JP2018193726A - Cutting device for laying material or pavement material and cutting method for the same - Google Patents

Abstract

To provide a cutting device for a laying material or a pavement material and a cutting method thereof with which it is possible to reduce the human labor required for a cutting work and to always cut the laying material accurately.SOLUTION: A cutter 20 cuts an artificial lawn 1 while a cutting device body 10 is guided such that the cutting device body 10 travels along a prescribed cutting position C. Thus, it is possible to greatly reduce the human labor required for a cutting work even with the artificial lawn 1 being on a large ground, and to always cut the artificial lawn 1 accurately. In this case, the cutting device body 10 is set to travel along the cutting position C while a laser beam Z emitted from a light emitting part 42 of the cutting device body 10 is received by a first light receiving part 43a of a target body 41. Thereby, the cutting device body 10 can always be accurately guided by wireless guidance using the laser light Z.SELECTED DRAWING: Figure 1

Description

  The present invention relates to, for example, an artificial turf laid on a ground such as tennis court, baseball, soccer, rugby, American football, etc., a laying material for cutting a paving material such as asphalt or concrete, or a paving material cutting device. And a cutting method thereof.

  Conventionally, as artificial turf laid in various sports facilities, etc., a sheet-like base material in which a synthetic resin pile is planted is placed on an underlayer such as asphalt, and a fine space between piles on the base material Known is sand or quartz sand, or those filled with a filler formed by spraying and mixing rubber chips (see, for example, Patent Document 1).

  Such artificial turf has good water drainage and easy condition management because the filling layer is permeable to moisture such as rain and water spray, and is not only aesthetically pleasing when using colored fillings. There is an advantage that the visibility of a line made of white pile can be improved. In addition, the impact when the athlete lands is absorbed by the filler, and moderate slip is obtained by the filler, so the burden on the athlete can be reduced. It also has the effect of preventing burns due to friction.

  However, the conventional artificial turf loses the pile due to long-term use, and the filler solidifies and hardens over time, and the impact absorption and water permeability are impaired. It is necessary to replace it with. In the artificial turf replacement work, the existing artificial turf is cut into a predetermined width with the filler still in place, rolled up and removed from the laying site and disposed as industrial waste.

  However, if the artificial turf and the packing are separated, they can be reused in many cases. Therefore, if the artificial turf or packing after such removal is disposed as industrial waste as it is, wasteful consumption of resources. At the same time, disposal costs for industrial waste will also be incurred, leading to an increase in replacement work costs. Therefore, by collecting artificial turf with filler from the installation location and separating it into artificial turf and filler at factories, etc., for example, artificial turf is recycled and recycled, and the artificial turf-separated filler is newly added. It has been proposed to fill an artificial turf to be laid or to be used for other purposes as a civil engineering or building material (see, for example, Patent Document 2).

  Further, as a device for cutting the artificial turf laid on the laying surface, a plate-like insertion member attached to the cutting device body is inserted between the artificial turf and the laying surface, and the insertion member lifts from the laying surface. It is known that the artificial turf is cut along the advancing direction of the cutting device main body by advancing the cutting device main body while cutting the artificial turf with a disc-shaped cutter (for example, Patent Documents) 3).

JP-A-6-193010 JP 2009-1113020 A JP 2008-285879 A

  By the way, when the artificial turf is removed, the existing artificial turf is cut to a predetermined width. However, since the artificial turf of various exercise facilities is often laid on a vast ground, the other one from the end of the ground. The cutting device must be reciprocated several times to the end. In this case, a line is drawn on the artificial turf to indicate the cutting position, and the operator cuts the artificial turf while pushing the cutting device along the line. There was a problem. In addition, since the cutting device is pushed manually, the cutting device may meander by an unfamiliar operator, and there is also a problem that it is difficult to always cut accurately along the cutting position. .

  The present invention has been made in view of the above-mentioned problems, and the object of the present invention is to reduce the human labor required for the cutting work and to lay the laying object accurately at all times. Another object is to provide a pavement cutting apparatus and a cutting method thereof.

  In order to achieve the above-mentioned object, the present invention comprises a cutting device main body that travels on a cutting object made of a sheet-like laying or paving material, and a cutter provided in the cutting device main body. In a laying or pavement cutting apparatus for cutting a cutting object with a cutter while traveling, a driving means for traveling the cutting apparatus body and a cutting apparatus body so that the cutting apparatus body travels along a predetermined cutting position And guiding means for guiding.

  In order to achieve the above object, the present invention cuts the cutting object with a cutter provided on the cutting apparatus body while the cutting apparatus body is running on the cutting object made of a sheet-like laying or paving object. In the method of cutting a laid object or a paving object, the cutting device main body is caused to travel by a driving means, and the cutting device main body is guided so that the cutting device main body travels along a predetermined cutting position.

  Thereby, since the cutting object is cut by the cutter while being guided so that the cutting device main body travels along the predetermined cutting position, it is not necessary to travel while pushing the cutting device main body manually.

  According to the present invention, since it is not necessary to run the cutting device body while pushing it manually, it is possible to greatly reduce the labor required for cutting work, for example, even on a vast ground artificial turf. Can be cut accurately.

The side view of the cutting device which shows the 1st Embodiment of this invention Top view of the cutting device Enlarged side view of the main part of the cutting device AA line arrow direction sectional view Front view of target body Block diagram showing the control system Cross section of artificial grass Main part enlarged side view showing the operation of the cutting device The top view which shows the driving | running | working and cutting process of a cutting device main body. The top view which shows the driving | running | working and cutting process of a cutting device main body. The top view which shows the driving | running | working and cutting process of a cutting device main body. The top view which shows the driving | running | working and cutting process of a cutting device main body. The top view which shows the driving | running | working and cutting process of a cutting device main body. Flow chart showing operation of control unit Plan view of cutting device main body and target body The side view of the cutting device which shows the 2nd Embodiment of this invention Block diagram showing the control system The top view which shows the driving | running | working and cutting process of a cutting device main body. Flow chart showing operation of control unit The side view of the cutting device which shows the 3rd Embodiment of this invention Top view of the cutting device Block diagram showing the control system The top view which shows the driving | running | working and cutting process of a cutting device main body. Flow chart showing operation of control unit Diagram showing imaging area The side view of the cutting device which shows the 3rd Embodiment of this invention Top view of the cutting device Block diagram showing the control system The top view which shows the driving | running | working and cutting process of a cutting device main body. Flow chart showing operation of control unit Diagram showing the positional relationship between each displacement sensor and derivative

  FIGS. 1 to 15 show a first embodiment of the present invention, for example, for cutting an artificial turf 1 as a sheet-like laying object laid on a tennis court, a baseball field ground or the like as a cutting object. This shows a cutting apparatus.

  As shown in FIG. 7, the artificial turf 1 includes a sheet-like base material 1a and a pile 1b planted on the base material 1a, and a filler 2 is filled between the piles 1b. The artificial turf 1 is laid on the ground layer 3 as a laying surface formed on the ground side.

  The base material 1a is formed of, for example, a plain weave or non-woven fabric base fabric made of polypropylene or the like, and is made of a sheet-like member having water permeability in which drain holes (not shown) are provided at equal intervals.

  The pile 1b is made of pile yarn made of a synthetic resin such as nylon, polyamide, polyethylene terephthalate, polypropylene, or polyvinylidene chloride, and is implanted in the base fabric 1a by tufting or the like. In this case, the grass surface is formed by arranging a plurality of pile yarns at equal intervals.

  The filling 2 is made of fine sand or silica sand, or a rubber chip mixed with these, and is filled between the piles 1 b of the artificial turf 1. In this case, the filling 2 is filled to a height of about 70% to 90% with respect to the height of the pile 1b.

  The foundation layer 3 is formed by constructing a permeable asphalt on a foundation ground 4 having a permeable structure in which crushed stones, chestnuts and the like are spread so that the upper surface is flat. After the artificial turf 1 is installed on the surface of the foundation layer 3, it is laid by filling the filler 2 between the piles 1b. In this case, the artificial turf 1 is laid and constructed on the base layer 3 by the weight of the filler 2.

  The cutting device of this embodiment includes a cutting device body 10 that can travel on the artificial turf 1, a cutter 20 that cuts the artificial turf 1, and an insertion member 30 that is inserted between the artificial turf 1 and the ground layer 3. And a guiding device 40 for guiding the cutting device main body 10.

  The cutting device main body 10 includes a front wheel 11 and a rear wheel 12 that are provided as a pair on the left and right sides, and a traveling mechanism 13 and a steering mechanism 14 that serve as driving means for traveling the cutting device main body 10. The traveling mechanism 13 is configured by a motor or an engine that transmits power to the rear wheel 12, and the steering mechanism 14 is a known mechanism that steers the front wheel 11 left and right. Further, a pair of left and right grips 10 a for manually moving the cutting device body 10 is provided on the rear end side of the cutting device body 10.

  The cutter 20 is a circular blade cutter that cuts while rotating, and is preferably a disc-shaped cutting grindstone for cutting sand-containing artificial turf. The cutter 20 is disposed on the right side of the front end side of the cutting device main body 10 and is rotated by a driving means (not shown) mounted on the cutting device main body 10.

  The insertion member 30 is formed of a plate-like member that is long in the front-rear direction, and is formed so that the upper surface on the front end side is inclined downward toward the front. A cutout portion 31 in which the lower end side of the cutter 20 is disposed is provided on the front end side of the insertion member 30, and the cutout portion 31 is formed so as to extend from the front end of the insertion member 30 to substantially the center in the front-rear direction of the insertion member 30. Yes. The insertion member 30 is disposed on the outer side in the width direction of the front wheel 11 on the right side in the traveling direction of the cutting device main body 10, and a connecting portion 32 connected to the cutting device main body 10 is provided on the rear end side. The connecting portion 32 is formed in a plate shape whose thickness direction is the width direction of the insertion member 30, and a fixing portion 33 that is fixed to the cutting device body 10 is provided on the upper end side of the connecting portion 32.

  The guide device 40 includes a target body 41 arranged at a travel target position of the cutting device main body 10, a light emitting unit 42 that emits laser light from the cutting device main body 10 toward the target body 41, and a light emitting unit 42 of the target body 41. The first to third light receiving parts 43a, 43b, 43c that receive the laser light of FIG. 5, the distance sensor 44 that detects the distance from the cutting device main body 10 to the target body 41, and the laser light of the light emitting part 42 are the first. A control unit 45 that controls the traveling mechanism 13 and the steering mechanism 14 is provided so that the cutting apparatus main body 10 travels along the cutting position C while being received by the light receiving unit 43a.

  The target body 41 is formed so as to be able to be installed at an arbitrary position serving as a travel target position of the cutting apparatus body 10 and is made of a member that can be moved manually.

  The light emitting unit 42 is composed of a light emitting element attached to the front surface of the cutting device main body 10, and irradiates the laser beam Z toward the target body 41 horizontally. The light emitting part 42 is disposed at a position separated from the cutter 20 by a distance D on the left side in the width direction.

  Each of the light receiving portions 43 a, 43 b, 43 c is composed of a light receiving element attached to the front surface of the target body 41, and the first light receiving portion 43 a is disposed at the center in the width direction of the target body 41. A second light receiving portion 43b is disposed on one side (right side in the drawing) of the first light receiving portion 43a, and a third light receiving portion is disposed on the other width direction (left side in the drawing) of the first light receiving portion 43a. The part 43c is arranged. When the laser light Z of the light emitting unit 42 is received by each of the light receiving units 43a, 43b, and 43c, the light receiving processing unit 46 converts the light into a detection signal and transmits the detection signal from the communication unit 47 to the cutting device body 10 side. Yes.

  The distance sensor 44 is a known sensor that detects a relative distance to an object, and is attached to the front surface of the cutting apparatus main body 10. For example, the distance sensor 44 can be configured by a known millimeter wave radar sensor that radiates a millimeter wave band toward a predetermined area in front and receives a reflected wave from an object.

  The control unit 44 is configured by a microcomputer disposed on the cutting device main body 10 side, and is connected to the traveling mechanism 13, the steering mechanism 14, the light emitting unit 42, and the distance sensor 44. In addition, the control unit 44 receives a detection signal transmitted from the communication unit 47 on the target body 41 side by a communication unit 48 provided on the cutting device body 10 side.

  When the artificial turf 1 is cut by the cutting apparatus configured as described above, the insertion member 30 is inserted between the artificial turf 1 filled with the filler 2 and the ground layer 3, and the cutter 20 is inserted. The cutting device main body 10 is advanced while rotating. Thereby, as shown in FIG. 8, the artificial turf 1 is cut by the cutter 20 on the cutout portion 31 while riding on the upper surface of the insertion member 30.

  In this embodiment, as shown in FIGS. 9 to 13, the artificial turf 1 laid on the ground or the like is cut into a predetermined width W (for example, 1500 mm) by the cutting device. In that case, it cuts, making the cutting device main body 10 run automatically along one side of the artificial turf 1. In addition, the cutting position C in a figure shows the virtual line before a cutting | disconnection with a broken line, and shows a solid line after a cutting | disconnection.

  First, as shown in FIG. 9, the cutting device main body 10 is arranged on one end side of the artificial turf 1 so that the cutter 20 is positioned before the first cutting position C. At that time, the target body 41 is installed on the other end side of the artificial turf 1 so that the laser light Z emitted from the light emitting unit 15 of the cutting apparatus body 10 is received by the first light receiving unit 43a of the target body 41. The cutting device main body 10 is arranged in the above. In this case, the cutting device main body 10 so that the distance in the width direction between the laser beam Z irradiated from the light emitting unit 42 to the first light receiving unit 43a and the cutting position C coincides with the distance D between the light emitting unit 42 and the cutter 20. And the target body 41 is arrange | positioned. Further, another target body 41 is also arranged on one end side of the artificial turf 1 in preparation for cutting at the second cutting position C.

  Next, when the cutting device body 10 is started, the artificial turf 1 is cut at the cutting position C by the cutter 20 while the cutting device body 10 travels along the cutting position C as shown in FIG. At that time, the cutting device body 10 travels toward the target body 41 while the traveling direction is controlled so that the first light receiving portion 43a of the target body 41 receives the laser light Z. Thereby, the cutting device main body 10 travels along the cutting position C from one end to the other end of the artificial turf 1, and stops immediately before the target body 41 as shown in FIG.

  After that, the direction of the cutting device body 10 is manually changed and moved to the front of the second cutting position C, and the cutting device body 10 is started toward the target body 41 arranged on one end side of the artificial turf 1, As described above, the artificial turf 1 is cut at the cutting position C by the cutter 20 while the cutting device body 10 is traveling along the cutting position C as shown in FIG. At that time, the target body 41 on the other end side of the artificial turf 1 is moved to the third cutting position C.

  In this way, the artificial turf 1 is cut at all cutting positions C by running while sequentially shifting to the cutting positions C as shown in FIG. The cut artificial turf 1 is rolled and collected.

  Here, operation | movement of the control part 45 which controls driving | running | working of the cutting device main body 10 is demonstrated with reference to the flowchart of FIG. First, when the cutting device body 10 starts (S1), the steering angle θ of the steering mechanism 14 is set to zero (S2). Next, the detection distance L of the distance sensor 44 is not equal to or less than L1 (for example, 0.5 m) (S3), and the laser beam Z emitted from the light emitting unit 15 is emitted from the target body 41 as shown in FIG. If light is received by one light receiving portion 43a (S4), the operations of steps S3 to S4 are repeated. Here, in step S4, when the laser beam Z is not received by the first light receiving unit 43a and the laser beam Z is received by the second light receiving unit 43b as shown in FIG. Is set to α (for example, 2 °) to the left (S5), and the front wheels 11 are steered to the left by the steering mechanism. Thereby, the direction of the cutting apparatus main body 10 whose course is going to shift to the right side is changed to the left side, and if the laser light Z is received by the first light receiving unit 43a (S6), the process returns to step S2. In step S4, when the laser beam Z is not received by the first light receiving unit 43a and the laser beam Z is received by the third light receiving unit 43c as shown in FIG. The steering angle θ is set to α (for example, 2 °) to the right (S7), and the front wheel 11 is steered to the right by the steering mechanism. As a result, the direction of the cutting device main body 10 whose course is going to shift to the left side is changed to the right side, and if the laser beam Z is received by the first light receiving unit 43a (S8), the process returns to step S2. When the cutting device main body 10 reaches the vicinity of the target body 41 and the detection distance L of the distance sensor 44 becomes equal to or less than L1 in step S3, the cutting device main body is stopped (S9).

  Thus, according to the cutting device of the present embodiment, the artificial turf 1 is cut by the cutter 20 while guiding the cutting device body 10 so that the cutting device body 10 travels along the predetermined cutting position C. Therefore, even if it is the vast ground artificial turf 1, the manpower required for cutting work can be greatly reduced, and the artificial turf 1 can always be cut accurately.

  In this case, since the laser beam Z emitted from the light emitting unit 42 of the cutting device main body 10 is received by the first light receiving unit 43a of the target body 41, the cutting device main body 10 travels along the cutting position C. The cutting device main body 10 can always be guided accurately by radio guidance using the laser beam Z.

  16 to 19 show a second embodiment of the present invention, and the configuration of the guidance device is different from that of the above embodiment. In addition, the same code | symbol is attached | subjected and shown to the component equivalent to the said embodiment.

  That is, the guidance device 50 according to the present embodiment includes a target body 51 that is disposed at a travel target position of the cutting device body 10, a first position detection unit 52 that detects the position of the cutting device body 10, and the target body 51. The cutting device main body 10 travels along the cutting position C to the target body 51 based on the position of the second position detecting unit 53 that detects the position and the position of the cutting device main body 10 detected by the first position detecting unit 52. Thus, a control unit 54 that controls the traveling mechanism 13 and the steering mechanism 14 of the cutting apparatus body 10 is provided.

  The target body 51 is formed so as to be installed at an arbitrary position that is a travel target position of the cutting apparatus body 10 and is made of a member that can be moved manually.

  The first position detection unit 52 is configured by a well-known GPS (Global Positioning System) provided in the cutting apparatus body 10 and receives a GPS signal from a GPS satellite to detect the current position of the cutting apparatus body 10. It has become.

  Similar to the first position detection unit 52, the second position detection unit 53 is configured by a well-known GPS provided in the target body 51 and receives a GPS signal from a GPS satellite to detect the position of the target body 51. It is supposed to be. The position information detected by the second position detection unit 53 is transmitted from the communication unit 55 to the cutting device body 10 side.

  The control unit 54 is configured by a microcomputer disposed on the cutting device body 10 side, and is connected to the travel mechanism 13, the steering mechanism 14, and the first position detection unit 52. In addition, the control unit 54 receives the position information transmitted from the communication unit 55 on the target body 51 side by the communication unit 56 on the cutting device body 10 side.

  In the present embodiment, as shown in FIG. 18, the cutting device main body 10 is arranged on one end side of the artificial turf 1 so that the cutter 20 is positioned before the first cutting position C, and the other end side of the artificial turf 1 The target body 51 is installed. At that time, the cutting device main body 10 and the target body 51 are arranged so that a straight line connecting the cutting device main body 10 and the target body 51 is parallel to the cutting position C.

  Here, the operation of the control unit 54 that controls the travel of the cutting apparatus body 10 will be described with reference to the flowchart of FIG. First, the position information of the cutting device main body 10 is acquired from the first position detection unit 52 (S10), and the position information of the target body 51 is acquired from the second position detection unit 53 (S11). Next, the travel route R of the cutting device body 10 is set from these position information (S12). In this case, a straight line connecting the position of the cutting device main body 10 and the position of the target body 51 is set as the travel route R. Thereafter, when the cutting device main body 10 starts (S13), the position of the cutting device main body 10 does not deviate from the travel route R based on the position information of the cutting device main body 10 detected by the first position detection unit 52. The steering mechanism 14 is controlled (S14). And if the position of the cutting device main body 10 reaches the position of the target body 51 (S15), the cutting device main body is stopped (S16).

  Thus, according to the cutting device of the present embodiment, the artificial turf 1 is cut by the cutter 20 while guiding the cutting device body 10 so that the cutting device body 10 travels along the predetermined cutting position C. Therefore, as in the first embodiment, even with the vast ground artificial turf 1, the manpower required for the cutting work can be greatly reduced, and the artificial turf 1 can always be cut accurately. it can.

  In this case, since the cutting device main body 10 travels to the target body 51 along the cutting position C based on the position of the cutting device main body 10 detected by the first position detection unit 52 made of GPS, it is always accurate. The cutting device main body 10 can be guided to.

  In the present embodiment, the cutting device main body 10 is guided based on the position information of the target body 51 and the position information of the cutting device main body 10, but the map of the range where the artificial turf 1 is laid is shown. The cutting device body 10 may be guided based on the information (coordinate information) and the position information of the cutting device body 10.

  In the present embodiment, the position information is obtained by GPS and the cutting apparatus main body 10 is guided. However, information communication technology other than GPS may be used for the position detection means.

  20 to 25 show a third embodiment of the present invention, and the configuration of the guidance device is different from that of the above embodiment. In addition, the same code | symbol is attached | subjected and shown to the component equivalent to the said embodiment.

  That is, the guidance device 60 of the present embodiment is imaged by the linear derivative 61 arranged along the cutting position C on the artificial grass 1, the imaging unit 62 that images the derivative 61 as an image, and the imaging unit 62. An image processing unit 63 that processes the captured image, and a control unit 64 that controls the traveling mechanism 13 and the steering mechanism so that the cutting apparatus main body 10 travels along the cutting position C based on the image captured by the imaging unit 62. It is composed of

  The derivative 61 is made of a linear member such as a rope having a shape and color that can be clearly distinguished from the artificial turf 1, and has a length extending from one end to the other end of the artificial turf 1.

  The imaging unit 62 includes imaging means such as a CCD camera attached to the front surface of the cutting apparatus main body 10, and images the artificial turf 1 below from the front of the cutting apparatus main body 10. The imaging unit 62 is disposed at a position separated from the cutter 20 by a distance D on the left side in the width direction.

  As shown in FIG. 25, the image processing unit 63 applies each of the first to third regions A1, A2, and A3 divided in the left-right direction of the cutting apparatus body 10 in the region A imaged by the imaging unit 62. Whether or not the derivative 61 is present is determined by image processing. For example, a program for determining the presence or absence of the derivative 61 by recognizing the derivative 61 imaged in the areas A1, A2, and A3 as an image, or the image of the derivative 61 imaged in the areas A1, A2, and A3 and other parts. And a program that discriminates the presence or absence of the derivative 61 based on the ratio of the image of the derivative 61.

  The control unit 64 includes a microcomputer disposed on the cutting device body 10 side, and is connected to the traveling mechanism 13, the steering mechanism 14, and the image processing unit 63.

  In the present embodiment, as in the first embodiment, the artificial turf 1 laid on the ground or the like is cut into a width W by the cutting device as shown in FIG. In that case, it cuts, making the cutting device main body 10 run automatically along one side of the artificial turf 1. In addition, the cutting position C in a figure shows the virtual line before a cutting | disconnection with a broken line, and shows a solid line after a cutting | disconnection.

  First, as in the first dismantling, the cutting device main body 10 is arranged on one end side of the artificial turf 1 so that the cutter 20 is positioned before the first cutting position C, and the derivative 61 is placed on the artificial turf 1. The artificial turf 1 is arranged in parallel with the cutting position C so as to extend from one end to the other end. At that time, the image of the derivative 61 imaged by the imaging unit 62 of the cutting apparatus main body 10 is arranged so as to be located in the first region A1. That is, the cutting device main body 10 and the derivative 61 are arranged so that the distance in the width direction between the center of the derivative 61 and the cutting position C matches the distance D between the imaging unit 52 and the cutter 20.

  Next, when the cutting device main body 10 is started, the artificial turf 1 is cut at the cutting position C by the cutter 20 while the cutting device main body 10 travels along the cutting position C as shown in FIG. At that time, the cutting device body 10 travels while the traveling direction is controlled based on the image of the derivative 61 imaged by the imaging unit 62. Thereby, the cutting device main body 10 travels along the cutting position C from one end of the artificial turf 1 to the other end.

  Thereafter, as in the first embodiment, the orientation of the cutting apparatus body 10 is manually changed to move to the front of the second cutting position C, and the derivative 61 is disposed along the second cutting position C. The artificial turf 1 is cut at the cutting position C by the cutter 20 while the cutting device body 10 is traveling along the cutting position C.

  In this way, the artificial turf 1 is cut at all the cutting positions C by repeating the running of the cutting apparatus body 10 and the cutting by the cutter 20 while sequentially shifting to each cutting position C. The cut artificial turf 1 is rolled and collected.

  Here, the operation of the control unit 64 that controls the traveling of the cutting apparatus body 10 will be described with reference to the flowchart of FIG. First, when the cutting device body 10 starts (S20), the steering angle θ of the steering mechanism 14 is set to zero (S21). Next, as shown in FIG. 25A, if the image of the derivative 61 imaged by the imaging unit 62 is located in the first area A1 (S22), the operations of steps S21 to S22 are repeated. Here, when the image of the derivative 61 is not located in the first area A1 in step S22 and is located in the second area A2 as shown in FIG. 25 (b) (S23), the steering angle of the steering mechanism 14 is displayed. θ is set to α (for example, 2 °) to the left (S24), and the front wheel 11 is steered to the left by the steering mechanism. As a result, if the direction of the cutting apparatus main body 10 whose course has been shifted to the right side is changed to the left side and the image of the derivative 61 is located in the first area A1 (S25), the process returns to step S2. In step S22, the image of the derivative 61 is no longer located in the first area A1, and in step S23 it is not located in the second area A2, but is located in the second area A3 as shown in FIG. 25 (c). In the case of (S26), the steering angle θ of the steering mechanism 14 is set to α (for example, 2 °) to the right (S27), and the front wheel 11 is steered to the right by the steering mechanism 14. As a result, the direction of the cutting device main body 10 whose course is going to shift to the left side is changed to the right side, and if the image of the derivative 61 is located in the first area A1 (S28), the process returns to step S21. When the cutting device main body 10 reaches the other end of the artificial turf 1 and the image of the derivative 61 does not exist in any of the areas A1, A2, A3 in steps S22, 23, 26, the cutting device main body is stopped. (S29).

  Thus, according to the cutting device of the present embodiment, as in the first embodiment, the cutter 20 is guided by the cutter 20 while guiding the cutting device body 10 so that the cutting device body 10 travels along the predetermined cutting position C. Since the artificial turf 1 is cut, it is possible to greatly reduce the labor required for the cutting work even with the vast ground artificial turf 1 and to always cut the artificial turf 1 accurately. it can.

  In this case, since the cutting device body 10 travels along the cutting position C while detecting the derivative 61 disposed along the cutting position C on the artificial turf 1 by the imaging unit 62, the cutting device is always accurately detected. The body 10 can be guided.

  In this embodiment, the derivative 61 made of a rope or the like is placed on the artificial turf 1 along the cutting position C. However, the surface of the artificial turf 1 is drawn by coloring the paint to form a linear shape. A derivative of may also be formed.

  FIG. 26 to FIG. 31 show a fourth embodiment of the present invention, and the configuration of the guidance device is different from that of the above embodiment. In addition, the same code | symbol is attached | subjected and shown to the component equivalent to the said embodiment.

  That is, the guidance device 70 of the present embodiment detects the amount of displacement between the linear conductive derivative 71 disposed along the cutting position C on the artificial grass 1 and the derivative 71. The travel mechanism 13 and the steering mechanism 14 are controlled so that the cutting apparatus body 10 travels along the cutting position C based on the displacement sensors 72a, 72b, 72c and the displacement amounts detected by the displacement sensors 72a, 72b, 72c. And a control unit 73.

  The derivative 71 is made of a conductor such as an electric cable, and has a length extending from one end to the other end of the artificial turf 1.

  Each displacement sensor 72 a, 72 b, 72 c is a known eddy current displacement sensor attached to the front surface of the cutting device body 10, and detects the amount of displacement from the front of the cutting device body 10 to the lower derivative 71. ing. That is, in each displacement sensor 72a, 72b, 72c, when an alternating current is supplied to an exciting coil (not shown), an eddy current is generated in the conductor of the derivative 71, and this eddy current is changed as an alternating current impedance by a detecting coil (not shown). A voltage signal corresponding to the magnitude of the detected eddy current is output from a detector (not shown). Since the magnitude of this voltage depends on the distance from the derivative 71, by converting the magnitude of the voltage signal into a displacement amount, as shown in FIG. 31, the displacement amounts H1 and H1 from the displacement sensors 72a, 72b and 72c, H2 and H3 are obtained. The first displacement sensor 72a is disposed at a position away from the cutter 20 by a distance D on the left side in the width direction.

  The control unit 73 includes a microcomputer disposed on the cutting device body 10 side, and is connected to the traveling mechanism 13, the steering mechanism 14, and the displacement sensors 72a, 72b, and 72c.

  In the present embodiment, as in the first embodiment, as shown in FIG. 29, the artificial turf 1 laid on the ground or the like is cut into a width W by the cutting device. In that case, it cuts, making the cutting device main body 10 run automatically along one side of the artificial turf 1. In addition, the cutting position C in a figure shows the virtual line before a cutting | disconnection with a broken line, and shows a solid line after a cutting | disconnection.

  First, the cutting apparatus main body 10 is arranged on one end side of the artificial turf 1 so that the cutter 20 is positioned in front of the first cutting position C, and the derivative 71 is placed on the artificial turf 1 from one end to the other end of the artificial turf 1. It arrange | positions in parallel with the cutting position C so that it may extend over. In that case, it arrange | positions so that the 1st displacement sensor 72a of the cutting device main body 10 may be located just above the derivative | guide_body 71. FIG. That is, the cutting device main body 10 and the derivative 71 are arranged such that the distance in the width direction between the center of the derivative 71 and the cutting position C matches the distance D between the first displacement sensor 72a and the cutter 20.

  Next, when the cutting device body 10 is started, the artificial turf 1 is cut at the cutting position C by the cutter 20 while the cutting device body 10 travels along the cutting position C as shown in FIG. At that time, the cutting apparatus main body 10 travels while the traveling direction is controlled based on the displacement amount detected by each displacement sensor 72a, 72b, 72c. Thereby, the cutting device main body 10 travels along the cutting position C from one end of the artificial turf 1 to the other end.

  Thereafter, as in the above-described embodiment, the orientation of the cutting device main body 10 is manually changed to move to the front of the second cutting position C, and the derivative 71 is disposed along the second cutting position C. The artificial turf 1 is cut at the cutting position C by the cutter 20 while the main body 10 travels along the cutting position C.

  In this way, the artificial turf 1 is cut at all the cutting positions C by repeating the running of the cutting apparatus body 10 and the cutting by the cutter 20 while sequentially shifting to each cutting position C. The cut artificial turf 1 is rolled and collected.

  Here, operation | movement of the control part 73 which controls driving | running | working of the cutting device main body 10 is demonstrated with reference to the flowchart of FIG. First, when the cutting device body 10 starts (S30), the steering angle θ of the steering mechanism 14 is set to zero (S31). Next, if the displacement amounts H1, H2, and H3 detected by the displacement sensors 72a, 72b, and 72c are equal to or less than a predetermined upper limit value H0 (for example, 0.2 m) (S32), the derivative 71 is connected to each displacement sensor 72a, The following processing is performed assuming that the area is within the detection area A of 72b and 72c. In this case, as shown in FIG. 31 (a), the displacement H1 of the first displacement sensor 72a is smaller than the displacement H2 of the second displacement sensor 72b (S33), and the displacement of the third displacement sensor 72c. If it is smaller than the amount H3 (S34), the operations of steps S31 to S34 are repeated. Here, in step S33, when the displacement amount H1 of the first displacement sensor 72a is greater than or equal to the displacement amount H2 of the second displacement sensor 72b as shown in FIG. 31 (b), the steering angle of the steering mechanism 14 is obtained. θ is set to α (for example, 2 °) to the left (S35), and the front wheel 11 is steered to the left by the steering mechanism. As a result, if the direction of the cutting apparatus main body 10 whose course is about to shift to the right side changes to the left side, and the displacement amount H1 of the first displacement sensor 72a becomes smaller than the displacement amount H2 of the second displacement sensor 72b. (S36), the process returns to step S31. In step S34, if the displacement amount H1 of the first displacement sensor 72a is greater than or equal to the displacement amount H3 of the third displacement sensor 72c as shown in FIG. 31 (c), the steering angle θ of the steering mechanism 14 Is set to α (for example, 2 °) to the right (S37), and the front wheel 11 is steered to the right by the steering mechanism. As a result, if the direction of the cutting apparatus main body 10 whose course is going to shift to the left side changes to the right side, and the displacement amount H1 of the first displacement sensor 72a becomes smaller than the displacement amount H3 of the third displacement sensor 72b. (S38), the process returns to step S31. When the cutting device main body 10 reaches the other end of the artificial turf 1 and the displacement amounts H1, H2, H3 of the displacement sensors 72a, 72b, 72c become larger than the upper limit value H0 in step S32, the derivative Assuming that 71 is out of the detection range of each displacement sensor 72a, 72b, 72c, the cutting device main body is stopped (S39).

  Thus, according to the cutting device of the present embodiment, the artificial turf 1 is cut by the cutter 20 while guiding the cutting device body 10 so that the cutting device body 10 travels along the predetermined cutting position C. Therefore, even if it is the vast ground artificial turf 1, the manpower required for cutting work can be greatly reduced, and the artificial turf 1 can always be cut accurately.

  In this case, since the cutting device main body 10 travels along the cutting position C while detecting the derivative 71 arranged along the cutting position C on the artificial turf 1 by the displacement sensors 72a, 72b, 72c, it is always The cutting device body 10 can be accurately guided.

  In each of the above-described embodiments, the artificial turf 1 is shown as a sheet-like laying object. However, the cutting device of the present invention can also be used when cutting other sheet-like laying objects such as mats and carpets. it can.

  In each of the above embodiments, the artificial turf is cut as an object to be cut. However, for example, the present invention is also applied to cutting a paving material such as asphalt or concrete in road construction. Can do.

  DESCRIPTION OF SYMBOLS 1 ... Artificial turf, 1b ... Pile, 10 ... Cutting device main body, 13 ... Running mechanism, 14 ... Steering mechanism, 20 ... Cutter, 40 ... Guiding device, 41 ... Target body, 43a ... First light-receiving part, 43b ... First 2 light receiving parts, 43c ... 3rd light receiving part, 45 ... control part, 50 ... guidance device, 51 ... target object, 52 ... 1st position detection part, 53 ... 2nd position detection part, 54 ... control part , 60 ... guidance device, 61 ... target body, 62 ... imaging unit, 63 ... control unit, 70 ... guidance device, 71 ... target body, 72a ... first displacement sensor, 72b ... second displacement sensor, 72c ... first. 3 displacement sensors, 73... Controller, C.

Claims (6)

A cutting device main body that travels on a cutting target made of a sheet-like laying or paving material, and a cutter provided on the cutting device main body, and the cutting target is cut with the cutter while the cutting device main body is traveling. In cutting equipment for laying or paving materials,
Drive means for running the cutting device body;
A laying or paving cutting device, comprising: a guiding unit that guides the cutting device main body so that the cutting device main body travels along a predetermined cutting position. The guiding means includes a target body disposed at a travel target position of the cutting apparatus body, a light emitting means for irradiating laser light from the cutting apparatus body toward the target body, a light receiving means for receiving laser light at the target body, The laying object according to claim 1, further comprising a control unit that controls the driving unit so that the cutting device main body travels toward the target body along the cutting position while the laser beam is received by the light receiving unit. Or pavement cutting device. The guide means includes position detecting means for detecting the position of the cutting apparatus main body, and the driving means so that the cutting apparatus main body travels along the cutting position based on the position of the cutting apparatus main body detected by the position detecting means. The apparatus for cutting a laid or paved object according to claim 1, further comprising: The guiding means includes a derivative disposed along the cutting position on the artificial turf, an imaging means for capturing an image of the derivative, and the cutting device body travels along the cutting position based on the image captured by the imaging means. The laying or paving cutting apparatus according to claim 1, further comprising: a control unit that controls the driving unit. The guiding means is based on a conductive derivative disposed along the cutting position on the artificial grass, a displacement amount detecting means for detecting a displacement amount of the derivative, and a displacement amount detected by the displacement amount detecting means. The laying or paving cutting device according to claim 1, further comprising a control unit that controls the driving unit so that the cutting device main body travels along the derivative. In the cutting method of the laying object or the paving material, the cutting object body is cut with the cutter provided in the cutting device body while running the cutting device body on the cutting object consisting of the sheet-like laying material or the paving material.
While running the cutting device body by driving means,
A cutting device body is guided so that the cutting device body travels along a predetermined cutting position.

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