JP2019201560A - Working vehicle, control method of the same and program - Google Patents

Abstract

To provide a working vehicle capable of carrying out a predetermined activity while simplifying a device structure by a simple device, and provide a control method of the working vehicle and a program.SOLUTION: A working vehicle (10) of the present invention includes: a drum part (20) including independent multiple drums (21, 22) for winding and feeding a rope body with one end supported in a fixation target; multiple wheels mounted in a vehicle body; and a control unit (50) for independently controlling each of the multiple drums of the drum part, and making a vehicle body (11) travel in any direction in a work area using the tension in the multiple rope bodies as a driving source by adjusting a winding and feeding amount of the multiple rope bodies of the multiple drums.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a work vehicle for performing work such as mowing, a control method for a work vehicle, and a program.

  In recent years, in mountainous areas and surrounding mountainous areas, due to the aging of farmers and population decline, there has been a shortage of managerial tasks such as mowing on slopes such as shores in paddy fields. It's getting on. Therefore, various types of mowing robots for mowing an inclined surface have been developed. As a mowing apparatus that performs mowing work on an inclined land, for example, those described in Patent Document 1 and Patent Document 2 are known.

  The devices described in Patent Literature 1 and Patent Literature 2 include, for example, a wire drum capable of independently winding and feeding two wires, a motor for driving the wire drum, a motor for running the vehicle body, And a controller that controls the vehicle body by controlling the vehicle. According to this device, the relative position between the vehicle and the two wire fixing anchors is detected from the traveling direction of the vehicle, the feeding angle and the feeding amount of the two wires, and the winding of the two wires is synchronized with the traveling speed of the vehicle. The vehicle is driven by taking out and feeding out.

Japanese Unexamined Patent Publication No. 2015-167492 JP 2017-123807 PR

  The devices described in Patent Literature 1 and Patent Literature 2 detect the traveling direction of the vehicle, the feeding angle, the feeding amount, the tension, and the like of the two wires in order to run the vehicle, and further the length of the wire. Since the control to adjust and the control of the motor for traveling to drive the vehicle body are performed, the apparatus configuration is complicated, and the processing executed in the control unit is also complicated.

  It is an object of the present invention to provide a work vehicle, a work vehicle control method, and a program capable of performing a predetermined work while simplifying the device configuration with a simple device.

  A working vehicle according to one aspect of the present invention includes a drum unit including a plurality of independent drums that wind and unwind a rope body, one end of which is supported by a fixed object, a plurality of wheels attached to a vehicle body, By independently controlling each of the plurality of drums of the drum unit and adjusting the winding and feeding amounts of the plurality of rope bodies of the plurality of drums, the tension in the plurality of rope bodies is used as a drive source. And a control unit that causes the vehicle body to travel in an arbitrary direction in the work area.

  Further, according to one aspect of the present invention, in the work vehicle described above, the wheels may not be connected to a drive source.

  According to another aspect of the present invention, in the above working vehicle, the drum unit includes a pair of the drums, and the control unit independently controls each of the pair of drums. Thus, the vehicle body suspended on the slope of the work area may be caused to travel in an arbitrary direction.

  According to another aspect of the present invention, in the work vehicle described above, the drum portion may be attached to the vehicle body.

  According to another aspect of the present invention, in the work vehicle described above, the drum portion may be installed and used outside the vehicle body.

  Further, according to one aspect of the present invention, in the work vehicle described above, a communication unit that performs communication between the control unit and an external device, and control information is generated based on an accepted operation, and the control unit generates the control information via the communication unit. An operation unit that transmits control information to the control unit, and the vehicle body may automatically run based on the control information transmitted from the operation unit.

  According to another aspect of the present invention, in the work vehicle described above, the control unit may automatically generate a traveling track that causes the vehicle body to travel based on control information transmitted from the operation unit. Also good.

  According to another aspect of the present invention, in the work vehicle described above, the control unit is configured to control the drum unit based on the control information transmitted from the operation unit located in a remote place connected via a network. You may make it control.

  According to another aspect of the present invention, the work vehicle further includes a drive unit that drives a work device that performs a predetermined work on the work area, and the control unit controls the drive unit. A predetermined work may be performed on the work area.

  According to another aspect of the present invention, in the above work vehicle, the work device performs mowing work, and the control unit controls the drum unit based on information corresponding to the work area. While driving the vehicle body, the mowing operation may be performed on the work area by controlling the drive unit.

  According to another aspect of the present invention, in the work vehicle described above, the control unit adjusts electric power supplied to the drive unit based on a load of the drive unit, according to the grass state of the work area. You may be made to perform the work which carried out.

  Further, according to one aspect of the present invention, in the above work vehicle, the control unit controls the drum unit based on information associated with the work area to change a traveling mode of the vehicle body. You may make it change the work content of the said working equipment by controlling the said drive part.

  Further, according to one aspect of the present invention, in the work vehicle described above, the vehicle body has a plurality of wheels attached thereto, the wheels are pivotally supported by an axle attached to the vehicle body, and the plurality of rope bodies are The drum portion may be wound or unwound through a through hole formed in the axle.

  A work vehicle control method according to an aspect of the present invention includes a work including a plurality of independent drums that wind and unwind a rope body, one end of which is supported by a fixed object, and a plurality of wheels that are attached to a vehicle body. A computer mounted on a vehicle for the vehicle independently controls each of the plurality of drums, and adjusts the winding and unwinding amounts of the plurality of rope bodies of the plurality of drums. This is a method for controlling a work vehicle in which the vehicle body is caused to travel in an arbitrary direction in a work area using tension as a drive source.

  A program according to an aspect of the present invention is mounted on a work vehicle including a plurality of independent drums that wind and feed a rope body, one end of which is supported by a fixed object, and a plurality of wheels that are attached to a vehicle body. By controlling each of the plurality of drums independently and adjusting the winding and unwinding amounts of the plurality of rope bodies of the plurality of drums, thereby using the tension in the plurality of rope bodies as a drive source. A program for causing the vehicle body to travel in an arbitrary direction in the work area.

In the work vehicle, the work vehicle control method, and the program, it is possible to perform a predetermined work while simplifying the device configuration with a simple device.

It is a perspective view which shows the structure of the working vehicle of 1st Embodiment. It is a side view which shows the structure of a working vehicle. It is a block diagram which shows the structure of a working vehicle. It is a figure explaining the principle of positioning of a working vehicle. It is a figure explaining the principle of positioning of a working vehicle. It is a figure explaining the turning-back operation | movement of a working vehicle. It is a figure explaining the turning-back operation | movement of a working vehicle. It is a figure explaining the turning-back operation | movement of a working vehicle. It is a figure explaining the turning-back operation | movement of a working vehicle. It is a figure explaining the turning-back operation | movement of a working vehicle. It is a figure which shows an example of the image for a setting for inputting the setting value regarding driving | running | working of a working vehicle. It is a figure which shows an example of the image for a setting regarding the automatic running of a working vehicle. It is a figure which shows an example of the manual operation image for manual operation of a working vehicle. It is a flowchart which shows the flow of the process performed in a working vehicle. It is a perspective view which shows the structure of the working vehicle of 2nd Embodiment. It is a figure which shows the structure of the working vehicle of 3rd Embodiment. It is a perspective view which shows the structure of the working vehicle of 4th Embodiment.

  Hereinafter, an embodiment of a working vehicle of the present invention will be described with reference to the drawings.

[First Embodiment]
As shown in FIGS. 1 to 3, the work vehicle 10 is a vehicle for performing mowing work in a work area W on a slope. The slope is, for example, a shore portion provided in a paddy field, but is not limited to this, and may be a slope of a creation land or a slope of a dike. The work area W is, for example, a steep slope with a slope of 40 degrees or more, but is not limited thereto, and may be a gentle slope.

  The vehicle body 11 of the work vehicle 10 is suspended on the work area W on the slope by, for example, two wires R1 and R2 supported by a fixed object existing at a predetermined interval. The fixation target is, for example, a pair of piles P1 and P2 that are driven into the ground at a predetermined interval in the top or middle of the slope in the vicinity of the work area W or the work area W. In addition to the piles P1 and P2, the object to be fixed may be a guardrail, a tree, or another structure. One end of each of the wires R1 and R2 may be supported by being tied to the fixed object.

  For example, the work vehicle 10 performs wireless communication with the operation unit 70 and is controlled based on later-described control information transmitted based on an operation received by the operation unit 70. By independently adjusting the winding and feeding amount of R2, it is possible to travel along a predetermined traveling track in the work area W. Then, the work vehicle 10 can mow the grass grown on the ground of the work area W while traveling in the work area W.

  The vehicle body 11 is, for example, a rectangular plate-like body. On the vehicle body 11, for example, a drum portion 20 for adjusting the winding or feeding amount of the two wires R1 and R2 is placed. On the vehicle body 11, a control unit 50 for controlling the drum unit 20, a communication unit 60 for communicating with the control unit 50 and an external device, a work device 30 for performing mowing work, and these devices A power supply unit 40 for supplying power is placed. Four wheels T <b> 1 to T <b> 4 (wheels T <b> 1 and T <b> 2 are described in the drawing) are attached to the lower surface of the vehicle body 11 to support the vehicle body 11 in a movable manner. A cutter 31 for mowing that is driven by the drive unit 32 of the work equipment 30 is connected to the lower surface of the vehicle body 11.

  In the following description, reference numerals are written in parentheses for overlapping descriptions. The wire R1 (R2) is a rope body, for example, a wire in which a metal wire is knitted. The wire R1 (R2) may be a metal wire, a string or a rope knitted from a natural material, a synthetic fiber, a composite material, a resin material, or the like, or a rope body formed from a resin.

  One end of the wire R1 (R2) is formed in a ring shape, for example, and is hooked and supported by a pile P1 (P2) fixed to the ground. One end of the wire R1 (R2) may be connected to a snap hook or other support member for hooking on the pile P1 (P2). The pile P1 (P2) is, for example, a steel bar in which a reinforcing bar or the like is processed. The pile P1 (P2) is inserted into, for example, a vinyl chloride pipe previously embedded in the ground. The pile P1 (P2) may be driven directly into the ground. As long as pile P1 (P2) can support the end of wire R1, R2 other than a steel rod, what kind of thing may be used.

  The other end of the wire R <b> 1 (R <b> 2) is connected to, for example, a drum 21 (22) that is mounted upside down on the vehicle body 11. The drum 21 (22) includes, for example, a cylindrical pulley 21a (22a) and a motor 21b (22b) that rotationally drives the pulley 21a (22a). The pulley 21a (22a) and the shaft (not shown) of the motor 21b (22b) are concentrically connected. A reduction gear may be provided between the pulley 21a (22a) and the motor 21b (22b). The other end of the wire R1 (R2) is connected to the pulley 21a (22a), and the wire R1 (R2) is wound up before the use is started.

  At the start of use, the wire R1 (R2) is pulled out from the drum 21 (22), and one end is hooked on the pile P1 (P2). Tension is generated in the wire R1 (R2) hooked on the pile P1 (P2). The winding and feeding amount of the wire R1 (R2) is adjusted by rotating the motor 21b (22b) in the normal direction or the reverse direction in a state where the tension is generated in the wire R1 (R2). The initial position of the vehicle body 11 is determined based on the lengths of the two wires R1 and R2 at the travel start point. In order to measure the initial position of the vehicle body 11, a scale may be marked from one end of the wire R1 (R2) to a predetermined length.

  For example, an encoder (not shown) is provided in the motor 21b (22b), and the amount of rotation of the shaft of the motor 21b (22b) is detected. The detection value of the encoder is output to the control unit 50 described later. The control unit 50 adjusts the length of the wire R1 (R2) by controlling the motor 21b (22b) based on the detection value of the encoder as described later.

  The wheels T <b> 1 to T <b> 4 are arranged at four corners on the bottom surface of the vehicle body 11, for example. The wheels T <b> 1 to T <b> 4 are, for example, free wheels that are not connected to a driving force and independently rotate freely. The wheels T1 to T4 may freely rotate independently of the steering direction.

  Since the work vehicle 10 is suspended in the inclined work area W, a force of gravity component is applied downward along the slope. The vehicle body 11 can be moved to an arbitrary position in the work area W by driving the motor 21b and the motor 22b independently to adjust the lengths of the wires R1 and R2. The work vehicle 10 performs a predetermined work as the vehicle body 11 is moved.

  The dimensions of the work area W are set so as to fall within the operation range of the work vehicle 10 that travels with the two wires R1 and R2, for example. A plurality of work areas W are defined on the slope of the mowing target. Adjacent work areas W may have overlapping areas (overlap areas) in order to prevent uncut grass from being considered in consideration of the travel range of the work vehicle 10. The user causes the work vehicle 10 to mow the work area W in a certain section, and then causes the work vehicle 10 to mow the adjacent work areas W sequentially.

  The work equipment 30 performs, for example, a work of cutting grass grown in the work area W according to the movement of the vehicle body 11. The work vehicle 10 is provided with a work device 30 for performing mowing work. The work device 30 includes, for example, a cutter 32 for cutting grass and a drive unit 31 that rotationally drives the cutter 32. The work device 30 may be a device that performs other operations such as sowing, drug spraying, watering, and blower.

  For example, a circular saw-tooth shaped cutter 32 for mowing is rotatably attached to the bottom surface of the vehicle body 11. As the cutter 32, for example, a circular saw tooth, a metal blade, a resin cord or the like is used. The cutter 32 is rotationally driven by, for example, a driving unit 31 including a driving motor. The cutter 32 is connected to the drive unit 31 via a shaft (not shown) of a drive motor.

  The drive unit 31 is placed on the vehicle body 11. The cutter 32 rotates in accordance with the movement of the vehicle body 11, and can cut grass on the traveling track of the vehicle body 11 in the work area W. The rotational speed of the cutter 32 is adjusted by the control unit 50 controlling the drive unit 31. The drive unit 31 outputs information such as the power load and the rotation speed to the control unit 50.

  The control unit 50 stores the information output from the driving unit 31 in the storage unit 80. As will be described later, the control unit 50 controls the drum unit 20 based on the control information and the database stored in the storage unit 80 or the storage unit 78 to cause the vehicle body 11 to travel in the work area W, and the work area W The work equipment 30 is controlled according to the state of the.

  A control unit 50 is placed on the vehicle body 11. The control unit 50 is realized, for example, when a hardware processor such as a CPU (Central Processing Unit) executes a program (software). The control unit 50 is configured by hardware (circuit unit; including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). It may be realized or may be realized by cooperation of software and hardware. The program may be stored in advance in a storage device such as an HDD (Hard Disk Drive) or a flash memory provided in the work vehicle 10, or a DVD (Digital Versatile Disc) or a CD-ROM (Compact Disc Read only memory). ) Or the like, and may be installed in the HDD or flash memory of the work vehicle 10 by attaching the storage medium to the drive device.

  The control unit 50 controls each device based on the control information transmitted from the operation unit 70 as described later. The communication unit 60 receives control information from the operation unit 70 and outputs the control information to the control unit 50. For example, the control unit 50 calculates the current coordinates in the work area W based on the detection value of the encoder.

  The control unit 50 generates a traveling track in the work area W based on the control information transmitted from the operation unit 70. The control unit 50 determines the control amount of the drum unit 20 to travel along the traveling track based on the initial position of the work vehicle 10, the initial value of the encoder of the drum unit 20, and the like. The control unit 50 controls the motor 21b (22b) based on the control information, adjusts the length of the wire R1 (R2), generates tension, and travels along the traveling track in the work area W. The control unit 50 causes the work equipment 30 to perform the mowing work while the vehicle body 11 is traveling on the traveling track.

  The control unit 50 controls the drive unit 31 of the work device 30 to rotate the cutter 32. The control unit 50 controls the on operation, the off operation, the rotation speed, and the like of the drive unit 31. Detailed operation processing of the control unit 50 will be described later.

  The communication unit 60 communicates with the operation unit 70 and acquires control information given to the control unit 50. The communication unit 60 may transmit information such as the load and operation amount of each device to the operation unit 70. The communication unit 60 is, for example, a wireless LAN (Wi-Fi: registered trademark) access point, and communicates with the operation unit 70. The control part 50 and the communication part 60 are implement | achieved by general purpose single board computers, such as Raspberry Pi3 (trademark), for example.

  The working vehicle 10 further includes a storage unit 80 that stores data used for control. For example, the storage unit 80 stores data such as a control signal acquired from the operation unit 70, an output value detected from the drum unit 20, and a load acquired from the work device 30. The storage unit 80 stores information on the control pattern of the drum unit 20 for causing the vehicle body 11 to travel.

  The control pattern is, for example, a movement pattern in the parallel direction (X axis direction: see FIG. 4) in the work area W of the vehicle body 11, a movement pattern in the up and down direction (Y axis direction: see FIG. 4) in the work area W, In the movement in the parallel direction or the vertical direction, a pattern of a turning operation for reversing the traveling direction is included. The parallel movement and turn-back operation will be described later.

  The control unit 50 generates a traveling track that matches the dimensions of the work area W based on the dimension information of the work area W included in the control information. For example, the control unit 50 generates a traveling track by combining various control patterns in accordance with the dimensions of the work area W. For example, the control unit 50 stores in the storage unit 80 information about the generated traveling track and the traveling track. The control unit 50 sets the control amount of the drum unit 20 based on the generated traveling track.

  The storage unit 80 is realized by a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD, a flash memory, or the like.

  In addition to this, a power supply unit 40 for supplying power to each of the above devices is placed on the vehicle body 11. The power supply unit 40 is a secondary battery such as a lithium ion battery or a nickel metal hydride battery. In addition to the secondary battery placed on the vehicle body 11, the power supply unit 40 may supply power to each device from the outside of the vehicle body 11 by wire or wirelessly.

  The operation unit 70 receives an operation by the user and transmits control information for causing the vehicle body 11 to travel to the control unit 50 via the communication unit 60. The operation unit 70 is a general-purpose mobile terminal device having a communication function such as a tablet terminal, a smartphone, or a notebook PC (Personal Computer). The operation unit 70 may be configured as a dedicated terminal. Hereinafter, the operation part 70 of a tablet-type terminal is illustrated.

  The operation unit 70 displays, for example, display contents on a display screen and receives a user operation, a communication unit 74 that communicates with an external device, and controls the display control and communication unit 74 of the display unit 72. A control unit 76 that generates control information related to the traveling of the work vehicle 10 and a storage unit 78 are provided.

  The display unit 72 includes, for example, a display, a speaker, and the like, and is a device that transmits information using video, images, text, audio, and the like. The display unit 110 is a touch panel realized by, for example, a liquid crystal display or an organic EL display.

  The display unit 72 displays a setting image for accepting a user input operation on a display surface such as a touch panel. The setting image is a GUI (Graphical User Interface) image, which is a setting image provided with a selection button, an input field, and the like for receiving a user operation. Detailed operation contents in the operation unit 70 will be described later.

  The communication unit 74 communicates with the communication unit 60 via a wireless LAN, for example. The communication unit 74 and the communication unit 60 may communicate with each other using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), infrared rays, visible light, FM waves, or the like. Good. The communication unit 74 and the communication unit 60 may communicate by connecting to a network via a wireless base station. The network includes, for example, a part or all of a WAN (Wide Area Network), a LAN (Local Area Network), the Internet, a dedicated line, a wireless base station, a provider, and the like.

  The storage unit 78 stores a database of the work area W, a database including information related to travel of the work vehicle 10, and a database including information related to control of the work equipment 30. The storage unit 78 is realized by a ROM, RAM, HDD, flash memory, or the like.

  The control unit 76 generates control information for causing the work vehicle 10 to travel based on an input operation performed on the setting image displayed on the display unit 72. For example, the control unit 76 starts a browser program and causes the display unit 72 to display a setting image. The control unit 76, for example, in accordance with the setting image, work information such as the location and shape (dimensions) of the work area W, travel trajectory information such as the shape and direction of the trajectory on which the vehicle body 11 travels, Information on the operation for switching the OFF state, information on manual operation of the drive unit 32 of the work device 30, information on manual operation of the drum unit 20, and the like are received and temporarily stored in the storage unit 78 as, for example, cache data. The control unit 76 reads out these pieces of information stored in the storage unit 78 and generates control information.

  The control information includes, for example, information such as the dimensions of the work area W input by the user, the speed of the vehicle body 11, and the initial position of the vehicle body 11. The control unit 76 transmits the generated control information to the vehicle body 11 side via the communication unit 74. On the vehicle body 11 side, the control unit 50 stores the received control information in the storage unit 80. The control unit 76 is realized, for example, when a hardware processor such as a CPU executes a program.

  The setting information of the work area W may be managed as information associated with the ID attached to the pile. For example, even if ID is given to the installation location of the pile and the work area W corresponding to the pair of piles is generated by associating the ID of the installation location of the pile with information such as the dimensions of the individual work areas W, the database is generated. Good. For example, when information related to the ID of the work area W is input in the operation accepted by the operation unit 70, the control information includes the ID information of the work area W and transmits the information to the vehicle body 11 side.

  The control unit 50 acquires control information including information on the ID of the work area W, associates the work area W with the ID, and stores information on the work area W in the storage unit 80 for each ID of the pile. When the control unit 50 acquires control information including ID information of the work area W at the next mowing opportunity, the control unit 50 relates to the work area W corresponding to the ID from the database stored in the storage unit 80 based on the ID information. Read information.

  In this way, when the database for managing the work area W once mowing is generated by ID and the next mowing work is performed, the work area W is set by inputting the ID of the work area W in the operation unit 70. There is no need to input information, and work efficiency can be improved.

  The database may include, for example, information regarding each work area W. The information on the work area W includes setting information such as the dimensions of the work area W, the topography of the work area W, the angle of the gradient, the presence or absence of obstacles, the type of grass, the difference in grass type based on the difference in time, etc. Information on the state of the grass may be included. The control unit 76 includes these pieces of information in the control information and transmits them to the vehicle body 11, and the control unit 50 adds these pieces of information to the database stored in the storage unit 80 based on the control information.

  In this case, in the vehicle body 11, the control unit 50 controls the drum unit 20 based on information associated with the work area W to change the traveling mode of the vehicle body 11. For example, the control unit 50 identifies the work areas W individually based on the ID of the work area W, generates a travel path that avoids obstacles in the work area W, and the like. To change.

  The database may be managed on the operation unit 70 side by storing the setting information in the storage unit 78 each time setting information corresponding to the ID of the work area W is input in the operation unit 70. Then, by inputting the ID of the work area W on the operation unit 70 side during mowing work, the setting information of the work area W corresponding to the ID is read from the database stored in the storage unit 78, and the setting information of the work area W is input. The burden of work can be reduced.

  On the vehicle body 11 side, when the communication unit 60 receives the control information, the control unit 50 generates a traveling track for traveling the vehicle body 11 based on the control information. Moreover, the control part 50 performs control which makes the working device 30 cut grass based on control information. For example, the control unit 50 generates a traveling track for zigzag traveling in the work area W based on the dimensions of the work area W included in the control information. For example, the control unit 50 sets a plurality of track points on the traveling track and sets two-dimensional coordinates corresponding to the plurality of track points. The generation of the traveling track will be described in detail later.

  The control unit 50 controls the drum unit 20 based on the generated traveling track. For example, the control unit 50 controls the drum unit 20 according to information regarding the difference in the topography of the work area W, the angle of the gradient, the presence or absence of an obstacle, and the vehicle body 11 is caused to travel.

  In addition, the control unit 50 reads information on the work area W from the storage unit 80 based on the ID associated with the work area W, and controls the drive unit 31 of the work equipment 30 based on the read information. 30 work contents are changed. For example, the control unit 50 adjusts the load of the drive unit 31 of the work device 30 according to information such as a difference in grass type and a difference in grass type based on a difference in time.

  For example, based on the information associated with the work area W, the control unit 50 controls the drum unit 20 to change the rotation speed and load when adjusting the winding or feeding amount of the wire length. For example, when the slope of the gradient is a steep angle or when the running resistance is large due to the grass state, the control unit 50 increases the load (electric power) in the drum unit 20.

  Next, the operation principle of the work vehicle 10 will be described.

  When mowing the work area W, for example, the control unit 50 generates a traveling track that matches the dimensions of the work area W based on the control information acquired from the operation unit 70. The traveling track may be generated in the operation unit 70. For example, the control unit 50 generates a traveling track that causes the vehicle body 11 to travel in a zigzag manner in the work area W based on the control information. For example, the control unit 50 sets a plurality of trajectory points on the traveling trajectory and determines two-dimensional coordinates of the plurality of trajectory points. The control unit 50 causes the storage unit 80 to store information on the determined two-dimensional coordinates of the plurality of orbit points.

  In the two-dimensional coordinates (X, Y) of the trajectory point, for example, the Y coordinate is determined by the trimming width (described later) in the Y axis (see FIG. 4) direction, and the X coordinate is the X axis (see FIG. 4). It is determined by a gain set at a predetermined distance in the direction, for example, a width of 5 [cm], 10 [cm] or the like. The control unit 50 calculates the wire lengths of the two wires R1 and R2 corresponding to the determined two-dimensional coordinates of the plurality of orbit points.

  For example, the control unit 50 adjusts the lengths of the two wires R <b> 1 and R <b> 2 by controlling the drum unit 20 so that the wire length is calculated according to the two-dimensional coordinates of the trajectory points.

  The control unit 50 adjusts the lengths of the wires R1 and R2 based on the detection values of the encoders of the drums 21 and 22, and updates the position of the track point (current position). For example, the control unit 50 stores the detection value of the encoder in the storage unit 80 at the timing of updating the current position.

  Since the control unit 50 updates the current position and moves to the next track point, the control unit 50 controls the drum unit 20 to adjust the length of the wires R1 and R2 so that the wire length corresponds to the next track point. To do. At this time, the control unit 50 adjusts the rotation speed [rpm] of the motors 22b and 22b so as to have a preset moving speed. The control unit 50 repeats such processing, sequentially adjusts the wire length corresponding to the plurality of track points, and causes the vehicle body 11 to travel along the travel track. The control unit 50 calculates the current position of the vehicle body 11 based on the detection value of the encoder, and sets the wire length to the position of the next track point based on the result of comparing the current position with the traveling track. Next, the lengths of the wires R1 and R2 are adjusted.

  As shown in FIG. 4, the pair of piles P <b> 1 and P <b> 2 is fixed to the ground at a predetermined interval (L [m]). The working vehicle 10 is positioned by the lengths of the two wires R1 and R2. When the distance between the pair of piles and the lengths of the two wires R1 and R2 are determined, the two-dimensional coordinates (XY coordinates) of the position of the vehicle body 11 in the work area W based on the lengths of the three sides of the triangle. Is determined.

  The position A and the position B are trajectory points on the travel trajectory set by the control unit 50, for example. A description will be given of the control in the case of translating from the position A set as the trajectory point to the position B set as the next trajectory point.

  At the position A, the length of the wire R1 is a1 [m], and the length of the wire R2 is b1 [m]. At the position A, the lengths of the wires R1 and R2 are adjusted by the previous control so as to be positioned at preset two-dimensional coordinates (XY coordinates).

  As shown in FIG. 5, when moving to a target position B (target trajectory point) horizontally spaced from the position A, the length of the wire R1 is a2 [m] and the length of the wire R2 is b2 [m. ]. For example, the control unit 50 determines the lengths of the wires R1 and R2 based on the set two-dimensional coordinates at the position B.

  For example, the control unit 50 rotates the motor 21b of the drum 21 while adjusting the number of rotations in the direction in which the wire R1 is wound based on the detection value of the encoder, and the length of the wire R1 is shorter than a1 [m]. Control to be a2 [m]. At the same time, the control unit 50 controls the motor 22b of the drum 22 to rotate the wire R2 while adjusting the number of rotations in the direction of feeding the wire R2, so that the length of the wire R2 becomes b2 [m] longer than b1 [m]. Control.

  At this time, the vehicle body 11 moves from the position A to the position B using the tension of the two wires R1 and R2 that pull in the direction from the position A to the position B (−X direction) as a power source. The vehicle body 11 moves from the position A to the position B by such control of the control unit 50. For example, the control unit 50 repeats the control of the drum unit 20 to move the vehicle body 11 in the work area W in parallel.

  When generating the traveling track in the operation unit 70, for example, the control unit 70 acquires information on the current position based on the detection value of the encoder from the operation unit 50, and based on the result of comparing the current position and the traveling track, The wire length to the position of the next track point is calculated, and the control amount of the drum unit 20 is determined.

  Then, the operation unit 70 may transmit control information including information on the control amount determined by the drum unit 20 to the control unit 50 at a predetermined timing. The predetermined timing is, for example, a predetermined timing after information related to the current position of the trajectory point is transmitted by the control unit 50 and then received by the operation unit 70. In addition to this, the predetermined timing may be every predetermined time, may be a predetermined traveling distance, a timing for correcting the position of the vehicle body 11, or a timing set arbitrarily.

  In this way, the control unit 50 controls the drum 21 and the drum 22 independently based on the control information, so that the tension in the two wires R1 and R2 is used as a drive source, and the vehicle body 11 is set in the work area W. Translate. When the vehicle body 11 is zigzag-running in the work area W, when the vehicle body 11 arrives at the left end or the right end of the work area W, the control unit 50 causes the vehicle body 11 to perform a turning operation. The turn-back operation is an operation of changing the direction when the vehicle body 11 moves in the horizontal direction and arrives at the left end or the right end. The switching operation will be described later.

  The control unit 50 controls the drum unit 20 to move the vehicle body 11 in the horizontal direction to perform the turning operation, and then reverses the moving direction of the vehicle body 11 to reverse the moving direction before the turning operation. The vehicle body 11 is moved.

  Next, control of the turning operation of the vehicle body 11 will be described.

  As shown in FIG. 6, when the vehicle body 11 that has moved in the left direction (−X direction) in the work area W is positioned at the left end, the direction is then changed to the right direction (X direction). At this time, it is necessary to cut the grass by offsetting the position of the vehicle body 11 downward (Y direction) by a width narrower than the width of the cutter 32.

  As shown in FIG. 7, for example, the control unit 50 controls the drum 22 to feed the wire R <b> 2 and tilt the vehicle body 11 downward (Y direction). The control unit 50 may control the drum 21 to wind the wire R1 and tilt the vehicle body 11 downward (Y direction).

  The control unit 50 controls the drum unit 20 to advance the vehicle body 11 in the direction of the arrow, and lowers it by the cutting width of the work equipment 30. Thereafter, the control unit 50, for example, controls the drum 22 to wind up the wire R2, and tilts the vehicle body 11 upward (−Y direction). The control unit 50 may control the drum 21 to feed the wire R1 and tilt the vehicle body 11 upward (−Y direction).

  As shown in FIG. 8, when the gradient of the work area W is large at the left end of the work area W and the force that pulls the vehicle body 11 downward (Y direction) is strong, the control unit 50 controls the drums 21 and 22, for example. Then, the wires R1 and R2 may be fed out, the vehicle body 11 may be moved downward (Y direction), and the position of the vehicle body 11 may be offset downward (Y direction) by the width of the cutter 32.

  Thereafter, the control unit 50 controls the drum unit 20 to advance the vehicle body 11 in the horizontal direction (X direction) and cut the grass along the horizontal trajectory. The lengths of the wires R1 and R2 may be calculated in the operation unit 70. In this case, the control unit 50 may cause the vehicle body 11 to travel by acquiring a control signal based on the information of the two-dimensional coordinates of the trajectory point set based on the calculated trajectory from the operation unit 70 by communication.

  As shown in FIG. 9, when the vehicle body 11 is located at the right end of the work area W, the control unit 50 similarly controls the drum 21 to feed out the wire R1 and tilt the vehicle body 11 downward (Y direction). Make it go. The control unit 50 controls the drum unit 20 to advance the vehicle body 11 and lower it by the cutting width of the work equipment 30.

  As shown in FIG. 10, at the right end of the work area W, when the control section 50 has a large gradient in the work area W and a strong force pulling the vehicle body 11 downward (Y direction), the control section 50 21 and 22 are controlled to feed out the wires R1 and R2, the vehicle body 11 is moved downward (Y direction), and the position of the vehicle body 11 is offset downward (Y direction) by a width shorter than the width of the cutter 32. Good.

  Thereafter, the control unit 50, for example, controls the drum 21 to wind up the wire R1, and tilts the vehicle body 11 upward (−Y direction). Thereafter, the control unit 50 controls the drum unit 20 to advance the vehicle body 11 in the horizontal direction (−X direction), and controls the work equipment 30 to cut the grass along the horizontal trajectory.

  By repeating the above process, the control unit 50 causes the vehicle body 11 to travel in a zigzag manner in the work area W and mows. The above-described control for moving the vehicle body 11 upward or downward is also executed in correcting the position and direction of the vehicle body 11.

  Next, display contents displayed on the operation unit 70 and operations accepted based on the display contents will be described.

  As shown in FIG. 11, a setting image IM <b> 1 for inputting a setting value related to traveling of the work vehicle 10 is displayed on the display unit 72 of the operation unit 70. The setting image IM1 is created so as to be activated by a browser program installed in the operation unit 70 and displayed on the display unit 72, for example. Therefore, the setting image IM1 is displayed on the display screen of the device in which the browser is installed, regardless of the type of the operation unit 70 or the type of OS.

  The user inputs information on setting items related to the work vehicle 10 and the like by tapping a GUI button displayed in the setting image IM1. The setting items are, for example, the dimensions of the work area W, the initial position of the vehicle body 11, and the like. The initial position of the vehicle body 11 is represented by, for example, the feed amount of the two wires R1 and R2. The input data input to the setting item is stored in the storage unit 78.

  For example, the control unit 76 transmits control information including input data to the vehicle body 11. The control unit 50 generates a travel path of the vehicle body 11 in the work area W based on the control information. Based on the control information, the control unit 50 generates a traveling track that zigzags in the horizontal direction in the work area W in accordance with the dimensions of the work area W and descends the inclined surface in the work area W, for example. The control unit 50 generates a trajectory that translates left and right in the zigzag trajectory generation. Then, the control unit 50 performs a turning operation when the vehicle body 11 transitions to the next horizontal trajectory when the vehicle body 11 is positioned at the left end or the right end of the work area W based on the cutting width data of the cutter 32. Determine the amount of control to be performed.

  For example, in the reversing operation, the control unit 50 generates a traveling trajectory in which the vehicle body 11 moves downward by a predetermined offset amount so that the cutter 32 cuts grass and does not cause uncutting. Determine the control amount.

  For example, the control unit 50 sets an offset amount by a width smaller than the width of the cutter 32, and overlaps the cutting area where the grass is mowed by the cutter 32 when traveling in the direction opposite to the previous traveling direction in the turning operation. A running track with an overlap amount is generated. The amount of overlap is set according to the type and timing of the grass and the slope of the slope.

  The control unit 50 may generate the traveling trajectory so as to zigzag in the horizontal direction in the work area W and ascend the inclined surface. In addition, the control unit 50 may generate the traveling track so as to zigzag on the inclined surface in the work area W and move leftward or rightward.

  The control unit 50 generates target trajectory points at predetermined intervals along the generated travel trajectory, and calculates the two-dimensional coordinates of the target trajectory points. The control unit 50 generates coordinate data of a plurality of target track points, and stores them in the storage unit 80 as travel track information.

  As shown in FIG. 12, a setting image IM <b> 2 related to automatic traveling of the work vehicle 10 is displayed on the display unit 72 of the operation unit 70. In the setting image IM2, initial values of the lengths of the two wires R1 and R2 and setting values such as the dimensions of the work area W are input. In the setting image IM2, operations such as start or stop of setting, start or stop of automatic traveling, and start or stop of mowing are accepted.

  The control unit 76 generates control information including the input setting information, and transmits the control information to the vehicle body 11 via the communication unit 74 by wireless LAN. The control unit 76 transmits information related to operations such as the start or stop of automatic traveling and the start or stop of mowing to the vehicle body 11 via the communication unit 74 via the wireless LAN as control information.

  The traveling of the vehicle body 11 may be operated by manual operation by a user manually operating the operation unit 70.

  As shown in FIG. 13, the manual operation image IM3 for manual operation of the work vehicle 10 displayed on the display unit 72 includes a plurality of arrow images for instructing the moving direction of the vehicle body 11 and the wires R1, R2. An input field for data of a length of is formed. In the plurality of arrow images, for example, a total of eight directions tilted 45 degrees from the top, bottom, left, and right and up, down, left, and right are set.

  The user taps an arrow image corresponding to the direction in which the user wants to move the vehicle body 11 in the work area W. The control unit 76 generates and transmits control information based on the operation input from the manual operation image IM3.

  The control unit 50 that has acquired the control information in the vehicle body 11 controls the drum unit 20 so that the vehicle body 11 travels in the direction operated based on the control information. The operation based on the manual operation image IM3 may be used for correcting the current position of the vehicle body 11 in automatic traveling, in addition to the manual operation.

  Next, processing executed in the work vehicle 10 will be described. FIG. 14 is a flowchart showing the flow of processing executed in work vehicle 10.

  Based on the input operation accepted by the operation unit 70, the control unit 76 sets information related to the work area W and temporarily stores it in the storage unit 78 (step S100). Further, based on the input operation received by the operation unit 70, the control unit 76 sets an initial position, a travel route, a speed, information on mowing, etc. regarding the work vehicle 10 and temporarily stores them in the storage unit 78. (Step S102). The control part 76 produces | generates control information based on the information memorize | stored in the memory | storage part 78, and transmits to the vehicle body 11 (step S104).

  In the vehicle body 11, the control unit 50 stores the acquired control information in the storage unit 80, generates a traveling track based on the control information, controls the drum unit 20, and adjusts the feed amount of the two wires R <b> 1 and R <b> 2. Then, the vehicle body 11 is automatically traveled along the traveling track, and the working device 30 is mowing (step S106). The control unit 50 stores, in the storage unit 80, work data and travel data acquired from the work device 30 and the drum unit 20 acquired while the vehicle body 11 is traveling.

  When the vehicle body 11 finishes traveling along the traveling track and the mowing work in the work area W is completed, the control unit 50 stops the work equipment 30 and controls the drum unit 20 to move the vehicle body 11 to the initial position. (Step S108). The control unit 50 stores the work data and the travel data obtained when the mowing work is performed in the work area W in the storage unit 80, and updates the database.

  As described above, according to the work vehicle 10 of the first embodiment, it is possible to cut the work area W on the inclined surface while simplifying the apparatus configuration with a simple device. In addition, since the work vehicle 10 is configured with general-purpose parts having a simple configuration, the vehicle body 11 can reduce the manufacturing cost. Further, in the work vehicle 10, the vehicle body 11 is composed of simple parts, so there is no need to update the hardware portion on the vehicle body 11 side. The update related to the traveling control on the vehicle body 11 side can be performed by installing the update program transmitted by the operation of the operation unit 70 in the storage unit 80.

[Second Embodiment]
The work vehicle 10 of the first embodiment is provided with a drum portion 20 that adjusts the lengths of the two wires R1 and R2 on the vehicle body 11 side. The second embodiment exemplifies a working vehicle having a configuration in which a drum portion for adjusting the lengths of two wires is installed in addition to the vehicle body 11. In the following description, the same names and symbols are used for the same configurations as those in the first embodiment, and overlapping descriptions are omitted as appropriate.

  As shown in FIG. 15, the working vehicle 10 </ b> A is used with the drum unit 20 installed outside the vehicle body of the vehicle body 11. In the work vehicle 10A, for example, the drum 21 and the drum 22 are respectively installed at the positions of the pair of piles P1 and P2. The vehicle body 11 is supported on each end of the wires R1 and R2. The drums 21 and 22 are provided with control devices 27 and 28, respectively. The control devices 27 and 28 further include, for example, a communication unit that communicates with the operation unit 70, a control unit that controls the motors 21b and 22b, and a power supply unit that supplies power to them.

  The operation unit 70 and the control devices 27 and 28 communicate via a wireless LAN. The control devices 27 and 28 may communicate with the communication unit 60 and communicate with the operation unit 70 via the communication unit 60. For example, the control devices 27 and 28 and the communication unit 60 may communicate with each other by Bluetooth, DSRC, infrared rays, visible light, and FM waves.

  According to the second embodiment described above, in the work vehicle 10A, since the drum portion 20 is installed outside the vehicle body 11, the configuration on the vehicle body 11 side can be simplified and the weight can be easily reduced. Transportability is realized.

[Third Embodiment]
In the first embodiment and the second embodiment, the work vehicle 10 is provided with the two drums 21 and 22 in the drum portion 20. In 3rd Embodiment, the vehicle for work provided with the structure by which the drum part 20 is provided with three or more drums is illustrated. As shown in FIG. 16, the drum unit 20 in the vehicle body 11 may include three or more drums.

  FIG. 16A illustrates the vehicle body 11 to which a third other drum 23 is attached in addition to the two drums 21 and 22. For example, the control unit 50 controls the drum 23 to adjust the winding or feeding amount of the wire R3.

  FIG. 16B illustrates the vehicle body 11 to which the third and fourth other drums 23 and 24 are attached in addition to the two drums 21 and 22. For example, the control unit 50 controls the drums 23 and 24 to adjust the winding or feeding amount of the wires R3 and R4.

  The control unit 50 positions the two-dimensional coordinates in the work area W of the vehicle body 11 by the lengths of the two wires R1 and R2 of the two drums 21 and 22 as in the above embodiment. The control unit 50 adjusts the wire winding or feeding amount in other drums so that the tension of the wire falls within a predetermined value range.

  The tension of the wire is detected by, for example, the motor load of the drums 21 and 22. The tension of the wire in the other drum may be adjusted by the biasing force of the spring in the direction of winding the wire. In other words, the work vehicle 10 further includes another drum that is biased in the direction of winding the wire, and has a force to press against the ground direction of the work area W of the vehicle body 11 by the tension of the wire generated by the other drum. It may be generated to secure the traction performance of the vehicle body 11.

  According to the third embodiment described above, the work vehicle is reliably positioned and traction performance by the tension of the wire generated by the drums other than the two drums even when the work area W is slanted. Can be ensured and mowing work can be performed reliably.

[Fourth Embodiment]
The working vehicle in the above embodiment exemplifies a configuration in which the wheels T are provided in the lower portion of the body 11 body. Since the work area W is rough ground, there is unevenness on the ground. In the fourth embodiment, the work vehicle is provided with large-diameter wheels T in order to improve the running performance of the vehicle body 11 in the work area W.

  As shown in FIG. 17, in the vehicle body 11 of the work vehicle, wheels T1 to T4 formed with a predetermined diameter are rotatably attached. The predetermined diameter is a dimension capable of running through the uneven shape of the ground, and is set according to the uneven shape of the ground in the work area W. The wheels T1 to T4 are pivotally supported on the vehicle body 11 by axles S1 to S4, respectively.

  A through hole is formed at the center of the wheels T1 to T4, and the axles S1 to S4 are inserted through the through holes of the wheels T1 to T4. The axles S1 to S4 do not necessarily have to rotate around the axis. The axles S1 to S4 are fixed using, for example, an E ring or a C ring so as not to fall off the bearing. The axles S1 to S4 are attached to the vehicle body 11 so that the wheels T1 to T4 can rotate independently of the steering direction.

  Through holes H3 and H4 are formed in a pair of axles S3 and S4 that pivotally support a pair of wheels T3 and T4 attached to one side of the vehicle body 11. Wires R1 and R2 wound around a pair of drums 21 and 22 are inserted through the through holes H3 and H4, respectively.

  One ends of the two wires R1 and R2 fed out of the vehicle body 11 from the through holes H3 and H4 are supported by a pair of piles (see FIG. 1) fixed to the work area W. The two wires R1 and R2 are wound or fed out in the drum portion 20 through through holes H3 and H4 provided in a pair of axles S3 and S4 that pivotally support a pair of wheels T3 and T4.

  With such a configuration, the two wires R1 and R2 do not contact the pair of wheels T3 and T4, and the vehicle body 11 can freely travel in the work area W.

  According to the above-described fourth embodiment, the work vehicle adjusts the lengths of the two wires fed from the center of the pair of wheels T3, T4 so that the two wires R1, R2 in the work area W are adjusted. Can travel freely without obstructing the travel of the vehicle body 11.

[Other variations]
In the work vehicle 10, a GPS device may be mounted on the vehicle body 11 to acquire position information of the vehicle body 11. The control unit 50 calculates two-dimensional coordinates in the work area W based on the acquired position data, and compares the calculated two-dimensional coordinates with the two-dimensional coordinates based on the lengths of the two wires R1 and R2. The control unit 50 may perform feedback control so as to adjust the drum unit 20 and correct the position of the vehicle body 11 during automatic traveling based on the comparison result. The position of the vehicle body 11 may be calculated based on an image captured by a camera that captures the work area W.

  In the work vehicle 10, when the vehicle body 11 automatically travels, the ID of the work area W, the actual travel trajectory data, and the information on the correction of the position and direction in the travel trajectory are stored in a database to generate teacher data. May be. In the operation unit 70, the control unit 76 may learn the control on the traveling track based on the teacher data.

  In addition, the operation unit 70 may communicate with a network, communicate with a server device connected to the network, and communicate with the communication unit 60 via a server device (not shown). And the database memorize | stored in the said memory | storage part 78 may be memorize | stored in the server apparatus connected to the network. And the operation part 70 does not necessarily need to be operated in the vicinity of the vehicle body 11, and may control the vehicle body 11 by remote operation from a remote place.

  As mentioned above, although the form for implementing this invention was demonstrated using embodiment, this invention is not limited to such embodiment at all, In the range which does not deviate from the summary of this invention, various deformation | transformation and substitution Can be added.

  DESCRIPTION OF SYMBOLS 10, 10A ... Work vehicle, 11 ... Car body, 20 ... Drum part, 21, 22 ... Drum, 21a, 22a ... Pulley, 21b, 22b ... Motor, 23, 24 ... Drum, 27, 28 ... Control device, 30 ... Work equipment 31 ... Drive unit 32 ... Cutter 40 ... Power supply unit 50 ... Control unit 60 ... Communication unit 70 ... Operation unit 72 ... Display unit 74 ... Communication unit 76 ... Control unit 78 ... Storage Part, 80 ... storage part, 110 ... display part, H3, H4 ... through hole, IM1 ... setting image, IM2 ... setting image, IM3 ... manual operation image, P1 ... pile, P2 ... pile, R1-R4 ... Wire, S1-S4 ... Axle, T ... Wheel, T1-T4 ... Wheel, W ... Working area

Claims (15)

A drum unit comprising a plurality of independent drums for winding and unwinding a rope body, one end of which is supported by a fixed object;
A plurality of wheels attached to the vehicle body;
By independently controlling each of the plurality of drums of the drum unit and adjusting the winding and feeding amounts of the plurality of rope bodies of the plurality of drums, the tension in the plurality of rope bodies is used as a drive source. A control unit that causes the vehicle body to travel in an arbitrary direction in a work area,
Work vehicle. The wheel is not connected to a drive source,
The work vehicle according to claim 1. The drum portion includes a pair of the drums,
The control unit independently controls each of the pair of drums and causes the vehicle body suspended on the slope of the working area by the pair of rope bodies to travel in an arbitrary direction.
The work vehicle according to claim 1 or 2. The drum portion is attached to the vehicle body.
The working vehicle according to any one of claims 1 to 3. The drum portion is installed and used outside the vehicle body.
The working vehicle according to any one of claims 1 to 4. A communication unit that performs communication between the control unit and an external device;
An operation unit that generates control information based on an accepted operation and transmits the control information to the control unit via the communication unit;
The control unit controls the drum unit based on control information transmitted from the operation unit to automatically run the vehicle body.
The working vehicle according to any one of claims 1 to 5. The control unit generates a traveling track for automatically traveling the vehicle body based on the control information transmitted from the operation unit.
The work vehicle according to claim 6. The control unit controls the drum unit based on the control information transmitted from the operation unit located in a remote place connected via a network;
The work vehicle according to claim 6 or 7. A drive unit that drives a work device that performs a predetermined work on the work area;
The control unit controls the driving unit to perform a predetermined operation on the work area;
The work vehicle according to any one of claims 1 to 8. The working device is for mowing work,
The control unit controls the drum unit based on information corresponding to the work area to drive the vehicle body, and controls the drive unit to perform mowing work on the work area.
The working vehicle according to claim 9. The control unit adjusts the electric power supplied to the driving unit based on the load of the driving unit, and performs work according to the grass state of the work area.
The work vehicle according to claim 9 or 10. The control unit controls the drum unit based on information associated with the work area to change the traveling mode of the vehicle body, and also controls the drive unit to change the work content of the work device. ,
The working vehicle according to any one of claims 9 to 11. The vehicle body has a plurality of wheels attached thereto, and the wheels are pivotally supported by an axle attached to the vehicle body,
The plurality of rope bodies are wound or fed out in the drum portion through a through hole formed in the axle.
The working vehicle according to any one of claims 1 to 12. A computer mounted on a work vehicle having a plurality of independent drums for winding and unwinding a rope body, one end of which is supported by a fixed object, and a plurality of wheels attached to a vehicle body,
By independently controlling each of the plurality of drums and adjusting a winding amount and a feeding amount of the plurality of rope bodies of the plurality of drums, the tension of the plurality of rope bodies is used as a driving source to control the vehicle body. Traveling in any direction in the work area,
A method for controlling a working vehicle. In a computer mounted on a work vehicle having a plurality of independent drums for winding and unwinding a rope body, one end of which is supported by a fixed object, and a plurality of wheels attached to a vehicle body,
By independently controlling each of the plurality of drums and adjusting the winding and unwinding amounts of the plurality of rope bodies of the plurality of drums, the vehicle body is controlled using the tension in the plurality of rope bodies as a drive source. Traveling in any direction in the work area,
program.

Images