JP2860263B2 - Guiding guide burying device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guide guide burying device for burying a guide such as an unmanned lawn mower.

[0002]

2. Description of the Related Art Hitherto, the work of burying a guide such as an unmanned lawn mower has generally been performed manually, requiring skill and labor.

[0003]

SUMMARY OF THE INVENTION An object of the present invention is to automatically bury a guide for an unmanned lawn mower or the like.

[0004]

According to a first aspect of the present invention, there is provided a truck having a plurality of wheels, a container for accommodating a large number of ferromagnetic materials, and a truck having a predetermined depth on the ground as the truck travels. A cutter device for digging a groove, a guide cylinder for guiding the ferromagnetic material in the container to the groove, a pitch detecting means for detecting the carriage every time the truck travels a predetermined distance, and a detecting operation of the pitch detecting means. A guide device that operates to supply only one ferromagnetic material from the container to the guide cylinder, and that a guide device made of a ferromagnetic material is intermittently embedded. It is a buried device.

According to a second aspect of the present invention, there is provided a truck having a plurality of wheels, a container for accommodating a large number of magnetic materials, a magnetic material receiver for receiving one magnetic material in the container,
A magnetizing device that magnetizes the magnetic material received by the magnetic material receiver to form a permanent magnet, a cutter device that digs a groove of a predetermined depth in the ground as the bogie travels, A guide cylinder for guiding the groove, a pitch detection means for detecting the carriage every time the carriage travels a predetermined distance, and operating the detection operation of the pitch detection means to move the permanent magnet from the magnetic receiver to the guide cylinder. A guide supply burying device characterized in that a supply device and a supply device are provided, and a guide formed of a permanent magnet is intermittently buried.

[0006]

[0007]

1 is a schematic plan view of an unmanned lawn mower, and FIG. 2 is a schematic front view thereof. An unmanned traveling vehicle 1 has a traveling vehicle main body 2 and two rotatably supported vehicles. , And wheels 4 fixed to both ends of the axle 3.
The traveling vehicle body 2 includes a magnetic field generator 5 for generating an alternating magnetic field.
And detection sensors 6a and 6b located on both sides of the magnetic field generator 5 for detecting a change in the alternating magnetic field of the magnetic field generator 5 are provided. The magnetic field generator 5 includes, for example, a coil wound around a core and an oscillator that supplies an alternating current to the coil. The detection sensors 6a and 6b include, for example, coils.

As shown in FIG. 3, the traveling vehicle body 2 further includes an engine 8, clutches 9, 10, a transmission 11, and a reduction gear 12, as shown in FIG.
And a lawn mower 13. Power of the engine 8 is transmitted to the wheels 4 via a clutch 9, a transmission 11 for switching between forward and reverse, and an axle 3, and a clutch 10 and a speed reducer 12. And the cutter unit 14 of the lawn mower 13
To the lawn mower 13
The cutter section 14 is rotated to perform the lawn mowing operation.

As shown in FIGS. 3 and 4, the traveling vehicle body 2 further includes a control device 16 composed of, for example, a microcomputer as control means for controlling the operations of the unmanned traveling vehicle 1 and the lawn mower 13, and an end point described later. An end point detection sensor 17 for detecting a signal from the signal generator, an obstacle detection sensor 18 for detecting an obstacle in front of the unmanned vehicle 1 using, for example, ultrasonic waves or light, and a weight or pressure for example Fullness detecting sensor 19 for detecting that the herbage bag (not shown in this embodiment) containing the cut grass cut by the lawn mower 13 using light or sound waves or the like is full. A cutter unit rotation speed detection sensor 20 that detects the rotation speed of the cutter unit 14 directly or indirectly from the rotation speed of the engine 8;
A receiving device 21 that receives a signal from a transmitting device described below,
An automatic / manual switch 22 for switching between automatic operation and manual operation of the unmanned traveling vehicle 1 and the lawnmower 13 is mounted. The traveling vehicle body 2 (FIG. 2) includes a transmission actuator 23 that operates in response to an electric control signal to switch the transmission 11 between forward and reverse, an ignition system 24 of the engine 8, and electrical control. Unmanned traveling vehicle 1 operated by signal
Actuator 25 for driving the clutch 9
And a clutch actuator 2 which is operated by an electric control signal to turn on / off the clutch 10 of the lawn mower 13.
6, a brake actuator 27 that is activated by an electric control signal to drive a brake (not shown) of the unmanned traveling vehicle 1, and a lawn mower 1 that is activated by an electric control signal.
3, a brake actuator 28 for driving a brake (not shown), a steering actuator 29 for operating a steering device (not shown) of the unmanned traveling vehicle 1 in response to an electric control signal, and an electric actuator. A notifying unit 30 which is activated by a control signal and continuously or intermittently issues an alarm by, for example, light or sound until a reset operation is performed is mounted. The control device 16 includes a CPU 32 and a CPU 3
Input interface 3 for supplying various input signals to 2
3, an output interface 34 for supplying a control signal from the CPU 32 to various control targets, and a memory 35 for storing various information. Detection sensor 6
a, 6b (FIG. 2), end point detection sensor 17, obstacle detection sensor 18, full capacity detection sensor 19, cutter section rotation speed detection sensor 20, receiving device 21, automatic / manual changeover switch 22
From the CPU via the input interface 33
The control signal from the CPU 32 is input to the ignition system 24, the clutch actuators 25 and 26, and the brake actuator 2 via the output interface 34.
7, 28, the steering actuator 29, and the notification means 30 as appropriate.

As shown in FIG. 5, a linear ferromagnetic material 38 is continuously buried as a guide in the traveling path of the unmanned traveling vehicle 1, and a home position which is an end point and a starting point of the unmanned traveling vehicle 1 is provided. In the vicinity of the upstream side of P, an end point signal generator 39 that emits light or ultrasonic waves and notifies that the home position P is near is installed. The ferromagnetic material 38
May be intermittently buried along the traveling route of the unmanned traveling vehicle 1. At each corner of the work area 40 for lawn mowing work by the unmanned traveling vehicle 1, an intruder detection sensor 43, which includes a transmitter 41 and a receiver 42 and detects an external intruder using, for example, light or ultrasonic waves, is provided. is set up. The intruder detection sensor 43 can be switched between an operating state and a non-operating state by manual operation. The output terminal of the intruder detection sensor 43 is connected to the input terminal of the transmission device 44, and the transmission device 44 transmits the fact that the intruder detection sensor 43 has detected the intruder using, for example, radio waves or light, This is received by the receiving device 21 (FIG. 4) of the unmanned traveling vehicle 1.

Next, the operation will be described. The unmanned traveling vehicle 1 travels from the home position P in the direction of the arrow in FIG. 5 along the ferromagnetic material 38, and the lawn mower 13 cuts the lawn. At this time, the magnetic field generated by the magnetic field generator 5 and the ferromagnetic material 3
8 and the magnetic field generator 5 is located directly above the ferromagnetic body 38, the magnetic flux linked to the detection sensor 6a is equal to the magnetic flux linked to the detection sensor 6b. In this case CP
U <b> 32 causes the unmanned traveling vehicle 1 to go straight without operating the steering actuator 29. When the unmanned traveling vehicle 1 shifts to the left with respect to the ferromagnetic body 38 as shown in FIG. 6, the magnetic flux linked to the detection sensor 6a becomes larger than the magnetic flux linked to the detection sensor 6b. The CPU 32 detects this by signals from the detection sensors 6a and 6b, and operates the steering actuator 29 to move the unmanned traveling vehicle 1 to the right. Conversely, when the unmanned traveling vehicle 1 shifts to the right with respect to the ferromagnetic body 38 as shown in FIG. 7, the magnetic flux linked to the detection sensor 6b becomes larger than the magnetic flux linked to the detection sensor 6a. The CPU 32 detects this by signals from the detection sensors 6a and 6b, and operates the steering actuator 29 to move the unmanned traveling vehicle 1 to the left. Thus, the unmanned vehicle 1 travels along the ferromagnetic body 38 while automatically correcting the trajectory. When the unmanned traveling vehicle 1 travels by itself while doing lawn mowing work and returns to just before the home position P, the end point detection sensor 17
Detects the signal of the end point signal generator 39, the CPU 32 shuts off the ignition system 24 and stops the engine 8. Thereby, the unmanned traveling vehicle 1 slightly travels by inertia and stops at the home position P.

When the ferromagnetic material 38 is continuously buried in the ground as a guide, it can be buried efficiently by the guide guide burying device as shown in FIGS. That is, a column 74 is erected on a cart 73 having a plurality of wheels 72, and a rotating drum 75 is rotatably supported on the upper end of the column 74. A long linear ferromagnetic body 38 is wound around the rotating drum 75, and a cutter 73 for excavating a groove and a guide body 78 for guiding the ferromagnetic body 38 are mounted on the bogie 73. ing. The guide body 78 has a plurality of guide rollers 79 for guiding the ferromagnetic body 38.
Are rotatably supported.

In the reference example under development, the cart 7
When the cutter 3 is moved, a groove having a predetermined depth is excavated in the ground by the cutter device 77, and the ferromagnetic material 38 is guided by the guide roller 79 in the groove. Therefore, the ferromagnetic material 38 is laid in the groove, and the ferromagnetic material 38 can be continuously buried. The cutter device 77 is attached to the carriage 73 so that the position in the vertical direction can be adjusted, and the depth of the groove can be adjusted.

As shown in FIG. 10, a commercially available edger 82 is used.
The trolley 73 may be connected to the vehicle. In this case, the edger 8
Since the second cutter 83 excavates a groove as a cutter device, it is not necessary to provide the carriage 73 with the cutter device 77 as shown in FIG.

When a ferromagnetic material is intermittently buried in the ground as a guide, it can be buried efficiently by a guide guide burying device as shown in FIG. That is, on the carriage 73, a container 86 for accommodating a large number of ferromagnetic materials, a guide tube 87 for guiding the ferromagnetic material in the container 86 to a groove excavated by the cutter device 77, and an upper end of the guide tube 87 Container 8 installed
A supply device for dropping the ferromagnetic material in 6 into the guide cylinder 87 one by one and a valve device 88 made of a solenoid or the like as a ferromagnetic material receiver are installed.
A micro switch 89 is provided as a pitch detecting means for detecting a projection 72a protruding from the wheel 72.
As shown in FIG. 12, a solenoid 88a of the valve device 88 and a contact 89a of the micro switch 89 are connected in series to a battery 90.

In this embodiment, when the carriage 73 is driven, the micro switch 89 detects the protrusion 72a for each rotation of the wheel 72 and the contact point 89a is closed, so that the solenoid 88a is energized and the valve device 88 is energized. Opens and the container 8
The ferromagnetic materials in 6 are dropped into the guide cylinder 87 one by one, and fall into the groove dug by the cutter device 77. Thereby, the ferromagnetic material can be embedded at a predetermined pitch. The protrusion pitch of the ferromagnetic material 38 can be arbitrarily reduced by projecting the plurality of protrusions 72a on the wheel 72.

When a permanent magnet is intermittently buried in the ground as a guide, it can be efficiently buried by a guide guide burying device as shown in FIG. That is, in addition to the device of the embodiment of FIG.
4 and a magnetizing yoke 95 are installed, and the magnets in the container 86 are magnetized into permanent magnets and then dropped into the guide cylinder 87 one by one. As the magnetic material, any material such as iron or nickel, which is suitable for a permanent magnet, can be used.

[0018]

According to the guide guide burying device of the present invention,
An induction guide such as a ferromagnetic material or a permanent magnet can be intermittently and efficiently embedded.

[Brief description of the drawings]

FIG. 1 is a schematic plan view of an unmanned lawn mower.

FIG. 2 is a schematic front view of the same.

FIG. 3 is a block diagram of a drive system of the unmanned lawn mower.

FIG. 4 is a block diagram of a control system of the unmanned lawn mower.

FIG. 5 is an explanatory diagram of a traveling route of the unmanned lawn mower.

FIG. 6 is an explanatory diagram of traveling control of the unmanned lawn mower.

FIG. 7 is an explanatory diagram of traveling control of the unmanned lawn mower.

FIG. 8 is a schematic side view of a guide guide embedding device according to a reference example under development of the present invention.

FIG. 9 is a schematic front view of the same.

FIG. 10 is a schematic side view of a guide guide burying device according to another reference example.

FIG. 11 is a schematic side view of a guide guide embedding device according to an embodiment of the present invention.

FIG. 12 is a circuit diagram of a control circuit in the guide guide embedding device.

FIG. 13 is a schematic side view of a guide guide burying device according to still another embodiment.

[Explanation of symbols]

 72 wheels 73 trolley 77 cutter device 86 container 87 guide cylinder 88 valve device (supply device) 89 micro switch (pitch detection means) 94 magnetizing device

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Yasuo Ohno 2-4-1 Hamamatsucho, Minato-ku, Tokyo World Trade Center Building Kawasaki Heavy Industries, Ltd. Tokyo Headquarters (56) References JP-A-49-124593 (JP, A) Patent 2618041 (JP, B2) (58) Fields investigated (Int. Cl. ⁶ , DB name) H02G 9/00-9/12

Claims (2)

(57) [Claims] 1. A truck having a plurality of wheels, a container for accommodating a large number of ferromagnetic materials, a cutter device for digging a groove of a predetermined depth in the ground as the truck travels, A guide cylinder that guides the ferromagnetic material in the container to the groove, a pitch detection unit that detects the carriage every time the bogie travels a predetermined distance, and operates from the container by the detection operation of the pitch detection unit. An inductive guide burying device, wherein a supply device for supplying only one ferromagnetic material is installed in a guide cylinder, and an inductive guide made of a ferromagnetic material is intermittently embedded. 2. A trolley having a plurality of wheels is provided. The trolley has a container for accommodating a large number of magnetic materials, and a trolley in the container.
A magnetic body receiver that receives the magnetic bodies, a magnetizing device that magnetizes the magnetic body received by the magnetic body receiver to form a permanent magnet,
A cutter device for digging a groove of a predetermined depth in the ground as the truck travels, a guide tube for guiding the permanent magnets to the groove, and a pitch detecting means for detecting each time the truck travels a predetermined distance And a supply device that operates by the detection operation of the pitch detection means and supplies the permanent magnet from the magnetic material receiver to the guide cylinder is installed, and an induction guide made of a permanent magnet is intermittently embedded. A guide guide burying device, characterized in that: