed in the shape of a slope. For this reason, the worker stands on the inclined side, and the work of cutting the grass while swinging the mowing machine around the worker's body is a heavy burden on the worker. In particular, in recent years, with the aging of farmers, there has been a demand for practical application of technology that can reduce the burden of mowing work and other transportation work.

  Then, this invention provides the self-propelled working device which can reduce the work burden of the worker in a run side.

  In order to solve the above-mentioned subject, the invention described in Claim 1 is supported by the movable body provided with a work part, the movable body, and the inclination angle (camber angle) seen from the front of the movable body. A traveling wheel including at least left and right front wheels and left and right rear wheels, which can be individually adjusted, and a variable operation unit individually adjusting an inclination angle of the traveling wheels, wherein the moving body is inclined. The inclination angle of the traveling wheel is adjusted by the variable operation portion so as to suppress the side slip in the inclination direction of the movable body when moving in a direction intersecting the inclination direction of the surface. I assume.

As described above, the inclination angle of the traveling wheel of the moving body can be adjusted, and the inclination angle of the traveling wheel is adjusted by the variable operation unit. Therefore, when the movable body moves in the direction intersecting with the inclination direction of the inclined traveling surface, the inclination angle of the traveling wheel can be adjusted by the variable operation unit. Thereby, it can suppress that a mobile body slides sideways in the inclination direction of a traveling surface.
Therefore, by providing the working unit in the movable body, it is possible to work in the working unit while causing the movable body to travel normally along the traveling surface. As a result, the work load on the operator can be reduced.

  The invention described in claim 2 determines whether the posture change of the movable body is larger or smaller than the posture model based on the information from the posture detection unit which detects the posture of the movable body and the posture detection unit. A control unit, the control unit, when the posture change of the movable body is larger than the posture model, the left and right front wheels and the rear left and right wheels so that the posture change of the movable body becomes smaller than the posture model A signal for adjusting the inclination angle of the wheel is sent to the variable operation unit.

Here, when the change in posture of the moving body is smaller than the posture model, the moving body can normally travel along the traveling surface. On the other hand, when the change in posture of the moving body exceeds the posture model, the moving body is in a state in which normal traveling is difficult along the traveling surface.
Therefore, when the posture change of the moving body is larger than the posture model, the control unit sends a signal to the variable operation unit so that the posture change of the moving body becomes smaller than the posture model. Based on the signal sent, the variable operation unit operates to adjust the inclination angle of the wheel selected from the left and right front wheels and the left and right rear wheels. As a result, the posture change of the moving body becomes smaller than that of the posture model, and the moving body can travel normally along the traveling surface.

  The invention described in claim 3 is characterized in that the posture detection unit includes at least one of a gyro, an acceleration sensor, and an imaging unit.

Therefore, a gyro (angular velocity sensor) can detect the angular velocity of the rotational movement of the moving body, and the acceleration sensor can detect the speed change of the linear movement of the moving body. Further, by photographing the front of the moving object by the imaging unit, it is possible to detect the posture of the moving object and the state of the traveling surface.
As a result, the posture of the movable body and the state of the traveling surface can be detected based on the upper position detected by the gyro, the acceleration sensor, and the imaging unit. Therefore, based on the detected attitude of the moving body and the state of the traveling surface, the inclination angles of the left and right front wheels and the left and right rear wheels can be adjusted so that the attitude change of the moving body becomes smaller than that of the attitude model.

  The invention described in claim 4 is provided with a working unit posture changing unit for adjusting the posture of the working unit, and the control unit is capable of changing the working unit posture of the working unit based on a signal from the posture detecting unit. It is judged whether the working posture is larger or smaller, and if the working posture change is larger than the working posture, the working posture is adjusted so that the working posture becomes smaller than the working posture. Signal is sent to the working unit posture changing unit.

  As described above, it is determined whether the working unit posture change is larger or smaller than the working unit posture model based on the signal from the posture detection unit of the moving body. If the working unit posture change is smaller than the working unit posture model, work is continued in the working unit. On the other hand, when the working unit posture change is smaller than the working unit posture model, a signal for adjusting the posture of the working unit is sent to the working unit posture changing unit. Based on the sent signal, the working unit posture variable unit adjusts the working unit posture so that the working unit posture change becomes smaller than the working unit posture model. Thus, the posture of the working unit can be maintained properly.

The invention described in claim 5 is characterized in that the working unit is a mower.
Therefore, it is possible to cut the grass on the traveling surface with a mowing machine while traveling the moving body along the traveling surface. Thereby, a worker's burden can be reduced in mowing work on the traveling surface.

The invention described in claim 6 is that the traveling wheel has a protrusion that protrudes outward at the intersection of the outer peripheral surface and the inner surface, and at the intersection of the outer peripheral surface and the outer surface. It features.
Thus, at least in the left and right front wheels and in the left and right rear wheels, the intersections between the outer peripheral surface and the inner side surface, and the intersections between the outer peripheral surface and the outer side surface are outwardly protruding. Therefore, the projection can be engaged with the traveling surface by inclining the left and right front wheels and the left and right rear wheels at an inclination angle. Thereby, the slip of the left and right front wheels and the left and right rear wheels with respect to the traveling surface can be suppressed, and the moving body can be normally traveled along the traveling surface.

  In the invention described in claim 7, a plurality of the traveling wheels are provided at intervals in the circumferential direction of the outer peripheral surface, and are projected outward from the outer peripheral surface, and extend in the width direction of the traveling wheels Having a ridge portion of

  Thus, at least on the left and right front wheels and on the left and right rear wheels, a plurality of ridges (grouses) are provided at intervals in the circumferential direction of the outer circumferential surface, and the plurality of ridges project outward from the outer circumferential surface I did. That is, a plurality of projecting streaks can be brought into contact with the traveling surface. Therefore, a plurality of projections can be bitten into the running surface, or the contact pressure of the plurality of projections can be increased. Thereby, the slip of the left and right front wheels and the left and right rear wheels with respect to the traveling surface can be suppressed, and the moving body can be normally traveled along the traveling surface.

The invention described in claim 8 is characterized in that the traveling wheel is formed such that the outer peripheral surface is elastically deformable.
Thus, the outer peripheral surfaces of at least the left and right front wheels and the left and right rear wheels are formed so as to be elastically deformable. That is, the outer peripheral surface can be elastically deformed along the traveling surface. Therefore, the outer peripheral surface can be well grounded along the traveling surface. Thereby, the slip of the left and right front wheels and the left and right rear wheels with respect to the traveling surface can be suppressed, and the moving body can be normally traveled along the traveling surface.

The invention described in claim 9 is characterized in that the traveling wheel is formed in an S shape in a side view.
Therefore, at least on the left and right front wheels and on the left and right rear wheels, the contact portions of the wheels can be formed at two locations at intervals of 180 ° in the circumferential direction. Thereby, the traveling surface can be favorably climbed along the inclination direction of the traveling surface. That is, the traveling of the self-propelled working device on the traveling surface can be further favorably secured.

According to this invention, the inclination angle of the traveling wheel of the moving body can be adjusted, and the inclination angle of the traveling wheel is adjusted by the variable operation unit. Therefore, by adjusting the inclination angle of the traveling wheel by the variable operation unit, it is possible to suppress the side slip of the moving body in the inclination direction of the traveling surface.
By providing the movable body with the working unit, the working unit can carry out work while causing the movable body to travel normally along the traveling surface. As a result, the work load on the operator can be reduced.

It is a top view which shows the self-propelled working device in a 1st embodiment of the present invention. It is a side view showing a self-propelled work device in a 1st embodiment of the present invention. It is a perspective view showing a self-propelled work device in a 1st embodiment of the present invention. It is a perspective view which shows the left front drive part and left front wheel of a self-propelled working device in a 1st embodiment of the present invention. It is a perspective view which shows the state which looked at the left front wheel of FIG. 4 in 1st Embodiment of this invention at the moving body side. It is a graph explaining the relation between the amount of sideslip of a self-propelled type work device in a 1st embodiment of the present invention, and the inclination angle of a run wheel. It is a perspective view showing a mowing machine of a self-propelled work device in a 1st embodiment of the present invention. It is a sequence diagram which shows the operation | movement procedure of the self-propelled working device in 1st Embodiment of this invention. It is a flowchart figure explaining operation of a mobile of self-propelled work device in a 1st embodiment of the present invention. It is a flowchart figure explaining operation | movement of the mowing machine of the self-propelled working device in 1st Embodiment of this invention. It is a flowchart figure explaining operation | movement of the self-propelled working apparatus in 1st Embodiment of this invention. (A) is a front view explaining the example which the self-propelled working device in a 1st embodiment of the present invention slips a run side, (b) is a front view explaining the example which suppresses slip of a self-propelled working device . It is a perspective view which shows the mobile of the self-propelled working device in a 2nd embodiment of the present invention. It is a perspective view which shows the mobile of the self-propelled working device in a 3rd embodiment of the present invention. It is a front view which shows the mobile of the self-propelled working device in a 4th embodiment of the present invention. It is a perspective view which shows the left front wheel of the self-propelled working device in 5th Embodiment of this invention. It is a perspective view which shows the left front wheel of the self-propelled working device in 6th Embodiment of this invention. It is a perspective view which shows the left front wheel of the self-propelled working device in 7th Embodiment of this invention. It is a perspective view which shows the self-propelled work apparatus in 8th Embodiment of this invention.

  Next, an embodiment of the present invention will be described based on the drawings. In the drawings, the arrow FR points to the front of the self-propelled working device, the arrow UP points to the upper side of the self-propelled working device, and the arrow LH points to the left of the self-propelled working device.

First Embodiment
As shown in FIGS. 1 and 2, the self-propelled working device 10 includes a moving body 11, a traveling wheel 12, a traveling drive unit 14, a variable operation unit 15, a posture detection unit 17, and a movement amount detection unit. 18, a work unit 20, a work unit posture detection unit 22, a work unit posture change unit 23, and a control unit 25.

As shown in FIG. 3, the movable body 11 of the self-propelled working device 10 can move in a direction (direction shown by an arrow) intersecting with the inclination direction of the traveling surface 30. The movable body 11 is formed in a rectangular shape in a plan view, and the traveling wheel 12 and the traveling drive unit 14 are supported via the variable operation unit 15. The travel surface 30 is, for example, a sloped travel surface of a ridge at an inclination angle θ1.
The variable operation unit 15 includes a left front variable operation unit 32, a right front variable operation unit 33, a right rear variable operation unit 34, and a right rear variable operation unit 35.

  The front left variable operation unit 32 includes a front left bracket 37 and a front left variable motor 38. The base end of the left front bracket 37 is fixed to the rotation shaft of the left front variable motor 38. By driving the left front variable motor 38 to rotate the rotation shaft, the left front bracket 37 swings up and down (that is, in the arrow A direction) about the rotation axis of the left front variable motor 38.

  The right front variable operating unit 33 is formed symmetrically with the left front variable operating unit 32. That is, the right front variable operation unit 33 includes the right front bracket 41 and the right front variable motor 42. The base end of the right front bracket 41 is fixed to the rotation shaft of the right front variable motor 42. By driving the front right variable motor 42 to rotate the rotation shaft, the front right bracket 41 swings up and down (that is, in the direction of arrow B) about the rotation axis of the front right variable motor 42.

  The right rear variable operating unit 34 is formed similarly to the left front variable operating unit 32. That is, the right rear variable operation unit 34 includes the left rear bracket 44 and the left rear variable motor 45. The base end of the left rear bracket 44 is fixed to the rotation shaft of the left rear variable motor 45. By driving the left rear variable motor 45 to rotate the rotation shaft, the left rear bracket 44 swings up and down (that is, in the arrow C direction) about the rotation axis of the left rear variable motor 45.

The right rear variable operating unit 35 is formed similarly to the right front variable operating unit 33. That is, the rear right variable operation unit 35 includes the rear right bracket 46 and the rear right variable motor 47. The base end of the right rear bracket 46 is fixed to the rotation shaft of the right rear variable motor 47. By driving the right rear variable motor 47 to rotate the rotation shaft, the right rear bracket 46 swings up and down (that is, in the direction of arrow D) about the rotation axis of the right rear variable motor 47.
As a result, the variable operation unit 15 can individually operate the left front variable operation unit 32, the right front variable operation unit 33, the right rear variable operation unit 34, and the right rear variable operation unit 35.

As shown in FIG. 4, the front left wheel 51 and the front left driving portion 56 are supported by the front left bracket 37. Specifically, the rotary shaft 61 is rotatably supported by the lower end portion 37 a of the left front bracket 37. A flange 62 is formed at the tip of the rotary shaft 61, and the left front wheel 51 is fixed to the flange 62. A driven pulley 63 is coaxially fixed to the rotating shaft 61.
The left front drive motor 64 is attached to the left front bracket 37, and a drive shaft 64a of the left front drive motor 64 extends from the left front bracket 37 to the left front wheel 51 side. A drive pulley 65 is coaxially fixed to the drive shaft 64a. An endless belt 66 is stretched around the drive pulley 65 and the driven pulley 63.

The left front drive unit 56 includes a left front drive motor 64, a drive pulley 65, a rotating shaft 61, a driven pulley 63, and a belt 66.
By driving the left front drive motor 64, the drive shaft 64a of the left front drive motor 64 is rotated. The rotation of the drive shaft 64 a is transmitted to the rotation shaft 61 via the drive pulley 65, the belt 66 and the driven pulley 63. The left front wheel 51 is rotated by the rotation of the rotating shaft 61.

As shown in FIGS. 3 and 4, the front right wheel 52 and the front right driving portion 57 are supported by the front right bracket 41. The right front drive unit 57 is provided with a right front drive motor 57a. The left rear wheel 53 and the left rear drive portion 58 are supported by the left rear bracket 44. The left rear drive unit 58 is provided with a left rear drive motor 58a. The right rear wheel 54 and the right rear drive portion 59 are supported by the right rear bracket 46. The right rear drive unit 59 is provided with a right rear drive motor 59a.
The right front wheel 52 and the right rear wheel 54 are members that are symmetrical with the left front wheel 51. The left rear wheel 53 is a member similar to the left front wheel 51. Therefore, detailed description of the front right wheel 52, the rear right wheel 54 and the rear left wheel 53 is omitted.
The traveling front wheel 12 is configured by the front left wheel 51, the front right wheel 52, the rear left wheel 53, and the rear right wheel 54.

The right front drive unit 57 and the right rear drive unit 59 are components that are symmetrical to the left front drive unit 56 in the left-right direction. The left rear drive unit 58 is a component similar to the left front drive unit 56. Therefore, detailed description of the front right drive unit 57, the rear right drive unit 59, and the rear left drive unit 58 is omitted.
The travel drive unit 14 is configured by the left front drive unit 56, the right front drive unit 57, the left rear drive unit 58, and the right rear drive unit 59.

The variable operating unit 15 is configured such that the left front variable operating unit 32, the right front variable operating unit 33, the right rear variable operating unit 34, and the right rear variable operating unit 35 can be operated individually. That is, the left front variable operating unit 32 As the left front bracket 37 swings up and down as indicated by arrow A, the left front wheel 51 is inclined in the width direction of the movable body as indicated by arrow E. The left front variable motor 38 incorporates a potentiometer. The tilt angle of the left front wheel 51 can be detected by a potentiometer.

By the left front wheel 51 being inclined, the inclination angle (camber angle) θ2 of the left front wheel 51 viewed from the front of the moving body 11 can be adjusted. As an example, the lower end portion of the left front wheel 51 can incline to the inside in the moving body width direction to 45 °, and the inclination angle θ2 of the left front wheel 51 can incline to the outer side in the moving body width direction to 45 ° It is set to. The inclination toward the inside of the moving body width direction is indicated by-, and the inclination to the outside of the moving body width direction is indicated by +.
Therefore, the inclination angle θ2 of the left front wheel 51 is set, for example, in the range of −45 ° ≦ θ2 ≦ + 45 °. By setting the inclination angle θ2 so as not to exceed −45 ° and + 45 °, interference between the inclined left front wheel 51 and the movable body 11 can be suppressed.

Further, as the right front bracket 41 of the right front variable operating portion 33 swings up and down as shown by the arrow B, the right front wheel 52 is inclined in the moving body width direction as shown by the arrow F. By tilting the right front wheel 52, the inclination angle (camber angle) of the right front wheel 52 seen from the front of the moving body 11 can be adjusted similarly to the left front wheel 51.
Further, when the left rear bracket 44 of the right rear variable operating portion 34 swings up and down as shown by the arrow C, the left rear wheel 53 is inclined in the moving body width direction as shown by the arrow G. The inclination angle (camber angle) of the left rear wheel 53 viewed from the front of the mobile body 11 can be adjusted in the same manner as the left front wheel 51 by the left rear wheel 53 being inclined.
In addition, when the right rear bracket 46 of the right rear variable operating portion 35 swings up and down as shown by arrow D, the right rear wheel 54 is inclined in the moving body width direction as shown by arrow H. By tilting the right rear wheel 54, the inclination angle (camber angle) of the right rear wheel 54 viewed from the front of the movable body 11 can be adjusted in the same manner as the left front wheel 51.

That is, the variable operation unit 15 has a function of adjusting the inclination angle θ2 of the left front wheel 51, the inclination angle of the right front wheel 52, the inclination angle of the left rear wheel 53, and the inclination angle of the right rear wheel 54 individually.
The traveling wheel 12 is configured to be able to adjust the inclination angle θ2 of the left front wheel 51, the inclination angle of the right front wheel 52, the inclination angle of the left rear wheel 53, and the inclination angle of the right rear wheel 54 individually.

As shown in FIGS. 4 and 5, the left front wheel 51 has a disk-shaped outer side wall 71 and an outer peripheral portion 72 formed in a cylindrical shape along the peripheral edge portion of the outer side wall 71. The flange 62 of the rotating shaft 61 is fixed by a bolt 74 at the center of the outer wall 71.
Further, the left front wheel 51 has an outer protrusion (a protrusion) 75 at the intersection between the outer surface of the outer wall 71 and the outer peripheral surface of the outer peripheral portion 72. Furthermore, an inner protrusion (a protrusion) 76 is provided at the intersection between the inner side surface 72 a of the outer peripheral portion 72 and the outer peripheral surface of the outer peripheral portion 72. The outer protrusion 75 and the inner protrusion 76 are projected to the outside of the left front wheel 51 in a V-shaped cross section.

As shown in FIG. 3, the left front wheel 51 has an outer protrusion 75 and an inner protrusion 76. Similar to the left front wheel 51, the right front wheel 52 has an outer projection (projection) 77 and an inner projection (projection) 78. Similar to the left front wheel 51, the left rear wheel 53 has an outer projection (projection) 81 and an inner projection (projection) 82. Similar to the left front wheel 51, the right rear wheel 54 has an outer projection (projection) 83 and an inner projection (projection) 84.
Therefore, by tilting the left and right front wheels 51, 52 and the left and right rear wheels 53, 54 in the moving body width direction, the outer protrusions 75, 77, 81, 83 and the inner protrusions 76, 78, 82, 84 are traveled. The surface 30 can be cut into. Accordingly, it is possible to suppress the slip of the left and right front wheels 51 and 52 and the left and right rear wheels 53 and 54 with respect to the traveling surface 30.

In the graph of FIG. 6, the relationship between the side slip amount of the self-propelled working device 10 and the inclination angle of the traveling wheel 12 will be described. In the graph of FIG. 6, the vertical axis indicates the side slip amount of the self-propelled working device 10, and the horizontal axis indicates the inclination angle of the traveling wheel 12. Further, black □ indicates a measured value, and white は indicates an average value of the measured value. As shown in FIG. 6, when the inclination angle of the traveling wheel 12 becomes large, the side slip amount of the self-propelled working device 10 is suppressed.
As described above, by adjusting the inclination angle of the traveling wheel 12, the moving body 11 normally travels along the direction intersecting (specifically, orthogonally) with the inclination direction of the traveling surface 30 as shown by the arrow. It can be done.

  In the first embodiment, the outer projection 75 of the left front wheel 51 is formed by the intersection of the outer wall 71 and the outer peripheral portion 72, and the inner projection 76 of the left front wheel 51 is formed of the inner side surface 72a and the outer peripheral portion 72. Although the example formed in the intersection part was demonstrated, it does not limit to this. As another example, an annular outer ridge is projected radially outward of the left front wheel 51 from the entire outer end of the outer peripheral portion 72, and radially outward of the left front wheel 51 from the entire inner end of the outer peripheral portion 72. It is also possible to make the ring-like inner ridges project. Similarly to the left front wheel 51, an outer ridge portion and an inner ridge portion are formed on the right front wheel 52, the left rear wheel 53, and the right rear wheel 54, respectively.

As shown in FIG. 1 and FIG. 7, a mower as a working unit 20 is provided at the front portion 11 a of the moving body 11. Hereinafter, the working unit 20 will be described as the mowing machine 20.
The mowing machine 20 includes a base 87 on which a driving engine 86 is rotatably supported in the front direction 11 a of the moving body 11 in a horizontal direction, and an engine 86 and a mowing blade 88 attached to the base 87. By driving the engine 86, the mowing blade 88 moves in the longitudinal direction (i.e., the arrow I), so that it is possible to mow the grass with the protruding mowing blade 88a. The mowing blade 88 is a known, commonly used so-called clipper type.

The base 87 is provided with a driven gear 91. The drive gear 92 is engaged with the driven gear 91, and the rotation shaft of the swing motor 93 is coaxially fixed to the drive gear 92. By driving the swing motor 93, the mowing blade 88 swings and moves around the center of the driven gear 91 as shown by the arrow J. That is, grass with a range exceeding the full width dimension W1 of the self-propelled working device 10 can be cut with the mowing blade 88. Therefore, the traveling wheel 12 (i.e., the left front wheel 51, the right front wheel 52, the left rear wheel 53 and the right rear wheel 54) can travel at a portion where the grass is cut. As a result, there is no possibility that the traveling of the traveling wheel 12 will be disturbed by grass.
A guide roller 94 is attached to the tip end portion 88 b of the mowing blade 88. The guide roller 94 is formed to follow the movement of the self-propelled working device 10 in the forward traveling direction and the movement of the mowing blade 88 in the arrow J direction.

Further, the mowing machine 20 is provided with a working unit posture detection unit 22. A gyro (angular velocity sensor) and an acceleration sensor are provided as the working unit posture detection unit 22.
In addition, it is also possible to provide at least one of a gyro and an acceleration sensor as the working unit posture detection unit 22. The angular velocity of the rotational movement of the mowing machine 20 can be detected by a gyro, and the speed change of the linear movement of the mowing machine 20 can be detected by an acceleration sensor.

  In addition, the mowing blade 88 is configured to be able to adjust the working unit posture by the working unit posture variable unit 23. That is, the mowing blade 88 is rotatably supported by the base 87 as indicated by an arrow K about the longitudinal axis 95. The base end 88 a of the mowing blade 88 is connected to the working unit posture changing unit 23. The working unit posture variable unit 23 includes a working unit variable motor 97. By driving the working unit variable motor 97, the mowing blade 88 rotates around the axis 95 as shown by the arrow K. Thus, the working unit posture of the mowing blade 88 can be adjusted by the working unit posture changing unit 23. The working unit posture changing unit 23 is operated from the control unit 25 based on a signal.

For example, it is conceivable that the left front wheel 51 and the left rear wheel 53 of the self-propelled working device 10 ride on the raised portion of the traveling surface 30, and the movable body 11 inclines with respect to the traveling surface 30. In this case, the mowing blade 88 also inclines with respect to the traveling surface 30. At this time, it is possible to make the mowing blade 88 along the traveling surface 30 by adjusting the working part posture of the mowing blade 88 by the working part posture changing part 23. Thereby, the grass of the traveling surface 30 can be cut well by the mowing blade 88.
Furthermore, the moving body 11 is provided with a posture detection unit 17 and a control unit 25.

Next, the operation procedure of the self-propelled working device 10 will be described based on FIGS. 1 and 8.
As shown in FIGS. 1 and 8, the posture detection unit 17 detects the posture of the moving body 11. Specifically, a gyro (angular velocity sensor), an acceleration sensor, and an imaging unit (camera) are provided as the posture detection unit 17.
Note that at least one of a gyro (angular velocity sensor), an acceleration sensor, and an imaging unit (camera) may be provided as the posture detection unit 17.
The angular velocity of the rotational movement of the moving body 11 can be detected by a gyro, and the speed change of the linear movement of the moving body 11 can be detected by an acceleration sensor. Further, by photographing the front of the moving body 11 by the imaging unit, it is possible to detect the attitude of the moving body 11 and the state of the traveling surface 30.

Thereby, the attitude of the mobile object 11 and the state of the traveling surface 30 can be detected based on the information detected by the gyro, the acceleration sensor, and the imaging unit. Information detected by the posture detection unit 17 is sent to the control unit 25. Therefore, based on the detected attitude of the moving body 11 and the inclination angle θ1 of the traveling surface 30 (see FIG. 3), the left and right front wheels 51 and 52 and the left and right The inclination angle of the rear wheels 53 and 54 can be adjusted.
The posture model of the mobile object 11 is stored in advance in the control unit 25.

The movement amount detection unit 18 detects the movement amount of the movable body 11. Specifically, as the movement amount detection unit 18, a GPS (global positioning system) and a rotary encoder are provided. The rotary encoders are provided on the front left wheel 51, the front right wheel 52, the rear left wheel 53 and the rear right wheel 54, respectively.
The position of the mobile body 11 is detected by GPS. The rotational speed and rotational angle of each of the front left wheel 51, the front right wheel 52, the rear left wheel 53 and the rear right wheel 54 are detected by a rotary encoder.
Information detected by the movement amount detection unit 18 is sent to the control unit 25.

  The control unit 25 stores in advance the posture model of the movable body 11 and the working unit posture model of the mowing machine 20 as information. As the posture model, posture information on a preferable traveling state of the mobile body 11 is stored in the control unit 25. As the working unit posture model, posture information on a preferable mowing state of the mowing machine 20 is stored in the control unit 25.

A voltage is applied to the left front drive motor 64, the right front drive motor 57a, the left rear drive motor 58a, and the right rear drive motor 59a of the travel drive unit 14 to drive the self-propelled working device 10.
The control unit 25 determines whether the change in posture of the mobile object 11 is larger or smaller than that of the posture model based on the information from the posture detection unit 17 by the fuzzy control.
When the posture change of the mobile body 11 is larger than that of the posture model, the inclination angles of the left and right front wheels 51 and 52 and the left and right rear wheels 53 and 54 are set to make the posture change of the mobile body 11 smaller than that of the posture model. A signal to be adjusted is output from the control unit 25 to the variable operation unit 15.
The posture in which the posture change is smaller than the posture model means a posture in which the self-propelled working device 10 can travel normally. The posture in which the posture change is larger than that in the posture model means a posture in which the self-propelled working device 10 has difficulty in traveling normally.

When the posture change of the self-propelled working device 10 is smaller than that of the posture model, a voltage is applied to the swing motor 93 of the mowing machine 20. The mowing blade 88 of the mowing machine 20 swings in the arrow J direction. The grass cutting blade 88 cuts the grass while the self-propelled working device 10 travels normally.
On the other hand, when the posture change of the self-propelled working device 10 is larger than that of the posture model, of the front left variable motor 38, the front right variable motor 42, the rear left variable motor 45, and the rear right variable motor 47 of the variable operation unit 15. Apply a voltage to the selected variable motor. The tilt angle of the wheel is adjusted by the drive of the selected variable motor, and the posture change of the self-propelled working device 10 becomes smaller than that of the posture model.
A voltage is applied to the swing motor 93 of the mowing machine 20. The mowing blade 88 of the mowing machine 20 swings in the arrow J direction. The grass cutting blade 88 cuts the grass while the self-propelled working device 10 travels normally.

The movement amount detection unit 18 detects the movement amount of the self-propelled working device 10 in a state where the grass cutting blade 88 cuts the grass in normal traveling of the self-propelled working device 10. Based on the information obtained by detecting the movement amount of the self-propelled working device 10 by the movement amount detection unit 18, the control unit 25 determines whether the movement amount of the self-propelled working device 10 is large or small.
When the movement amount of the self-propelled working device 10 is small, there is a possibility that the mowing work by the mowing machine 20 is not well performed, for example. Therefore, the self-propelled working device 10 is stopped by applying brakes to the drive motors 64, 57a, 58a, 59a for driving the left front wheel 51, the right front wheel 52, the left rear wheel 53 and the right rear wheel 54.

  On the other hand, when the movement amount of the self-propelled working device 10 is large, the application of voltage to the left front drive motor 64, the right front drive motor 57a, the left rear drive motor 58a, and the right rear drive motor 59a of the traveling drive unit 14 is continued. . It is possible to continue cutting the grass with the mowing blade 88 while the self-propelled working device 10 travels normally.

Next, an example of suppressing the side slip of the self-propelled working device 10 will be described based on FIG.
As shown in FIG. 9, when a side slip occurs in the self-propelled work apparatus 10 while traveling while cutting the grass on the traveling surface 30 (see FIG. 3), in step 01, the self-propelled work based on the posture model. Fuzzy control of posture change of the apparatus 10 is performed.
In step 02, a voltage is applied to the selected variable motor of the front left variable motor 38, the front right variable motor 42, the rear left variable motor 45, and the rear right variable motor 47 of the variable operation unit 15. The tilt angle of the wheel is adjusted by the drive of the selected variable motor, and the posture change of the self-propelled working device 10 becomes smaller than that of the posture model.
In step 03, voltages are applied to the left front drive motor 64, the right front drive motor 57a, the left rear drive motor 58a, and the right rear drive motor 59a of the travel drive unit 14.
In step 04, the attitude and position of the self-propelled working device 10 are detected.

Below, the example which adjusts the working part attitude | position of the mowing machine 20 is demonstrated based on FIG.
As shown in FIG. 10, in step 10, the movement amount detection unit 18 moves the moving amount of the self-propelled working device 10 during the operation of cutting the grass with the mowing blade 88 while causing the self-propelled working device 10 to travel normally. Detect In step 11, based on the movement amount of the self-propelled working device 10, the working unit posture change of the mowing machine 20 is fuzzy-controlled based on the working unit posture model.
In step 12, a voltage is applied to the working unit variable motor 97 of the working unit posture changing unit 23. At step 13, posture information of the self-propelled working device 10 is acquired. The amount of movement in step 10 is detected based on the acquired posture information.

Next, an example of mowing the grass with the mowing machine 20 while making the self-propelled working device 10 self-propelled will be described based on FIG. 1, FIG. 11, and FIG. 12.
In step 20, voltages are applied to the front left drive motor 64, the front right drive motor 57a, the rear left drive motor 58a, and the rear right drive motor 59a of the travel drive unit 14. As shown in FIG. 12A, the self-propelled working device 10 travels forward in a direction intersecting the inclination direction of the traveling surface 30.
In step 21, the attitude and position of the movable body 11 of the self-propelled working device 10 are detected. In step 22, it is determined whether the posture change or position change of the self-propelled working device 10 is larger or smaller than the posture model. If the posture change or position change of the self-propelled working device 10 is larger than the posture model, in step 23, the left front variable motor 38, the right front variable motor 42, the left rear variable motor 45, the right rear variable motor 47 of the variable operation unit 15 are The voltage is applied to the selected variable motor.

The selected variable motors are referred to as left front variable motor 38 and right front variable motor 42 for convenience. As shown in FIG. 12B, the inclination angle θ2 of the left front wheel 51 of the traveling wheel 12 and the inclination angle θ3 of the right front wheel 52 are adjusted. Thus, the inner projection 76 of the left front wheel 51 bites into the traveling surface 30, and the outer projection 77 of the right front wheel 52 bites into the traveling surface 30. Thereby, the slip between the left front wheel 51 and the right front wheel 52 is suppressed.
If it is determined in step 24 that the attitude change of the self-propelled working device 10 is larger than the attitude model, the process returns to step 23.
On the other hand, if it is determined in step 24 that the posture change or position change of the self-propelled task device 10 is smaller than the posture model, the process proceeds to step 25. In step 25, a voltage is applied to the swing motor 93 of the mowing machine 20.
The mowing blade 88 of the mowing machine 20 swings in the direction of arrow J (see FIG. 1). The grass can be cut with the mowing blade 88 in a state in which the movable body 11 of the self-propelled working device 10 travels normally.

  In this state, in step 26, the control unit 25 determines whether the movement amount of the self-propelled working device 10 is large or small based on the information of the movement amount detection unit 18 detecting the movement amount of the self-propelled working device 10 to decide. When the movement amount of the self-propelled working device 10 is small, there is a possibility that the mowing work by the mowing machine 20 is not well performed. Therefore, the self-propelled working device 10 is stopped by applying brakes to the drive motors 64, 57a, 58a, 59a for driving the left front wheel 51, the right front wheel 52, the left rear wheel 53 and the right rear wheel 54.

In step 27, a voltage is applied to the working unit variable motor 97 based on the attitude information of the movable body 11, the position information, and the attitude model of the movable body 11.
In step 28, the working unit posture change of the mowing machine 20 is fuzzy controlled based on the working unit posture model. If the working unit posture change is large with respect to the working unit posture model, the process returns to step 27. If the working unit posture change is small with respect to the working unit posture model and the position change is small, the process proceeds to step 29.
As described above, the working unit posture is adjusted by the working unit posture changing unit 97 so that the working unit posture change becomes smaller than the working unit posture model. Thereby, the working part posture of the mowing machine 20 can be maintained properly with respect to the traveling surface 30.

In step 29, the brakes of the drive motors 64, 57a, 58a, 59a for driving the left and right front wheels 51, 52 and the left and right rear wheels 53, 54 are released. On the other hand, if it is determined in step 26 that the movement amount of the self-propelled working device 10 is large, the process returns to step 21.
Therefore, the grass of the traveling surface 30 can be cut by the mowing machine 20 while traveling the moving body 11 along the traveling surface 30. Thereby, a worker's burden in mowing work of run surface 30 can be reduced.

In the first embodiment, an example has been described in which the self-propelled working device 10 travels in a direction intersecting (specifically, orthogonally) with the inclination direction of the traveling surface 30 of the boat, but the present invention is not limited thereto. As another example, it is also possible to travel in a state in which the self-propelled working device 10 is straddled between the traveling surface 30 of the boat and the top (that is, footpath). In other words, the intersection of the traveling surface 30 and the winding road is formed in a projecting shape, and it is possible to travel the portion formed on this projecting strip.
In this case, for example, the inclination angles of the left front wheel 51 and the left rear wheel 53 of the self-propelled working device 10 are adjusted to the traveling surface 30, and the inclination angles of the right front wheel 52 and the right rear wheel 54 are adjusted to By doing this, it is possible to cut the grass with the mower 20 while running the self-propelled working device 10 well.

  In addition, it is also possible to travel the self-propelled working device 10 along the V-shaped recess. In this case, for example, the inclination angles of the left front wheel 51 and the left rear wheel 53 of the self-propelled working device 10 are adjusted to one traveling surface of the V-shaped recess, and the inclination angles of the right front wheel 52 and the right rear wheel 54 are adjusted. It is possible to adjust in accordance with the other running surface of the V-shaped recess. Thereby, the self-propelled working device 10 can be made to travel satisfactorily.

Furthermore, in the first embodiment, an example in which a gyro, an acceleration sensor, and an imaging unit are provided as the posture detection unit 17 that detects the posture of the moving body 11 has been described, but the present invention is not limited thereto. As another example, a load sensor (pressure sensor) is attached to each axle of left front wheel 51, right front wheel 52, left rear wheel 53 and right rear wheel 54, and the left front wheel is detected by detecting the load input to each axle It is also possible to adjust the inclination angles of the right front wheel 52, the left rear wheel 53 and the right rear wheel 54.
Moreover, although the said 1st Embodiment demonstrated the example which equips the movable body 11 with the hair clipper type mower 20 of a working part, it does not limit to this. For example, it is also possible to provide the moving body 11 with a rotary blade attached to the tip of the mower. Moreover, it is also possible to attach a rotary blade to the bottom of the moving body 11.

  Furthermore, in the said 1st Embodiment, although the mowing machine 20 was illustrated as a working machine, it does not limit to this. For example, instead of the mower 20, it is also possible to use the mobile body 11 for carrying the load. In particular, when transporting fruits harvested in an apple orchard, a peach plant, a vineyard or the like, it is conceivable to move the running surface. In this case, by using the moving body 11, the traveling surface can be carried well. For this reason, the burden on the transporter can be reduced.

  In the first embodiment, an example in which the traveling wheel 12 includes four front left wheels 51, right front wheels 52, left rear wheels 53, and right rear wheels 54 has been described. However, the present invention is not limited to this. For example, three or more wheels may be provided on the left and right, respectively.

  Next, the second to eighth embodiments will be described based on FIGS. 13 to 19. In addition, in 2nd Embodiment-8th Embodiment, the same code | symbol is attached | subjected about the same and same component as self-propelled working apparatus 10 of 1st Embodiment, and description is abbreviate | omitted.

Second Embodiment
As shown in FIG. 13, in the self-propelled working device 100, the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54 are the same as the self-propelled working device 10 of the first embodiment. The tilt angles in the width direction of the movable body can be adjusted individually.
Specifically, the base end of the left front bracket 37 is attached to the tip of the rotary shaft 38 a of the left front variable motor 38. The left front drive motor 64 is attached to the left front bracket 37. The drive shaft of the left front drive motor 64 protrudes outward from the tip of the left front bracket 37 in the width direction of the movable body, and the left front wheel 51 is attached to the drive shaft.
Therefore, by driving the left front variable motor 38, the left front bracket 102 can be swung up and down around the rotation shaft 38a. Thereby, the left front wheel 51 is inclined in the moving body width direction.

A drive pulley 103 is coaxially attached to the rotation shaft 38 a of the left front variable motor 38. An endless belt 105 is stretched between the drive pulley 103 and the driven pulley 104. The driven pulley 104 is coaxially attached to the rotating shaft 106. A potentiometer 107 is attached to the rotating shaft 106.
The potentiometer 107 detects the angular displacement of the rotary shaft 106 (ie, the rotary shaft 38a of the left front variable motor 38). Thereby, the inclination angle of the left front wheel 51 can be detected.
Further, the left front wheel 51 can be rotated by driving the left front drive motor 64.

  Like the left front wheel 51, the right front wheel 52, the right rear wheel 54, and the left rear wheel 53 are also configured to be capable of inclining in the movable body width direction and being rotatable, in the self-propelled working device 100.

Third Embodiment
As shown in FIG. 14, in the self-propelled working device 110, the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54 (not shown) are the self-propelled working devices of the first embodiment. Similar to 10, the inclination angle in the moving body width direction can be adjusted individually.
That is, the left front wheel 51 can adjust the inclination angle in the moving body width direction about the axis 112. The right front wheel 52 can adjust the inclination angle in the width direction of the movable body about the axis 113. The left rear wheel 53 can adjust the inclination angle in the width direction of the movable body about the axis 114. The right rear wheel 54 (not shown) can adjust the inclination angle in the moving body width direction about the axis 112.

In addition, the self-propelled working device 110 is provided with a front left gas spring 117, a front right gas spring 118, a rear left gas spring 119, and a rear right gas spring.
The left front gas spring 117 absorbs the vertical movement of the left front wheel 51 about the front axis 122. The right front gas spring 118 absorbs vertical movement of the right front wheel 52 about the front axis 122. The left rear gas spring 119 absorbs the vertical movement of the left rear wheel 53 about the rear axis 123. The right rear gas spring absorbs the vertical movement of the right rear wheel 54 (not shown) around the rear axis 123.
That is, the front left wheel 51, the front right wheel 52, the rear left wheel 53, and the rear right wheel 54 (not shown) are supported by the movable body 11 so as to be vertically movable.

Furthermore, the self-propelled working device 110 has a moving body width direction displacement amount absorbing portion 125 provided on the front side of the bottom of the moving body 11 and a rear moving body width provided on the rear side of the bottom of the moving body 11. And a directional displacement absorbing unit 126.
The front movable body width direction displacement amount absorbing portion 125 absorbs the displacement amount of the left front wheel 51 and the right front wheel 52 in the moving body width direction. The rear side moving body width direction displacement amount absorbing portion 126 absorbs the amount of movement of the left front wheel 51 and the right front wheel 52 in the moving body width direction.
That is, the front left wheel 51, the front right wheel 52, the rear left wheel 53, and the rear right wheel 54 (not shown) are supported by the moving body 11 so as to be movable in the moving body width direction.

  In this manner, the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54 (not shown) can move up and down, and can move in the moving body width direction, thereby allowing self-propelled It is possible to suppress the posture change of the work device 110 to be smaller than the posture model. As a result, the self-propelled working device 110 can travel along the traveling surface 30 (see FIG. 3) in a more stabilized state.

Fourth Embodiment
As shown in FIG. 15, the self-propelled work device 130 is configured such that the left front wheel 131 can adjust the inclination angle in the moving body width direction, as in the self-propelled work device 10 of the first embodiment.
Specifically, the bracket 133 is rotatably supported by the movable body 11 via the support shaft 132 in the vertical direction. A case 134 is attached to the bracket 133, and a driven pulley 135 is rotatably supported at the lower end of the case 134. The axle of the front wheel 131 is coaxially attached to the driven pulley 135.

Further, a drive pulley 136 is rotatably supported at the upper end portion of the case 134. A drive shaft 64 a of the left front drive motor 64 is coaxially attached to the drive pulley 136. Further, an endless belt 137 is stretched between the drive pulley 136 and the driven pulley 135.
Therefore, by driving the left front drive motor 64, the left front wheel 131 is rotated via the drive pulley 136, the driven pulley 135, and the belt 137.
Furthermore, by pivoting the bracket 133 in the vertical direction about the support shaft 132 of the movable body 11, the left front wheel 131 can be inclined at the inclination angle θ4 in the movable body width direction.

The left front wheel 131 includes an elastically deformable wheel moving body 131a, an outer plate portion 131b provided on the outer side in the moving body width direction of the wheel moving body 131a, and an inner side provided on the moving body width direction inner side of the wheel moving body 131a. And a plate portion 131c. The outer plate portion 131 b and the inner plate portion 131 c are formed of hard resin or metal.
Therefore, when the lower end portion of the left front wheel 131 moves outward in the width direction of the moving body and the left front wheel 131 is inclined to the inclination angle θ4 (state shown in FIG. 15), the outer peripheral portion 131d of the inner plate portion 131c runs on the traveling surface It can be cut into thirty. On the other hand, when the lower end portion of the left front wheel 131 moves inward in the moving body width direction and the left front wheel 131 is inclined to the inclination angle θ4, the outer peripheral portion 131e of the outer plate portion 131b can bite into the traveling surface 30 .

Fifth Embodiment
As shown in FIG. 16, the self-propelled working device 140 has a width dimension W1 of the left front wheel 142 smaller than that of the left front wheel 51 in the first embodiment.
When the width dimension W1 of the left front wheel 142 is formed small, the contact pressure of the left front wheel 142 with respect to the traveling surface 30 can be increased. Therefore, the left front wheel 142 can be suitably bited into the traveling surface 30. Similarly to the left front wheel 142, the right front wheel, the left rear wheel, and the right rear wheel are formed to have a smaller width.
As a result, the self-propelled working device 140 can travel along the traveling surface 30 in a more stabilized state.

Sixth Embodiment
As shown in FIG. 17, the self-propelled working device 150 is provided with a groth (projection) from the outer peripheral portion 153 of the left front wheel 152 and is protruded.
Specifically, the left front wheel 152 has a plurality of grouses 154 radially projected outward of the left front wheel 152 at intervals in the circumferential direction of the outer peripheral portion 153 and extends in the width direction of the left front wheel 152 There is. Therefore, the grocer 154 can be suitably bited into the traveling surface 30. The right front wheel, the left rear wheel, and the right rear wheel are also formed with a plurality of grousers 154 in the same manner as the left front wheel 152.
Therefore, the plurality of grouses 154 can bite into the running surface 30, or the contact pressure of the plurality of grouses 154 can be increased. Thereby, the slip of the left and right front wheels 152 and the left and right rear wheels with respect to the traveling surface 30 can be suppressed, and the self-propelled working device 150 can be more suitably traveled along the traveling surface 30.

Seventh Embodiment
As shown in FIG. 18, in the self-propelled working device 160, the outer peripheral portion (outer peripheral surface) 163 of the left front wheel 162 is formed so as to be elastically deformable, and the grouses (protrusions) are projected from the outer peripheral portion 163. , And extends in the width direction of the left front wheel 162.
Specifically, in the left front wheel 162, an axle 166 is coaxially disposed at the center of the outer wall, and a plurality of cylinders 167 are attached around the axle 166 in the circumferential direction of the axle 166. Furthermore, an outer peripheral portion 163 is attached to the outside of the plurality of cylinders 167. The outer side portion of the outer peripheral portion 163 is connected to the outer side of the outer side wall. The outer peripheral portion (outer peripheral surface) 163 is formed to be elastically deformable. The right front wheel, the left rear wheel, and the right rear wheel are also formed similarly to the left front wheel 162.
The outer peripheral portion 163 of the left front wheel 162 is formed of, for example, an elastically deformable rubber material.

  That is, the outer peripheral portion 163 can be elastically deformed along the traveling surface 30. Therefore, the outer peripheral portion 163 can be well grounded along the traveling surface 30. Thereby, slippage of the left front wheel 162, the right front wheel, the left rear wheel, and the right rear wheel can be suppressed, and the self-propelled working device 160 can be made to travel further along the traveling surface 30. .

Eighth Embodiment
As shown in FIG. 19, the self-propelled working device 170 has a left front wheel 171, a left central wheel 172 and a left rear wheel 173 provided on the left side of the moving body 11, and a right front wheel provided on the right side of the moving body 11. 174, a right center wheel 175 and a right rear wheel 176.
The left front wheel 171, the left center wheel 172 and the left rear wheel 173 are wheels formed in the same manner. The right front wheel 174, the right center wheel 175 and the right rear wheel 176 are wheels symmetrical with the left front wheel 171, the left center wheel 172 and the left rear wheel 173. Therefore, the left front wheel 171 will be described in detail, and the detailed description of the left central wheel 172, the left rear wheel 173, the right front wheel 174, the right central wheel 175, and the right rear wheel 176 will be omitted.

Similar to the left front wheel 51 of the first embodiment, the left front wheel 171 is configured to be capable of adjusting the inclination angle with respect to the moving body width direction. Thereby, the slip of the left front wheel 171 with respect to the traveling surface 30 can be suppressed, and the moving body 11 can be normally traveled along the traveling surface 30.
Furthermore, the left front wheel 171 is formed in an S shape in a side view. Specifically, the left front wheel 171 is disposed on the front left side 11b side of the movable body 11, and a central portion 171a is attached to the drive shaft 178 of the drive motor. The left front wheel 171 has a first curved portion 171b extending in a curved shape from the central portion 171a, and a second curved portion 171c extending in a curved shape on the opposite side of the first curved portion 171b from the central portion 171a.

  The left front wheel 171 is formed in a S-shape in a side view by the first curved portion 171 b and the second curved portion 171 c, so that the ground portion 171 d of the left front wheel 171 is circumferentially spaced 180 ° in two places. It can be formed. Therefore, the traveling surface 30 can be favorably climbed along the inclination direction of the traveling surface 30. Thereby, the traveling of the self-propelled work device 170 on the traveling surface 30 can be secured more favorably.

  The technical scope of the present invention is not limited to the above-described embodiment, and various adjustments can be made without departing from the scope of the present invention.

10, 100, 110, 130, 140, 150, 160, 170 ... self-propelled working device 11 ... moving body 12 ... traveling wheel 15 ... variable operation unit 17 ... attitude detection unit 20 ... mowing machine (operation unit )
22 ...... Working unit posture detection unit 23 ...... Working unit posture variable unit 25 ...... Control unit 30 ...... Traveling surface 51, 131, 171 ... Left front wheel 52, 174 ... Right front wheel 53, 173 ... Left rear wheel 54 , 176 ··· Right rear wheel 75, 77, 81, 83 ··· Outer protrusion (projection)
76, 78, 82, 84 ... inner protrusion (protrusion)
154, 164 ... Glossa (protrusions)
163 ··· Outer peripheral portion (outer peripheral surface)
172 ... left center wheel 175 ... right center wheel

Claims (9)

A mobile with a working unit,
Traveling wheels provided with at least left and right front wheels and left and right rear wheels supported by the moving body and capable of individually adjusting an inclination angle (camber angle) viewed from the front of the moving body.
And a variable operation unit for individually adjusting the inclination angles of the traveling wheels.
When the movable body moves in a direction intersecting with the inclination direction of the inclined traveling surface, the inclination angle of the traveling wheel is variably operated so as to suppress the side slip in the inclination direction of the movable body. Adjust in part,
A self-propelled working device characterized by A posture detection unit that detects the posture of the moving body;
A control unit that determines whether a change in posture of the moving object is larger or smaller than a posture model based on information from the posture detection unit;
The control unit
When the posture change of the movable body is larger than the posture model, the variable operation is performed on the signal for adjusting the inclination angles of the left and right front wheels and the left and right rear wheels so that the posture change of the movable body becomes smaller than the posture model. Send to department
The self-propelled working device according to claim 1, characterized in that. The attitude detection unit includes at least one of a gyro, an acceleration sensor, and an imaging unit.
The self-propelled work device according to claim 2 characterized by things. A work unit posture variable unit configured to adjust a posture of the work unit;
The control unit
Based on the signal from the posture detection unit, it is determined whether the working unit posture change of the working unit is larger or smaller than the working unit posture model,
When the working unit attitude change is larger than the working unit attitude model, a signal for adjusting the working unit attitude change is sent to the working unit attitude changing unit such that the working unit attitude change is smaller than the working unit attitude model.
The self-propelled working device according to any one of claims 2 to 3, characterized in that. The working unit is a mower,
The self-propelled working device according to any one of claims 1 to 4, characterized in that. The traveling wheel has a protruding portion that protrudes outward at the intersection of the outer peripheral surface and the inner surface, and at the intersection of the outer peripheral surface and the outer surface.
The self-propelled working device according to any one of claims 1 to 5, characterized in that. The traveling wheel is provided at intervals in the circumferential direction of the outer peripheral surface, and has a plurality of ridges projecting outward from the outer peripheral surface and extending in the width direction of the traveling wheel.
The self-propelled working device according to any one of claims 1 to 5, characterized in that. The traveling wheel has an outer peripheral surface formed so as to be elastically deformable.
The self-propelled working device according to any one of claims 1 to 5, characterized in that. The traveling wheel is formed in an S shape in a side view.
The self-propelled working device according to any one of claims 1 to 5, characterized in that.

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