JP2020000192A - Implement and operation method thereof - Google Patents

Abstract

To provide an implement comprising high work efficiency when causing a machine body to travel along a travel path including a first path being a direct travel path, a second path where the machine body travels directly in an orientation different from that of the second path, and a switching path where the machine body moves from the first path to the second path, and capable of causing the machine body to travel surely on an intended path in traveling on the switching path, and an operation method thereof.SOLUTION: A switching path comprises: a forward route on which the machine body travels directly, in a state of changing a travel direction of the machine body by an angle less than 90 degree, to an orientation different from the orientations of the first path and second path, from a termination side of the first path; and a return route where the machine body travels directly toward the termination of the first path or to a start end of the second path, by changing a travel direction so as to return from the termination side of the forward route, when the machine body reaches the termination side of the forward route, the machine body is caused to perform pivot turn or swivel turning on the site, so as to be directed to a travel direction of the return route.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a self-propelled working machine and an operating method thereof.

  An airframe, a working unit connected to the airframe, a pair of left and right running units supporting the airframe, and a power source for driving the running unit to run, the working machine traveling along a set running route is provided. Conventionally known.

  For example, the working unit is a mowing working unit that cuts an object such as grass or turf, and the traveling path is parallel to or substantially parallel to the first path along which the aircraft travels straight and the first path. A second path and a switching path in which the aircraft moves from the first path to the second path, wherein the aircraft makes a U-turn around the switching path.

  Here, in order to prevent an uncut area (unworked area) from occurring (work efficiency is reduced), the interval between the first path and the second path is set smaller than the cutting width (work width). It is desirable to set, but due to the minimum turning radius of the working machine, the arrangement of the second path is greatly restricted.

  In order to solve this problem, it is known that the work machine is moved backward once during turning and then turned again (for example, see FIG. 19 of Patent Document 1).

  However, even when the work machine is run as in the same document, while the work machine is turning around the switching path, an intended arc-shaped path is formed due to an increase in running load due to work or the like. Traveling becomes difficult, and work efficiency decreases due to the turning travel.

JP-A-2005-188441

  SUMMARY OF THE INVENTION The present invention provides an airframe along a travel route including a first route that is a straight route, a second route that travels in a direction different from the second route, and a switching route that moves from the first route to the second route. An object of the present invention is to provide a working machine having high work efficiency and capable of reliably running on an intended route even while running on a switching route, and a driving method thereof.

  In order to solve the above problems, a working machine according to the present invention is a self-propelled working machine, and includes a body, a working unit connected to the body, a pair of right and left running parts supporting the body, and A power source for driving the traveling unit, traveling position detecting means for detecting a traveling position of the body, and a control unit for controlling driving of the left and right traveling units based on a detection result of the traveling position detecting means. The control unit is configured to be able to execute automatic traveling control for automatically traveling the aircraft along a traveling route generated in real time or a traveling route set in advance, and the traveling route includes A first route that travels straight, and the aircraft travels less than 180 degrees from the end of the first route or in the vicinity of the first route to change the traveling direction, or the aircraft travels 180 degrees from the first route. Degree or abbreviation A second path changing a traveling direction at 80 degrees and being parallel or substantially parallel to the first path, and a switching path in which the aircraft moves from the first path to the second path; The route may be changed from the terminal side of the first route to a direction different from the first route and the second route by less than 90 degrees, and the aircraft may travel straight and return from the terminal side of the forward route. And a return path in which the aircraft changes its traveling direction and the aircraft goes straight toward the end of the first route or the beginning of the second route. When reaching the terminal side, one of the left and right traveling units is driven in the opposite direction with respect to the other, or only one is driven and the other is stopped, so that the aircraft moves in the traveling direction of the return path. Turning on the spot so that it turns Characterized in that it is configured to.

  Each of the left and right traveling units is a crawler traveling device, and the working unit has a pair of left and right cutting rotating bodies, and performs a cutting operation while scraping an object between the left and right cutting rotating bodies. The crawler-type traveling device may be configured so that at least a part of a left and right inner side portion of the crawler traveling device is covered by a cover body.

  Each of the left and right traveling units is a crawler-type traveling device, and as compared with the distance between the width centers of the left and right crawler-type traveling devices, the contact length of the crawler-type traveling device is set to be shorter. Is also good.

  Further, the operating method of the working machine of the present invention is a method of operating a self-propelled working machine, wherein the machine, a working unit connected to the machine, a pair of right and left traveling units supporting the machine, A work machine including a power source for driving the traveling unit is operated so as to travel along a set traveling path, and the traveling path includes a first path along which the body travels straight, and a first path of the first path. The aircraft changes its traveling direction at less than 180 degrees with respect to the first route from the end or its vicinity, and the aircraft goes straight, or changes its traveling direction at 180 degrees or approximately 180 degrees with respect to the first route, and A second path parallel or substantially parallel to the first path; and a switching path through which the aircraft moves from the first path to the second path, wherein the switching path is an end of the first path. Direction different from the first path and the second path from the side The forward direction is changed by changing the traveling direction at less than 90 degrees, and the aircraft moves straight, and the traveling direction is changed so that the aircraft turns back from the end side of the outward route so that the aircraft is at the end of the first path or the beginning of the second path. When the aircraft reaches the end of the forward path, either one of the left and right traveling units is driven in the opposite direction to the other, or only one is driven and the other is driven. By stopping the vehicle, the aircraft is turned on the spot so as to face the traveling direction of the return trip.

  According to the present invention, the switching path connecting the first path and the second path is constituted by the forward path and the return path for moving the aircraft straight, and the aircraft is turned on the spot when returning from the outward path to the return path. It becomes possible not only to make the traveling on the changed route surely, but also to work efficiently even while traveling on the switching route.

It is a perspective view of a reaping machine to which the present invention is applied. It is a side view of the reaping machine to which the present invention is applied. It is principal part sectional drawing which shows the transmission structure of a reaper. (A) is a perspective view of a main part of the mowing device, and (B) is a plan sectional view of the mowing unit. It is a plane sectional view showing the structure of a crawler type traveling device. (A) is a side sectional view of a crawler type traveling device, and (B) is a perspective view of a removed body. It is a block diagram showing composition of a control part of a reaper. (A) to (D) are plan views sequentially showing the processing procedure of the automatic traveling control. It is a top view showing other examples of automatic running control. It is a top view showing other examples of automatic running control. It is a side view of the reaping work machine concerning other embodiments. It is a side view of the working machine concerning other embodiments. It is a top view of the working machine concerning other embodiments.

  1 and 2 are a perspective view and a side view of a mowing machine to which the present invention is applied. The mowing machine 1 automatically runs at least a part of a predetermined traveling route while mowing grass or grass (object). The reaper 1 includes a pair of left and right crawler traveling devices (traveling units) 2, 2, a machine body 3 supported by the left and right crawler traveling devices 2, 2, and a vertically movable connection to a front side of the machine body 3. And a mowing device (working unit) 4.

  The frame portion of the body 3 has a chassis 7 and one or a plurality of coupling frames 8 for coupling the chassis 7 and the left and right crawler traveling devices 2 respectively. The chassis 7 includes a U-shaped main frame 9 having a rear portion that is bent upward with respect to a middle portion and a front portion whose rear portion is horizontal or substantially horizontal in a side view, and whose front portion is open in a plan view. A pair of horizontal frames 11 and 12 installed between the front end portions and the rearward portion, and a longitudinal frame (not shown) installed between the pair of horizontal frames 11 and 12. ing. The portion of the connection frame 8 on the chassis 7 side is fixed to the vertical frame side of the chassis 7.

  FIG. 3 is a sectional view of a main part showing a transmission structure of the reaper. As shown in FIGS. 2 and 3, the mowing device 4 includes a cylindrical transmission case 14 extending linearly in a posture facing the front-rear direction in plan view, and a rear end (base end) side of the transmission case 14. An engine 16 which is a kind of power source installed integrally, a tubular horizontal cylinder 17 which is connected and supported in a T-shape at the front end (tip) side of the transmission case 14 and extends in the left-right direction; Vertical pipes 18, 18 protruding downward from the left and right ends of the right and left mowing units 19, 19 disposed at the lower ends of the left and right vertical pipes 18, 18, respectively, and left and right mowing units 19, And a single reaper cover 20 which collectively covers the upper part of the reaper 19.

  The transmission case 14, the horizontal cylinder 17, and the vertical cylinders 18 constitute a frame of the reaper 4. An intermediate portion of the horizontal cylinder 17 is connected to and supported by the distal end of the transmission case 14. Incidentally, with the above-described configuration, the horizontal cylinder 17 and the pair of vertical cylinders 18 constitute a gate portion for introducing an object.

  The engine 16 has an engine body and a fuel tank as a unit. The rotational power generated by the engine 16 is first transmitted to a main shaft 21 rotatably supported inside the transmission case 14 so as to be coaxial with the transmission case 14. The tip of the main shaft 21 on the opposite side to the engine 16 faces the inside of the horizontal cylinder 17 and is provided so that the bevel gear 22 rotates integrally.

  Inside the horizontal cylinder 17, a horizontal shaft 23 having the same axis as the horizontal cylinder 17 is rotatably supported. A bevel gear 24, which always meshes with the bevel gear 22, is provided at an intermediate portion of the horizontal shaft 23 so as to rotate integrally. In other words, the rotational power of the main shaft 21 is transmitted to the horizontal shaft 23 via the bevel gears 22 and 24.

  A rotating shaft 26 having the same axis as the vertical cylinder 18 is rotatably supported inside each vertical cylinder 18. The upper end of the rotating shaft 26 faces the inside of the horizontal cylinder 17. Bevel gears 27 are provided at left and right ends of the horizontal shaft 23 so as to rotate integrally. A bevel gear 28 that is always meshed with a bevel gear 27 is provided at the upper end of the rotating shaft 26 so as to rotate integrally. That is, the rotating power of the horizontal shaft 23 is transmitted to the rotating shafts 26 by the two bevel gears 27 meshing with each other.

  FIG. 4A is a perspective view of a main part of the mowing device, and FIG. 4B is a plan sectional view of the mowing unit. Each of the mowing units 19 includes a mowing rotator 29 provided at the lower end of the rotating shaft 26 so as to rotate integrally therewith, and a protection that is attached and fixed to the lower end of the vertical cylinder 18 and projects right and left outward from the vertical cylinder 18. And a cover 31.

  Each cutting rotator 29 includes a plurality of cutting blades 32 and a single rotator 33 that is disposed directly above the cutting blade 32 and is formed in a circular plate shape centered on the rotation shaft 26 in plan view. have. The cutting blade 32 and the rotating body 33 are attached and fixed to the lower end of the rotating shaft 26 so as to rotate integrally with the lower end of the vertical cylinder 18.

  The cutting blade 32 protrudes radially (radially outward) from the rotation shaft 26 in plan view. Although the rotation trajectories of the cutting blades 32 of the left and right cutting units 19 and 19 partially overlap in plan view, the positions (phases) of the rotation axes 26 of the cutting blades 32 in the direction around the axis are determined by the left and right cutting rotating bodies. By making them different from each other at 29, 29, interference between the cutting blades 32 of the left and right cutting rotating bodies 29, 29 is prevented.

  The rotation directions of the left and right cutting rotating bodies 29, 29 are set so as to move rearward on the left and right inner sides. For this reason, when the object is cut by the left and right cutting rotators 29, 29 while the body 3 is traveling forward, the object is cut by the left and right cutting rotators 29, 29 and the cutting rotators 29, 29 are cut. It is discharged backward while being drawn during 29.

  On the upper surface of the rotating body 33, a discharge promoting body 34 that rotates integrally with the rotating body 31 is formed to protrude upward. The discharge promoting body 34 is a pin protruding upward, and a plurality of discharge promoting bodies 34 are provided for each predetermined interstitial (in this example, every half circumference) in the direction around the rotation shaft 26 for each rotating body 33. Each of the discharge promoting members 34 is arranged in a portion of the upper surface of the rotating body 33 near the periphery. The plurality of discharge promoting bodies 34 provided on one rotating body 33 are all set at the same distance from the rotating shaft 26 so as to draw the same rotational trajectory.

  The protective cover 31 is formed in a box shape with its lower part opened. The planar shape of the protective cover 31 is a triangular shape with the bottom side facing left and right. The protective cover 31 covers the upper right and left outer portions of the rotation locus of the cutting blade 32 and the rotating body 33 immediately below in plan view. An opening 31a serving as an entrance of the rotating discharge promoting body 34 and a lead-out portion 31b serving as an outlet are formed on the side circumference of the protective cover 31.

  The introduction portion 31a of the protection cover 31 is provided with a scraper 36 for scraping an object entangled with the discharge promoting body 34. The scraper 36 is bent in a U-shape in plan view, one of which extends in the tangential direction of the rotation trajectory of the discharge promoting body 34 on the introduction portion 31a side, and the other of which is welded to the side peripheral surface of the protective cover 31 by welding or the like. Fixed.

  During the cutting operation of the object by the left and right cutting rotating bodies 29, 29, the discharge promoting body 34 moving outside the protective cover 31 discharges the object backward, and introduces the object into the protective cover 31 from the introduction portion 31a. The discharge facilitator 34 is moved around the inside of the protective cover 31 by the scraper 36 scraping an object entangled therearound, and the discharge facilitator 34 is led out of the protective cover 31 from the lead-out portion 31a. Is done.

  As shown in FIGS. 1 and 2, the cutting cover 20 is bent in an inverted U-shape with its lower part opened in a front view so as to cover the upper part and the right and left sides of the right and left cutting units 19, 19 respectively. It is formed and fixed to the frame portion of the reaper 4. The reaper cover 20 is inclined forward and downward in a side view, and the front end of the reaper cover 20 also functions to make a tall object fall down while the body 3 is traveling forward.

  As shown in FIG. 2, the mowing device 4 having the above configuration is supported by the body 3 so as to be able to swing up and down with a fulcrum X at a position overlapping the engine 16 in a side view. Specifically, the reaper 4 in a state where the engine 16 is arranged at a position overlapping with the body 3 in plan view is supported by a support bracket 37 projecting upward from the chassis 7 so as to be able to swing up and down. .

  In other words, the fulcrum X is located behind the front end of the body 3. The left and right cutting units 19, 19 are moved up and down by the entire vertical swing of the cutting device 4. By this vertical movement, the left and right cutting units 19, 19 are raised to a non-working height, lowered to the working height, and adjusted in a range of the working height.

  Incidentally, this lifting and lowering is performed not by manual operation but by expansion and contraction of a hydraulic, air-driven or electric-driven lifting and lowering cylinder 38 as an actuator. Specifically, an elevating arm 39 that swings up and down integrally with the reaper 3 is supported by the support bracket 37. The elevating arm 39 protrudes rearward from the support bracket 37, and an elevating cylinder 38 is provided between the protruding end and the support bracket 37. The lifting cylinder 38 is of a hydraulic type or an electric type, and causes the reaper 4 to swing up and down by expansion and contraction.

  In addition, since the heavy engine 16 is located on the side of the machine body 3, it becomes easy to maintain the overall front-rear balance of the mowing machine 1 in a good condition. In addition, a battery 41 functioning as a balance weight is disposed behind the swing axis X in the body 3 in order to maintain the front-rear balance with the left and right mowing units 19, 19 disposed in front of the fulcrum X. Have been. Specifically, the battery 41 is mounted and supported on the lower surface of the rear portion of the chassis 7.

  FIG. 5 is a plan sectional view showing the structure of the crawler type traveling device. As shown in FIGS. 1, 2, and 7, each crawler-type traveling device 2 includes a traveling frame 42 extending in the front-rear direction, a drive case 43 arranged on the traveling frame 42 side, and one of the front and rear sides of the traveling frame 42 ( In the illustrated example, a drive sprocket (drive wheel) 44 disposed on the front side), a driven sprocket (idler wheel) 46 disposed on the other side, and an annular shape wound around the drive sprocket 44 and the driven sprocket 46. And a crawler 47. In addition, you may reverse the front-back positional relationship of the drive sprocket 44 and the driven sprocket 46.

  The traveling frame 42 includes a box-shaped housing portion 48 whose left and right outer sides are open, and a flange portion 49 that extends integrally from upper and lower peripheral walls of the housing portion 48 to the outside and forms an annular shape in a side view. Have. The collar 49 prevents foreign matter such as an object from entering the crawler 46 from the left and right outer sides.

  The open part of the housing part 48 is closed by a box-shaped cover body 51 whose left and right inner sides are opened. Specifically, the outer peripheral surface of the housing portion 48 is fitted and inserted into the inner peripheral surface of the cover body 51. The inner space of the housing portion 48 of the traveling frame 42 and the inner surface of the cover frame 51 form the housing space S.

  The drive case 43 is accommodated in a portion of the accommodation space S near the drive sprocket 44. An electric motor 52 driven by the power supply from the battery 41 is accommodated in the drive case 43. The rotational power generated by the motor 52 is gear-transmitted to the left and right output shafts 53 projecting inward from the drive case 43 and the housing 48 to the left and right and rotatably supported by the drive case 43.

  The drive sprocket 44 is attached to the output shaft 53 so as to rotate integrally with the output shaft 53.

  The driven sprocket 46 is rotatably supported by the traveling frame 42, and is mounted on a left-right supporting shaft 54 projecting inward from the traveling frame 42.

  In each crawler-type traveling device 2, an intrusion prevention cover (for preventing an object or the like from entering from the left and right inner sides of the crawler 47) is provided at a portion facing the traveling frame 42 with the driving sprocket 44 and the driven sprocket 46 interposed therebetween. A cover body) 56 is provided.

  The intrusion prevention cover 56 is fixed to the traveling frame 42 by bolts 57. The gap between the intrusion prevention cover 56 and the flange 49 needs to be appropriately maintained so as to be located at the left and right ends of the crawler 47, respectively. For this reason, the bolt 57 is provided with a tubular spacer 58 that defines the distance between the intrusion prevention cover 56 and the flange 49.

  In this manner, the motors 52, 52, which are power sources, are provided individually for the left and right crawler traveling devices 2, 2, and the rotational power transmitted from the motor 52 to the driving sprocket 44 can be switched in direction. And the speed can be changed. According to the left and right crawler traveling devices 2 and 2 having the above configuration, the forward / backward movement, left / right turning and traveling speed change of the body 3 can be performed.

  FIG. 6A is a side sectional view of the crawler type traveling device, and FIG. 6B is a perspective view of the removed body. A remover 59 that removes deposits such as soil and objects adhered to the inner peripheral surface side of the crawler 47 is attached and fixed to the upper part of the front and rear halfway portions of the traveling frame 42. The removal body 59 includes an attached portion 61 attached to the traveling frame 42, and a projection 62 provided on an upper end portion 61 a extending in a front-rear direction along the inner peripheral surface of the crawler 47 in the attached portion 61. Have.

  The protrusions 62 are provided before and after the upper end 61a, respectively. Each of the protrusions 62 is formed in a column shape that protrudes upward from the upper end 61a and extends in the left-right direction. The protruding portions 62 scrape off the deposits adhering to the inner peripheral surface side of the traveling crawler 47 during traveling of the machine body 3.

  The connecting frame 8 described above is fixed to the traveling frame 42 by welding or the like.

  The mowing machine 1 having the above-described mechanical structure performs a mowing operation by discharging an object while scraping the object between the pair of right and left mowing rotating bodies 29 when the body 3 moves forward. The cut object is carried out between the right and left crawler traveling devices 2 and 2, and at this time, the attached matter attached to the inner peripheral side of the crawler 47 is removed by the action of the removing body 59. At the same time, the intrusion prevention cover 56 and the traveling frame 42 provided on each crawler traveling device 2 suppress the invasion of foreign matter into the inner peripheral surface side of the crawler 47. Therefore, it is possible to prevent the mud on the running surface, the object, and the like from hindering the running as much as possible.

  In order to prevent the mud and the target from scattering on the chassis 7 of the machine body 3 during traveling, the chassis 7 of the machine body 7 is covered and protected by a detachable machine body cover 63.

  A fan 66 may be attached to the rear of the reaper 4 on the chassis 7 via a support 64, as indicated by a virtual line in FIG. The fan 66 blows off foreign matter such as an object or mud entering the upper surface of the chassis 7 and cools the power source (the engine 16 in this example) of the reaper 4.

  Next, a configuration for causing the mowing machine 1 to function as a work robot will be described with reference to FIGS. 1, 2, 7, and 8.

  As shown in FIGS. 1 and 2, a control unit 67 (see FIG. 7), a wireless communication unit and various sensors are housed in a housing to form a control unit 70 on the lower surface side of the front and rear halfway of the chassis 7. Is installed.

  FIG. 7 is a block diagram illustrating a configuration of a control unit of the mowing machine. The control unit 67 includes a microcomputer and the like. The control section 67 has a storage section 67a for storing various information.

  On the input side of the control unit 67, a GPS sensor 68 which is a kind of traveling position detecting means of the fuselage 3, a gyro sensor 69 which is a kind of direction detecting detecting means and attitude detecting means of the fuselage 3, A potentiometer 71, which is a kind of lifting height detecting means for detecting the height of the right and left mowing units 19, 19 based on the vertical swing position, and a kind of work load detecting means for detecting the work load, and is a power source. A rotation sensor 72 for detecting the number of rotations of a certain engine 16, a rotation sensor 73 which is a kind of left traveling speed detecting means for detecting a driving speed of the left crawler traveling device 2, and a drive for the right crawler traveling device 2 A rotation sensor 74 which is a type of left traveling speed detecting means for detecting a speed, and an LRF 76 which is an type of obstacle detecting means for detecting an obstacle in front of the fuselage 3; Operation means 77 for performing a wired or wireless various operations of the working machine 1 reaper is connected.

  A pair of rotation sensors 73, 74 for detecting the driving speed of the left and right crawler traveling devices 2, 2 can also function as traveling position detection, direction detecting means, and the like. Also, it functions as a traveling speed detecting means of the body 3. The LRF 76 may be replaced by a three-dimensional range image sensor or the like.

  On the output side of the control unit 67, left and right motors 52, 52 provided for each of the left and right crawler traveling devices 2, 2 and the lifting cylinder 38 are connected. The control unit 67 controls not only the presence or absence of driving but also the rotation direction and rotation speed of each motor 52. The elevating cylinder 38 is controlled to expand and contract by the control unit 67. The expansion / contraction speed may be controlled as needed.

  With the above-described configuration on the output side of the control unit 67, the control unit 67 controls the up and down movement of the left and right mowing units 19 and 19, and also controls the running by the left and right crawler type traveling devices 2 and 2.

  More specifically, the traveling control will be described. When the body 3 is made to travel straight, the left and right crawler traveling devices 2 and 2 are driven at the same speed by the two motors 52 and 52. The running speed is controlled by the driving speed at this time. When the body 3 is turned, the two motors 52 drive the crawler-type traveling device 2 on the turning side at a higher speed than the crawler-type traveling device 2 on the non-turning side.

  The turning of the body 3 is a normal turning in which the left and right crawler-type traveling devices 2 and 2 are driven in the same direction in the above-described example, but the control unit 67 stops driving of the other crawler-type traveling device 2. In addition, by driving only the other crawler type traveling device 2 to travel, it is also possible to perform a pivot turn in which the body 3 is turned on the spot. Further, the control section 67 can also perform a super pivot turn in which the body 3 is turned on the spot by driving the left and right crawler type traveling devices 2 and 2 to travel in opposite directions. It is desirable to drive the left and right crawler traveling devices 2 and 2 at the same speed in directions opposite to each other in the turning of the corner.

  Incidentally, in the illustrated example, the presence or absence of the mowing drive of each mowing unit 19, 19 is not controlled by the control unit 67. The respective mowing units 19, 19 are always in a mowing drive state, and switching of the presence or absence of mowing work is performed by raising and lowering the mowing units 19, 19 to the non-working height by the elevation control, and by moving the mowing units 19, 19 to the working height. Perform by descending.

  The control unit 67 may control whether or not each mowing unit 19 is driven. In this case, whether or not the engine 16 is driven is controlled by the control unit 67, or a clutch is provided in the middle of a power transmission path from the engine 16 to the left and right cutting rotating bodies 29, 29. It is controlled by the control unit 67. That is, a drive control unit 75 that controls the driving of the mowing units 19 by controlling whether or not the engine 16 is driven or the on / off state of the clutch may be provided on the output side of the control unit 67.

  The control unit 67 may store various types of information in the storage unit 67a in advance, or may obtain the information from outside each time. In this case, the wireless communication unit 78 is connected to the control unit 67 so as to be able to input and output. Various types of information are obtained from an external server or an information terminal that can communicate via the wireless communication unit 78.

  The control unit 67 having the above configuration is configured to obtain a travel route that is formed in real time, a preset travel route that is stored in the storage unit 67a, or a preset travel route that is acquired from an external server or an information terminal by the wireless communication unit 78. It is possible to execute automatic traveling control for causing the body 3 to travel along the traveling route. Note that the same behavior as the automatic traveling control may be realized by a manual operation by the operation unit 77. In other words, the driving method for causing the work implement 1 to travel along the traveling route may be realized by automatic traveling control executed by the control unit 67 or may be implemented by manual operation.

  When setting the travel route, for example, a map of the site is acquired, a work range is set from the map, and the travel route is set so as to cover the work range efficiently. The map may be stored in the storage unit 67a in advance, or may be obtained from an external server or the like via the wireless communication unit 78, or may be created on the spot by using an obstacle detection unit such as the LRF 76. May be. Details of the traveling route set in this way will be described later.

  Further, the control unit 67 can execute a workload control for controlling a workload. In the work load control, when it is detected by the rotation sensor 72 that the work load is higher than normal by a predetermined amount or more by detecting the decrease in the number of rotations, the machine body 3 stops running at that point, and the left and right cutting rotators 29 are stopped. , 29 are continued, and when it is confirmed that the workload has returned to normal by detecting that the rotation speed has increased to a predetermined value or more by the rotation sensor 72, the traveling of the body 3 is restarted.

  The work load control effectively prevents the body 3 from becoming unable to travel. It should be noted that the elapse of a predetermined time after stopping the traveling may be used as a condition for restarting the traveling of the body 3.

  FIGS. 8A to 8D are plan views sequentially showing the processing procedure of the automatic traveling control. The traveling route shown in the figure includes a first route L1 along which the body 3 travels straight, and a second route parallel to the first route L1 and along which the body 3 travels in a direction opposite to or substantially opposite to the first route L1. L2 and a switching path LC that moves from the first path L1 to the second path L2. The body 3 proceeds in the order of the first route L1 → the switching route LC → the second route L2.

  The right side in the traveling direction of the body 3 is a work completion area E1 in which the mowing work is completed, and the left side in the traveling direction of the body 3 is an unworked area E2. That is, the second route L2 is set on the left side in the traveling direction of the body 3 traveling straight on the first route L1. The start and end of the first path L1 and the start and end of the second path L2 are set based on the work range described above. A straight path (next step) following the second path L2 is set in the same way as setting the second path L2 from the first path L1. In this way, the next process is sequentially set, and the traveling route is set so as to cover the entire work range.

  First, the mowing machine 1 (machine body 3) travels straight from the start end to the end of the first path L1 while performing a mowing operation (see FIG. 8A). Incidentally, during the mowing work, the mowing units 19, 19 are lowered to the working height, and the right and left mowing rotating bodies 29, 29 are driven to rotate. In this example, while the vehicle is traveling from the first route L1 to the switching route LC to the second route L2, the mowing work is always continued.

  When the mowing machine 1 (body 3) reaches the end of the first path L1, the body 3 is set to a predetermined angle of less than 90 degrees (30 degrees in the illustrated example) by normal turning, base turning, or super turning. The vehicle is turned by the predetermined angle θ1 toward the work completion area E1, the traveling direction is changed, and the process shifts to traveling on the switching route LC (see FIG. 8B). In this case, the turning is preferably a pivot turning rather than a normal turning, and more preferably a super turning than a turning.

  The switching path LC has a forward direction LC1 (see FIG. 8B) in which the reaper 1 (machine body 3) moves straight in the traveling direction changed at the end of the first route L1, and a traveling direction opposite to the direction at the end of the forward direction. There is a return path LC2 (see FIG. 8C) in which the changed mowing machine 1 (body 3) goes straight. The start end of the outward route LC1 is set at the end of the first route L1, and the end of the return route LC2 is set at the start end of the second route L2.

  The mowing machine 1 (body 3) moves the outward path LC1 from the start end to the end (see FIG. 8B). The mowing machine 1 (body 3), which has reached the end of the outward route LC1, changes the traveling direction by 180 degrees or approximately 180 degrees by pivot turning or super pivot turning, and shifts to traveling on the return route LC2 (FIG. 8 ( C)). The mowing machine 1 whose traveling direction has been reversed in this way moves on the return path LC2 from the start end to the end (see FIG. 8C).

  The mowing machine 1 (body 3) that has reached the end of the return route LC2 turns the body 3 to the angle θ1 and the work completion area E1 side by normal turning, base turning or super turning, and changes the traveling direction. Then, the process proceeds to the first route L2 (see FIG. 8D). In this case, the turning is preferably a pivot turning rather than a normal turning, and more preferably a super turning than a turning.

  By causing the mowing machine 1 to travel along the traveling route as described above, it is possible to accurately travel the intended route while efficiently performing the mowing operation. By the way, in order to turn the machine body 3 accurately, the reaper 1 moves the distance W from the width center of one of the left and right crawler traveling devices 2 and 2 to the center of the other width, and grounds each of the crawler traveling devices 2. The length (distance between the rotation center of the driving sprocket 44 and the rotation center of the driven sprocket 46) L is set to be longer than L.

  In addition, it is also possible to omit the reaper 4 and the machine body cover 63 from this reaper 1 and use it as a transport vehicle. In this case, the luggage is placed on the chassis 7.

  FIG. 9 is a plan view showing another example of the automatic traveling control. In the illustrated example, traveling of the switching route LC to the outward route LC1 is the same as the example illustrated in FIG. The starting end of the second route L2 coincides with the end of the first route L1 in the traveling direction. Then, the mowing machine 1 (body 3) makes a pivot turn or a super pivot turn at a predetermined angle θ2 of more than 90 degrees and less than 180 degrees at the end of the outward route LC1, and shifts to traveling on the return route LC2.

  The return route LC2 is a straight line connecting the end of the outward route LC1 and the start of the second route L2. Then, the mowing machine 1 (body 3) travels from the start end to the end of the return path LC2. The mowing machine 1 (body 3) that has reached the end of the return route LC2 makes a normal turn, a pivot turn, or a super pivot turn at a predetermined angle θ3, and shifts to traveling on the second route L2. In this case, the turning is preferably a pivot turning rather than a normal turning, and a super turning is more preferable than a turning. Incidentally, in this example, the angle obtained by adding the difference between the angle θ1 and the angle θ3 to the angle θ2 is 180 degrees.

  FIG. 10 is a plan view showing another example of the automatic traveling control. In the illustrated example, in the illustrated example, traveling until shifting to the return path LC2 of the switching path LC is the same as the example illustrated in FIG. The end of the first path L1 and the start of the second path L2 are continuous or substantially continuous at a predetermined angle. This angle is set in the range of 30 degrees to 160 degrees.

  When the mowing machine 1 (body 3) travels on the return path LC2 and reaches the end of the first path L1, the body 3 is moved to the end of the forward path LC1 so that the traveling direction of the body 3 is directed to the second path L2. At the end of the first route), the vehicle makes a pivot turn or a super pivot turn at a predetermined angle θ4, and shifts to traveling on the second route L2. In this case, the turning is preferably a pivot turning rather than a normal turning, and a super turning is more preferable than a turning.

  Next, with reference to FIG. 11, a description will be given of another embodiment of the mowing machine that is different from the above-described embodiment.

  FIG. 11 is a side view of a mowing machine according to another embodiment. In the present embodiment, an electric motor 79 is used as a power source.

  Next, based on FIGS. 12 and 13, a description will be given of another embodiment of the working machine, which is different from the above embodiment.

  12 and 13 are a side view and a plan view of a working machine according to another embodiment. In the present embodiment, the work machine 1 functions as a snow blower. For this reason, a dozer 81 is provided instead of the reaper 4. The dozer 81 is vertically swung (elevated) by expansion and contraction of the elevating cylinder 38, and is swung left and right by expansion and contraction of the electric or hydraulic left and right oscillating cylinder 80. The left-right swing cylinder 81 is bridged between an elevating arm 82 of the dozer 81 and a dozer body 83 supported at the front end of the up-down arm 82 so as to be able to swing right and left.

1 Harvester (worker)
2 Crawler type traveling device (traveling part)
3 body 4 reaper (working section)
16 engine (power source)
56 Intrusion prevention cover (cover body)
79 Motor (power source)
81 Dozer (Working Department)
L distance L1 first path L2 second path LC switching path LC1 outbound LC2 return W distance

Claims (4)

A self-propelled work machine,
The fuselage,
A working unit coupled to the aircraft,
A pair of left and right traveling units supporting the aircraft,
A power source for driving the traveling unit to travel,
Traveling position detecting means for detecting the traveling position of the aircraft,
A control unit that controls the drive of each of the left and right traveling units based on the detection result of the traveling position detection unit,
The control unit is configured to be able to execute automatic traveling control for automatically traveling the aircraft along a traveling route generated in real time or a preset traveling route,
The traveling route may be a first route on which the aircraft travels straight, and the aircraft may travel in a straight line by changing the traveling direction at less than 180 degrees with respect to the first route from the end of or near the first route, or A second path that changes the traveling direction at 180 degrees or substantially 180 degrees with respect to the first path and is parallel or substantially parallel to the first path; And a switching path for moving to
The switching route is a forward route in which the traveling direction is changed from the terminal side of the first route to a direction different from the first route and the second route by less than 90 degrees, and the aircraft goes straight, and from a terminal side of the forward route. A return path in which the aircraft changes its traveling direction so as to turn back and the aircraft goes straight toward the end of the first path or the start of the second path,
The control unit may drive one of the left and right traveling units in the opposite direction to the other or drive only one of the left and right traveling units when the aircraft reaches the terminal side of the forward path during execution of the automatic traveling control. The working machine is characterized in that by stopping the drive, the machine body is turned on the spot so as to face the traveling direction of the return path. Each of the left and right traveling units is a crawler traveling device,
The working unit has a pair of left and right cutting rotators, and is configured to perform a cutting operation while scraping an object between the left and right cutting rotators,
The working machine according to claim 1, wherein at least a part of the left and right inner side portions of the crawler traveling device is covered by a cover body. Each of the left and right traveling units is a crawler traveling device,
The work machine according to claim 1, wherein the contact length of the crawler-type traveling device is set to be shorter than a distance between width centers of the right and left crawler-type traveling devices. A method of operating a self-propelled work machine,
Traveling along a set traveling route, a working machine including a body, a working part connected to the body, a pair of left and right traveling parts supporting the body, and a power source for driving the traveling part to travel. To operate,
The traveling route may be a first route on which the aircraft travels straight, and the aircraft may travel in a straight line by changing the traveling direction at less than 180 degrees with respect to the first route from the end of or near the first route, or A second path that changes the traveling direction at 180 degrees or substantially 180 degrees with respect to the first path and is parallel or substantially parallel to the first path; And a switching path for moving to
The switching route is a forward route in which the traveling direction is changed from the terminal side of the first route to a direction different from the first route and the second route by less than 90 degrees, and the aircraft goes straight, and from a terminal side of the forward route. A return path in which the aircraft changes its traveling direction so as to turn back and the aircraft goes straight toward the end of the first path or the start of the second path,
When the body reaches the terminal side of the outward path, one of the left and right traveling units is driven in the opposite direction to the other, or only one is driven and the other is stopped, so that the body is A method of operating a working machine, wherein the work machine is turned on the spot so as to face the traveling direction of the return path.

Images