JP5273702B2 - Traveling type mower - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a small-sized traveling-type reaping machine enabling reaping work on a slope to be conducted sideways of the machine body while keeping the machine body's left and right balance well even at narrow levees such as in a medium mountainous area. <P>SOLUTION: The traveling-type reaping machine is provided with a traveling machine body 2 having right and left traveling parts 1L and 1R and a working implement 6 conducting reaping work for weeding or harvesting purpose sideways of the traveling machine body 2. This reaping machine also has such a balancing member 3 that, in conducting a reaping work on one side of the right and left flanks of the traveling machine body 2, the right and left balance of the traveling machine body 2 is kept on the other side. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a traveling type mowing machine capable of cutting weeds or crops on an inclined surface.

  Cutting weeds on slopes (slopes) in hilly and mountainous areas is indispensable from the standpoints of maintaining the agricultural production base, maintaining the landscape, and cultivating crops. For this reason, in general, semi-manual mowing work is carried out with a power mower, but mowing work in a place where the scaffolding is unstable is a heavy labor, and this problem becomes more serious in the middle-mountain and mountainous areas where the aging is progressing. Yes. Other means include a means for spraying herbicides, a means for burning off weeds and the like on the slope surface by a flame radiator, a means for raising herbivores on sloping ground, a means for coating the slope surface with a fluffy plant, etc. It is known.

In addition, the vehicle includes a traveling machine body having a traveling unit and a working machine that performs cutting work for weeding or harvesting on the side of the traveling machine body, and is inclined on the side of the traveling machine body while traveling on a fence (management road) or the like. Patent Documents 1 and 2 that perform the above-mentioned cutting operation are known.
Japanese Patent Laid-Open No. 7-87824 JP 2000-197407 A

  However, the means of spraying the herbicide is that the roots of the weeds that grow on the slope surface wither, and the slope surface itself tends to collapse. The disadvantage that there is a risk of forest fire is that the means of raising herbivores on sloping ground is that the herbivores eat not only weeds but also crops, but the means of coating the slope with fluffy plants is the above-mentioned fluffy nature Plants are not always established as the preferred species on the slope, and the initial cost is high.

In addition, the traveling type reaper shown in Patent Documents 1 and 2 corrects the above-mentioned drawbacks, but the right and left balance of the traveling body is biased when the cutting operation of the inclined surface is performed on one side of the traveling body. In some cases, it may be difficult to maintain the left-right balance of the traveling machine body, and a problem remains.
The present invention solves the above-mentioned problems, and can perform the cutting operation of the inclined surface on the side of the aircraft while maintaining a good left-right balance even in a narrow ridge such as a mountainous area without mechanically increasing the size. It aims at providing a traveling type mower.

In order to solve the above-described problems, the traveling type mower of the present invention firstly includes a traveling machine body 2 having traveling parts 1L and 1R on the left and right sides, and a work for performing cutting work for weeding or harvesting on the side of the traveling machine body 2. In the traveling type reaper provided with the machine 6, a balance member 3 is provided to hold the left and right balance of the traveling machine body 2 on the other side when performing the cutting operation on the left and right sides of the traveling machine body 2, and on the traveling machine body 2 side. The balance weight 3 slidably supported with respect to the traveling machine body 2 by the installed left and right guide rails 33 becomes the balance member 3, and the work machine 6 can swing up and down. An arm 41 supported on the traveling machine body 2 side is provided, and by the vertical swing, the arm 41 is located on the side of the traveling machine body 2 along the inclined surface 11 inclined upward or downward in a front view. Turn diagonally upward or diagonally downward It is configured to allow, on the surface facing with the inclined surface 11 of the arm 41, the reaper 6a provided by 該刈 isolation portion 6a, and performs cutting operations of the inclined surface 11.

  Secondly, the cutting part 6 a is installed along the longitudinal direction of the arm 41.

  According to the traveling type mowing machine configured as described above, when performing cutting work such as weeds on an inclined surface with the side of the traveling aircraft descending or rising to the inclined surface side on an inclined land or the like, By maintaining a good balance and improving the traveling performance in a narrow path on the ridge, it is possible to stably perform the cutting work on the slope.

  In addition, the right and left traveling units are configured by crawlers, and the balance of the traveling machine body is controlled by the left and right traveling units, whereby the balance of the traveling machine body can be more satisfactorily maintained.

Hereinafter, embodiments of the present invention will be described based on illustrated examples.
1, 2 and 3 are a front view, a side view and a plan view of a traveling type mower to which the present invention is applied. The traveling type reaper includes the traveling units 1L and 1R, the traveling machine body 2 supported by the traveling units 1L and 1R, the balance member 3 provided in the traveling machine body 2, and the left and right performing the harvesting operation in front of the traveling machine body 2. Forward working machine 4, a side working machine 6 (working machine) that performs cutting work on the side of the traveling machine body 2, a pair of left and right guide rollers 7, 7, and a control device 8 that performs various controls (FIG. 4). Or a crop grown on the slope 11 (down slope, up slope, slope) on the side of the fence 9 while traveling along the fence 9 (management road) or It is comprised so that the weed cutting operation may be performed (in FIG. 1, a slope is a downward slope).

  The traveling units 1L and 1R are provided separately on the left and right. Each traveling portion 1L, 1R is pivotally supported via a pair of left and right traveling frames 12, 12 extending in the front-rear direction, and a rear wheel shaft 13 between the rear end portions of the left and right traveling frames 12, 12, so as to be able to rotate back and forth. In addition, the front wheel 17 is supported between the rear wheel 14 and the front end via a front wheel shaft 16 so as to be able to rotate back and forth, and the crawler 18 is wound around the front wheel 17 and the rear wheel 14. The diameter of the rear wheel 14 is formed to be larger than the diameter of the front wheel 17.

  The main part of the traveling machine body 2 is constituted by a machine frame 19. The body frame 19 includes left and right side frames 21 that are formed in a side view, a horizontal frame 22 that connects and fixes the left and right side frames 21 and 21, and an upper side from the rear end of each side frame 21. And a substantially horizontal mounting plate 24 fixed to the upper end surfaces of the left and right support columns 23 and 23 and the upper surface of the horizontal frame 22 by welding or the like.

  Each side frame 21 is configured by connecting and fixing a side case 26 extending obliquely forward and upward from the proximal end to the distal end and a side plate 27 extending obliquely rearward and upward from the proximal end to the distal end. Yes.

  The horizontal frame 22 includes a power box 28 having a power generator (not shown) that generates rotational power therein, and left and right horizontal cylinders 29 and 29 in the horizontal direction. The power box 28 is formed in a substantially rectangular parallelepiped shape extending in the left-right direction, and is formed so that the upper surface is substantially flat. Each horizontal cylinder 29 has one end portion integrally attached and fixed to the corresponding side surface of the power box 28 by welding or the like, while the other end portion corresponds to the side case 26 and the side plate 27 of the left and right side frames 21. Are integrally attached and fixed to the connecting portion by welding or the like. With the above configuration of the horizontal frame 22, the left and right side frames 21 and 21 are connected and fixed so as to face each other in a substantially parallel state while maintaining a predetermined interval.

  The base end portion of each side case 26 of the body frame 19 is fixed to the rear end portion of the traveling frame 12 outside the corresponding traveling portion 1L, 1R, and the base end portion of each side plate 27 corresponds to the corresponding traveling portion 1L, By being fixed to the front end portion of the traveling frame 12 outside the 1R, the traveling frame 12, the side case 26, and the support frame 27 constitute a fixed chain, and the body frame 19 is fixed to the traveling portions 1L and 1R.

  Further, the rotational power generated by the engine is transmitted separately to transmission shafts (not shown) that are rotatably supported in the left and right horizontal cylinders 29, 29, respectively. The power of each transmission shaft is transmitted to the left and right rear wheel shafts 13 and 13 via a power transmission mechanism (not shown) such as a chain or a belt provided in each side case 26, and the respective traveling portions 1L and 1R are transmitted. Drive to drive.

  Then, a clutch mechanism for turning on and off the power transmission from the engine to the left traveling portion 1L is provided to constitute the left traveling portion drive means 31L, and a clutch mechanism for turning on and off the power transmission from the engine to the right traveling portion 1R. The right traveling unit driving means 31R is configured by providing the above. On the other hand, the left traveling unit braking means 32L is configured by a brake provided in the left traveling unit 1L, and the right traveling unit braking unit 32R is configured by a brake provided in the right traveling unit 1R.

  As the balance member 4, a battery (balance weight) for supplying power to various devices is used. A guide rail 33 in the left-right direction is installed on the mounting plate 24, a moving table 34 is supported slidably in the axial direction of the guide rail 33, and the battery 4 is mounted and fixed on the moving table 34. .

  The guide rail 33 is formed from the vicinity of the center of the mounting plate 24 to a position protruding to the outside (left side) of the right traveling unit 1 </ b> R. 2 center of gravity control is performed. The moving table 34 is slidably driven left and right with respect to the guide rail 33 by an electric motor 36 that is a balance weight moving actuator provided on the mounting plate 24.

  The front work machine 4 includes a cutting part 4a fixed to the front of the traveling units 1L and 1R via left and right support arms 37 and 37 and formed over substantially the entire left and right width of the traveling machine body 2. The cutting unit 4a is a reciprocating cutting blade that cuts weeds or crops by moving one of the two blades relative to the other, and is a front cutting unit actuator installed on the front working machine 4. It is driven by the electric motor 38 and performs a cutting operation in front of the traveling machine body 2.

  The side work machine 6 includes a support frame 39, an arm 41 having a base end supported by the distal end portion of the support frame 39, an auxiliary wheel 42 that rotates as the traveling machine body 2 travels, and an arm 41. And a cutting portion 6a installed over substantially the entire axial direction.

  The support frame 39 is formed in a substantially L shape with a midway portion and a tip portion bent downward with respect to a base end portion in the left-right direction, and the base end portion is fixed to the outer surface of the left side case 26 by welding or the like. The midway portion and the tip portion extend downward along the outer surface of the left traveling portion 1L.

  The arm 41 is supported by the support frame 39 so as to be swingable up and down in a direction of drawing a circular arc trajectory when viewed from the front. The arm 39 that swings downward due to its own weight is suspended and supported by a wire 43. The arm 41 is driven to swing upward by winding the wire 43 by the electric motor 44 that is an arm swing actuator provided in the traveling machine body 2, while the arm 41 is swinged downward by loosening the wire 43. Let

  The auxiliary wheel 42 is provided at the distal end portion of the arm 41, and controls the downward swinging of the arm 41 by grounding to the ground surface according to the situation, and stabilizes the posture of the side work machine 6.

  At the time of cutting, the side portion (left side portion) of the traveling machine body 2 on the side work machine 6 installation side is directed to the inclined surface 11 side, and the arm 41 is directed obliquely downward along the inclined surface 11. It is fixed in the state. In addition, when the inclined surface 11 is a rising inclined surface, it is fixed in a state of being directed obliquely upward along the inclined surface 11. And the cutting machine 6 of the inclined surface 11 is performed by driving the traveling body 2 forward and driving the cutting part 6a provided on the lower surface of the arm 41 (the surface facing the inclined surface 11).

  The reaping portion 6a is a reciprocating cutting blade and is driven by an electric motor 46 which is a side reaping portion actuator installed on the traveling frame 12 inside the left traveling portion 1L. Power transmission from the electric motor 46 to the cutting unit 6a is performed via a flexible wire (not shown) and a drive unit 47 installed at the base end of the arm 41.

  The guide roller 7 is a pair of left and right members respectively provided at the front end portions of the left and right traveling portions 1L and 1R. When the traveling machine body 2 travels on the saddle 9, both side portions of the saddle 9 are left and right. By being pinched by the guide rollers 7, 7, it becomes a balance member that maintains the left-right balance of the traveling machine body 2, and is prevented from being displaced from the flange 9 of the machine body during traveling.

  The control device 8 includes a control unit 48. The control unit 48 is constituted by a microcomputer or the like, and is mounted and fixed on the moving table 34 described above.

Next, the control device 8 will be described in detail.
FIG. 4 is a block diagram showing the configuration of the control device. On the input side of the control unit 48 of the control device 8, a left encoder 49 (left traveling unit speed detecting means) that detects the driving direction and driving speed of the left traveling unit 1L, and the driving direction and driving speed of the right traveling unit 1R are detected. A right encoder 51 (right travel part speed detection means) for detecting, a balance weight potentiometer 52 (balance weight position detection means) for detecting the position of the balance weight 4 with respect to the traveling machine body 2, and a base end part of the arm 41 A load that is provided between the arm potentiometer 53 (arm swing angle detection means) that is provided and detects the swing angle of the arm 41, and the left side frame 21 and the left traveling portion 1L front end, and is applied to the front left side of the body. The left front load sensor 54 (left front load detection means, strain gauge) that is provided between the left side frame 21 and the rear end of the left traveling unit 1L is provided on the rear left side of the machine body. A left rear load sensor 56 (left rear load detection means, strain gauge) for detecting such a load, and a load applied to the front right side of the airframe provided between the right side frame 21 and the right traveling portion 1R front end is detected. A right front load sensor 57 (right front load detection means, strain gauge) and a right rear load sensor 58 provided between the right side frame 21 and the rear end portion of the right traveling unit 1R for detecting a load applied to the rear right side of the machine body. (Right rear load detection means, strain gauge), front / rear inclination angle detection means 59 for detecting the front / rear inclination angle with respect to the horizontal direction of the traveling machine body 2, and left / right inclination angle detection for detecting the left / right inclination angle of the traveling machine body 2 with respect to the horizontal direction. Means 61, airframe orientation detection means 62 for detecting the direction in which the traveling aircraft is facing, GPS (Global Positioning System) or GI for detecting the absolute position of the traveling aircraft Machine body position detecting means 63 such as S (Geographic Information System), a cutting surface detecting means 64 for detecting the cutting surface (inclined surface 11) of the side working machine 6, and a peripheral state detecting means 66 for detecting the state around the machine body. A camera 67 is connected to the lower surface of the power box 28 so that the weeds and crops grown on the ground surface are identified by image processing.

  The front / rear inclination angle detecting means 59, the left / right inclination angle detecting means 61, and the airframe direction detecting means 62 are constituted by a single gyro sensor. Further, the cutting surface detection means 64 detects the inclined surface 11, detects irregularities formed in front of the side work machine 6 on the inclined surface 11, and weeds that grow on the inclined surface 11 in front of the side work machine 6. Etc. (mainly weeds, including crops in some cases), etc., and is configured by a photoelectric sensor such as an ultrasonic sensor or an infrared sensor. The peripheral state detection means 66 is composed of an ultrasonic sensor or a photoelectric sensor provided with the front facing the left and right sides of the front work machine 4, and detects the saddle 9 and the unevenness of the running surface. Detecting the height of weeds or crops grown in front of the traveling machine body 2 is performed.

  On the output side of the control unit 48, the left traveling unit driving unit 31L, the right traveling unit driving unit 31R, the left traveling unit braking unit 32L, the right traveling unit braking unit 32R, the balance weight moving actuator 36, the arm swinging actuator 44, The front cutting part actuator 38 and the rear cutting part actuator 46 are connected.

  In addition, a storage unit 68 and a communication unit 69 are connected to the control unit 48. The storage unit 68 stores various data input to the control unit 48 and stores a plurality of work points.

  The work point is a scheduled passing point set at a predetermined interval on the planned traveling path of the traveling reaper, and is expressed by global coordinate data. When GPS is used as the body position detecting means 63, GPS coordinates, GIS When using, it becomes GIS coordinates. The traveling reaper is configured to be able to autonomously travel toward the next work point after passing a predetermined work point.

  The traveling type reaper can be operated by the communication unit 69 by an external controller 71 which is a remote control means. Specifically, the communication unit 69 and the communication unit 72 provided in the external controller 71 are configured to be capable of wireless communication. When the operator operates the operation tool 73 of the external controller 71, the operation signal is sent to the control unit 48. Is input, and the traveling type mower operates according to the operation signal. Since the traveling type mowing machine is configured to be remotely operable as described above, even when the airframe falls down, the operator is at a position away from the airframe, so the possibility of contact with the airframe is reduced.

  The image processing by the camera 67 will be described. First, an image of the ground surface is taken by the camera 67 as shown in FIG. Next, as shown in FIG. 5B, the binarization of the image acquired with the plant green as a reference is performed. Next, as shown in FIG. 3C, the binarized image is partitioned into a plurality of blocks (in the example shown in FIG. 3C, 32 × 32).

  Here, assuming that the photographed part is a part that is routinely harvested by this traveling type mower, the block where weeds are reflected only contains sparse green. On the other hand, it is expected that blocks containing crops contain a high percentage of green. For this reason, a block in which the area ratio of the green portion in the entire block is 85% or more is identified as a crop block 74a, and a block that is 20% or more and less than 85% is identified as a weed block 74b, and less than 20% Is identified as a soil block 74c.

  Next, as shown in FIG. 4D, an area having a small number of crop blocks 74a and a large number of weed blocks 74b is detected, and the detected area is identified as a cutting area 76 capable of cutting. By detecting the cutting area 76 as described above, weeding of weeds grown between stocks in the row direction of the crop becomes possible.

Next, a processing flow of the control device 8 will be described.
FIG. 6 is a processing flowchart of the control device. First, the process proceeds to step S1 where the process is started. In step S1, it is detected whether or not the aircraft is in the autonomous traveling mode. If it is in the autonomous traveling mode, the process proceeds to step S2. In step S2, it is detected whether or not it is a mode in which global coordinate data from the machine body position detection means 63 is used. If it is in a mode to be used, the process proceeds to step S3.

  In step S3, it is detected whether or not there is a machine body in the work area calculated from the work points stored in the storage unit 68. If it is not in the work area, the process proceeds to step S4 to be in the work area. If so, the process proceeds to step S5. In step S4, the aircraft is moved to the work point, and the process proceeds to step S5. Further, when it is detected in step S2 that the mode does not use the global coordinate data from the body position detection means 63, the process proceeds to step S5.

  In step S5, the bag 9 is detected and the process proceeds to step S6. Moreover, in step S5, the unevenness | corrugation of a running surface and the height of the weeds and crops which grew in front of the body are also detected. In step S6, the inclined surface 11 is detected using the cutting surface detecting means 64 and the like, and the process proceeds to step S7. Moreover, in step S6, the height of the unevenness | corrugation of the inclined surface 11, the weeds etc. which grew on the inclined surface 11 is also detected. In step S7, the side work machine 6 is swung downward along the inclined surface detected in step S6. At this time, if there is little unevenness on the inclined surface 11 and the growing weeds are not so high in step S6, the arm 41 is lowered to a position where the auxiliary wheel 42 contacts the inclined surface, and the side work machine Switch 6 to a stable posture. Then, the process proceeds to step S8.

  In step S8, the center of gravity of the traveling machine body 2 is measured using the four load sensors 54, 56, 57, 58 and the gyro sensors 59, 61, 62, and the process proceeds to step S9. In step S9, based on the data measured in step S8, the balance weight 3 is moved and driven with respect to the traveling machine body 2 so that the center of gravity of the traveling machine body 2 is equal left and right, and the process proceeds to steps S10 and S11. In steps S10 and S11, the cutting unit 4a of the front working machine 4 and the cutting unit 6a of the side working machine 6 are driven, and the process proceeds to step S12.

  In step S <b> 12, the machine is driven to travel along the heel, and the cutting operation of the heel 9 and the slope 11 is started. At this time, if there is unevenness in the front of the aircraft, or if the center of gravity control of the aircraft is insufficient for the movement of the balance weight 3 relative to the traveling aircraft 2, only one of the left and right traveling units 1L, 1R By driving the other at a high speed or a low speed, the left and right and front-rear balance of the traveling machine body 2 is maintained, and the center of gravity is controlled so as to stably travel on the set travel path. Then, the process proceeds to step S13. In step S13, it is detected whether or not the aircraft has arrived at the work end position. If it has arrived at the work end position, the process is terminated. If not, the process returns to step S2.

  If it is detected in step S1 that the mode is not the autonomous running mode, the process proceeds to step S14. In step S14, the traveling reaper is operated in accordance with an operation signal from the external controller 71, and the process returns to step S1. Note that the external controller 71 can also switch to the autonomous travel mode.

  In this traveling type mower, an engine is used as a power generation device, but a high-output electric motor may be used. In this case, the left traveling unit driving unit 31L and the right traveling unit driving unit 31R are configured by separately providing a left traveling unit driving motor and a right traveling unit driving motor.

  Moreover, in this traveling type mowing machine, the guide rail 33 is fixed to the traveling machine body, but the guide rail 33 may be supported so as to be horizontally rotatable with respect to the traveling machine body 2. In this case, the guide rail 33 is horizontally driven by an actuator, and the balance weight 3 is moved by a balance weight moving actuator 36 to adjust the front-rear balance in addition to the adjustment of the left and right balance of the traveling machine body 2. Is possible.

  Moreover, you may comprise the guide rail 33 used for this driving | running | working type reaper by a ball screw (not shown). In this case, a nut portion (not shown) is provided on the moving base 34, the ball screw is engaged with the nut portion of the moving base 34, and the ball screw is rotationally driven by the balance weight moving actuator 36. Move.

  Moreover, in this traveling type mowing machine, although the reciprocating type mowing blade is used for the mowing parts 4a and 6a of the front working machine 4 and the side working machine 6, a disk-shaped mowing blade may be used.

  Furthermore, a learning algorithm such as a genetic algorithm or a neural network may be installed in the traveling reaper so as to improve the ability to cope with complicated terrain and the environment.

  The traveling type mowing machine that performs the weeding of the weeds or crops growing on the traveling surface and the slope surface 11 while traveling on the eaves 9 has been described above. Hereinafter, the traveling type mowing machine specialized for inter-row weeding in the row direction. A description will be given of a configuration different from the traveling type reaper according to the above-described embodiment. 7, 8 and 9 are a front view, a side view and a plan view of a traveling type mower which is another embodiment.

  In the traveling reaper, among the members constituting the airframe, the left and right traveling parts 1L and 1R, the left and right guide rollers 7 and 7, the left and right side cases 26 and 26, and the left and right side plates 27 and 28, The horizontal frame 22, the battery 3, and the control unit 48 are also used as those of the traveling type mowing machine for cutting the weeds or crops grown on the traveling surface and the slope surface 11. Change the fixed position.

  Specifically, the side plate 27 is attached and fixed so as to protrude upward from the front end portions of the traveling portions 1L and 1R, and the side case 26 is attached and fixed so as to protrude upward from the rear end portions. The upper ends of the left and right side plates 27 are connected and fixed by the horizontal frame 22, and the upper frame 77 framed in a substantially rectangular parallelepiped shape in plan view is attached to the upper ends of the left and right side plates 27 and 27 and the front of the power box 28. It is fixed by welding or the like. The control unit 48 is fixed to the upper surface of the power box 28, and the battery 3 is fixed to the rear right corner of the upper frame 77. A guide roller 7 is provided at the lower end of each side plate 27 so as to face inward.

  A left and right moving rail 78 is installed from the left side to the right side of the upper frame 77. The moving rail 78 is supported by the upper frame 77 so as to be movable back and forth, and is driven to move back and forth by an electric motor 79 which is a back and forth moving actuator. A vertical cutting arm 81 that can move in the axial direction of the moving rail 78 is supported on the moving rail 78. The cutting arm 81 is driven to move in the axial direction of the moving rail 78 by an electric motor 82 that is a left-right moving actuator. In addition, the cutting arm 81 is supported so as to be movable up and down with respect to the moving rail 78, and is driven to move up and down by an electric motor 83 which is a vertical movement actuator. A camera 67 is provided in the middle of the cutting arm 81, and a cutting part 84 such as a weeding rotor is provided at the lower end.

  The operation of this traveling type mower will be described. The body is moved or swiveled so that the row direction of the crop in the field coincides with the longitudinal direction of the body, and weeds and crops are positioned between the left and right traveling units 1L and 1R. Let In addition, when the bank 86 is formed in the row direction and the crop is planted on the bank 86, the both sides of the bank 86 are clamped by the left and right guide rollers 7 and 7, so that the row direction of the machine body It becomes easy to travel along.

  Then, after the aircraft is moved forward by a predetermined distance along the row direction, an area where weeds grow between the stocks in the row direction is detected as a cutting area 76 by the above-described image processing using the camera 67. Then, after the cutting unit 84 is moved above the cutting area 76 by the forward / backward moving actuator 79 and the left / right moving actuator 82, the cutting unit 84 is moved down by the vertical moving actuator 83 to cut the weeds grown in the cutting area 76. I do. When the mowing operation of the mowing area 76 is completed, the mowing portion 84 is raised, the aircraft is moved forward by a predetermined distance again, and the above-described processing is repeated. As described above, weeding work between strains in the row direction, which is difficult to automate, can be performed.

  As described above, since two traveling type mowers having different purposes can be manufactured with many of the components in common, there are advantages in terms of manufacturing costs and the like.

It is a front view of the traveling type mower to which the present invention is applied. It is a side view of the traveling type mower to which the present invention is applied. It is a top view of the traveling type reaper to which the present invention is applied. It is a block diagram which shows the structure of a control apparatus. It is drawing which shows the process of the image processing by a camera, (A) is the image image | photographed with the camera, (B) is the image which binarized the image image | photographed with the camera, (C) is the block which divided. It is an image that identifies whether it is a crop block, a weed block, or a soil block, and (D) is an image that identifies a cutting area. It is a processing flow figure of a control device. It is a front view of the traveling type mower which is another Example. It is a side view of the traveling type harvester which is another Example. It is a top view of the traveling type harvester which is another Example.

1L Left traveling part (traveling part)
1R Right traveling part (traveling part)
2 Traveling machine body 3 Balance member (balance weight, battery)
6 Side work machine (work machine)
6a Cutting part 11 Inclined surface 33 Guide rail 41 Arm

Claims (2)

A traveling type equipped with a traveling machine body (2) having traveling parts (1L) and (1R) on the left and right sides, and a working machine (6) that performs a cutting operation for weeding or harvesting on the side of the traveling machine body (2). In the reaper, a balance member (3) for holding the left and right balance of the traveling machine body (2) is provided on the other side of the traveling machine body (2) when the harvesting operation is performed on one side of the traveling machine body (2). The balance weight supported so as to be slidable in the left-right direction with respect to the traveling machine body (2) by the installed left-right guide rail (33) becomes the balance member (3), and the work machine (6 ) Includes an arm (41) supported on the side of the traveling machine body (2) so as to be swingable up and down, and the arm (41) is positioned on the side of the traveling machine body (2) by the vertical swinging. Along the inclined surface (11) inclined upward or downward in a front view, A cutting portion (6a) is provided on the side of the arm (41) facing the inclined surface (11), and the arm (41) is provided with a cutting surface (6a). 11) A traveling type mower that performs the mowing operation.   The traveling type harvester according to claim 1, wherein the harvesting part (6a) is installed along the longitudinal direction of the arm (41).

Images