JP6426219B2 - Grass machine - Google Patents

Description

  The present invention relates to a weed treadmill for suppressing weed growth, and more particularly, to a self-propelled grass treadmill for suppressing weed growth by contact stimulation.

  In recent years, renewable energy generation methods using natural energy have attracted attention from renewable energy using solar light, wind power, water power, ocean current, and geothermal energy. Above all, large-scale solar power plants (Mega Solar) with an output of over 1,000 kw, which are all over Japan, are fallow lands, mountain villages, It attracts wide attention from the aspect of the effective use of the open space etc. and the asset use, and the construction plan also shows the sign that it will be developed widely mainly in the district.

  However, since the solar panels in the solar power system have a characteristic that even a part of the panels has extremely low power generation capacity when it becomes shaded, solar panels are installed as well as securing sunshine time. The construction needs to be done with sufficient spacing so that the south side is not behind the solar panels installed in the front row, and there is a problem that weeds grow between the solar panels to inhibit power generation. It was something that

  Moreover, in order to suppress the decrease in power generation efficiency due to the temperature rise which is the characteristic of the solar cell, the above-mentioned problem of shade due to weeds and the temperature are caused by greening in a state where the ground around the PV panel installation location is properly managed. There was a need to simultaneously solve the problem of rising power generation efficiency.

  Heretofore, various means of weeding and mowing using human means, mechanical means and chemical means have been practiced to solve the above problems.

  As an example of the human means in the above, a manual mowing work is performed using a sickle or a mower. However, such human means had many problems such as labor cost problems, securing of human resources, weather problems, and difficulty in mowing around complicated panel installation stand shapes.

  In addition, as mechanical means, for example, weeding maintenance and management of lawn, weed control that can not be solved only by lawn mowing, the effects of stumps and rains, unevenness due to breeding spots, etc. A "grass root cutting, weed removing device" (Patent Document 1) has been proposed and can be a publicly known technology, which can carry out activated grass root cutting with the same device by switching specifications. In detail, weeding by hand pushing equipment, rooting blade attached rotary drum axis of rotation drum axis of cutting drum is perpendicular to the direction of chassis movement rooting, and also weed removal by approximately 35 degrees chassis wheel tire contact in any state Arrange the four wheels on the chassis so that the distance can be changed while keeping parallel to the ground, ie the lawn ground, of which three wheels support the chassis to enable the distance change, rooting, weed removal 1 at any work A structure is adopted in which the parallel state distance adjustment between the rotation axis of the blade mounting rotary drum and the grass ground is possible by changing the wheel support distance.

  However, such a proposal for “grass root removal, weed removal equipment” leads to a decrease in the amount of power generation of the solar panel due to the surface of the site being exposed and soil dust burning by digging the ground during weeding work. The soil becomes soft and difficult to walk, and furthermore, the removal equipment becomes difficult to run automatically due to the deposition of cut weeds, making it difficult for weeds to grow continuously on the ground surface. It is difficult to maintain and manage the

  In addition, the operation of the control grass machine requires advanced skills of workers and solves the problem of needing a headland for turning, and the self-propelled control grass machine is a rice row In order to travel along, there is proposed a "control grass machine" (Patent Document 2) which solves the problem that the area where it can not run remains in the case of uneven planting where the direction of the streaks is not constant. . Specifically, a device for controlling grass by floating and traveling on the water surface, in which a motor and a power supply device are accommodated in a waterproof main body case, is provided with a motor-driven wheel and a stirring wire, and the power supply device The motor is rotated by the power supplied from the motor, travels by the wheels, and the structure in which the mud on the surface of the soil is stirred by the stirring wire.

  However, the proposal of such a "control grass machine" is intended to limit the use range to a paddy field, and aims to control weeds such as fallow lands, mountain villages, open lands, etc. in which the solar power generation system aimed by the present invention is constructed. It can not be used as a means to

  In addition, as chemical means, for example, we optically identify weeds growing on long-term grasslands such as grasslands and pastures while traveling scanning, and selectively apply a herbicide only to these weeds. Thus, "a device for selectively dispersing a herbicide while traveling and scanning" capable of mechanically performing spot weeding (Patent Document 3) has been proposed and has become a known technique. More specifically, while running the carriage on a permanent grassland, the measurement head equipped on this is run and scanned in the width direction of the carriage to optically identify the weed to be weeded and to measure among the plurality of spray nozzles. A solenoid valve of the spray nozzle corresponding to the identification position of the head is opened, and a means for selectively applying a herbicide only for a predetermined time only to weeds and performing spot weeding is adopted.

  However, the proposal of “apparatus for selectively dispersing the herbicide while scanning and traveling” requires a running cost such as environmental pollution damage due to the drug to the surrounding environment, drug purchase and maintenance and management costs of the apparatus, There was a problem of that.

  In view of the problems in various solutions using human means, mechanical means, and chemical means described above, the present applicant generates plant hormone (ethylene) by contact stimulation of plants to cause growth. Focusing on the nature to be suppressed, for example, the natural world phenomenon in which growth is suppressed by passing animals and becoming a beast, one of the problems in the conventional weeding means is achieved by mounting the grass stepping function on the device that runs automatically. Under the idea that it can not be solved, we developed a weed treadmill that suppresses weed growth by contact stimulation by automatic traveling, leading to the proposal of the "grass treadmill" in the present invention.

JP 2005-229996 A JP, 2016-52276, A Japanese Patent Application Laid-Open No. 8-280312

  An object of the present invention is to provide a self-propelled weed treadmill which suppresses the growth of weeds by contact stimulation in view of the above-mentioned problems.

  In order to solve the above-mentioned subject, the present invention is a grass treader which runs automatically and controls weed growth around a track, and the grass tread is formed in the shape of a flat plate or curving forward at the tip of the main body There is provided a grass board whose lower surface is in contact with the ground surface, a pair of left and right running tires at the approximate center of the main body, and two running motors capable of independently driving the running tires respectively. A control device for controlling the driving of the traveling tire and a battery are provided, and the entire weight balance is formed to be in a forward inclined posture, and further, a position sensing function is provided at a predetermined location of the main body or grass plate. When the treadmill automatically travels on a predetermined track, the grass tread and the traveling tire take means for performing the grass stepping work around the track.

  In the present invention, a photovoltaic power generation panel is provided above the main body, and the power generated by the photovoltaic power generation panel is stored in the battery.

  Furthermore, according to the present invention, the control device is provided with a timer function, and programming control is performed by the timer function so as to perform the stepping operation for a predetermined time at a predetermined time.

  Still further, according to the present invention, the grass board is provided with a collision detection sensor, and the collision detection sensor detects a collision with an obstacle to retract for a predetermined time or a predetermined distance, and then to turn and advance. Take measures that are controlled by programming.

  Furthermore, according to the present invention, when the weed treadmill leaves the orbit, the collision detection sensor repeatedly turns forward and backward while changing the direction as it senses a collision with an obstacle. The automatic return to the orbit is attempted, and the program is controlled to automatically stop the operation if the original orbit can not be restored within the predetermined time.

  According to the weed treadmill of the present invention, the ground surface around the solar power generation panel installation place is always properly greened by adopting means for suppressing the growth of weeds around the track by the contact stimulation by the automatic traveling. It has an excellent effect of being able to manage in state.

  Further, according to the weed treadmill according to the present invention, since automatic travel is performed to suppress weed growth around the track, damage to the facility due to human work and electric shock accidents do not occur, and maintenance and management of labor costs etc. There is an excellent effect that the cost is suppressed.

  Furthermore, according to the planter according to the present invention, since it is not a chemical means for applying a herbicide, the environment around the area is not polluted, and the drug adheres to the surface of the solar panel to generate electricity. There is an excellent effect that problems such as reduction in amount can not occur.

  Furthermore, according to the planting machine according to the present invention, by mounting the solar power generation function on the main body, it is possible to secure the driving power supply at low cost, and to enable wireless steering and timed operation. It plays an excellent effect.

  Furthermore, according to the planting machine according to the present invention, by mounting the timer function in the main body, it is possible to perform a timed operation to perform the planting operation only for a predetermined time at a predetermined time set in advance. It plays such an excellent effect.

  Furthermore, according to the weed treadmill of the present invention, the weeding area can be easily and in real time in accordance with the growth degree and the population growth degree of weeds by coordinate input of the traveling route using the GPS function of a personal computer or a smartphone. It produces excellent effects such as being able to be set.

  Furthermore, according to the weed treadmill of the present invention, by providing the collision detection function, it is possible to sense a collision with an obstacle and to travel so as to avoid the obstacle. Play an effect.

BRIEF DESCRIPTION OF THE DRAWINGS It is whole explanatory drawing which shows embodiment of the grasshopper concerning this invention. Example 1 It is a typical section explanatory view showing the operation state of the grass treader concerning the present invention. It is a driving | running | working image figure which shows the operation | work range of the grasshopper concerning this invention. It is an explanatory view showing other embodiments of a grass treader concerning the present invention. (Example 2) It is a typical see-through | perspective perspective view which shows other embodiment of the grasshopper concerning this invention. (Example 3) It is a typical see-through | perspective perspective view which shows other embodiment of the grasshopper concerning this invention. (Example 4) It is an explanatory view showing the operation state in other embodiments of the grass treader concerning the present invention. (Example 5)

The weed treadmill 10 according to the present invention is characterized most in that it is a means for suppressing the growth of weeds due to contact stimulation while traveling automatically in the weed measures for a wide area for management.
Hereinafter, an embodiment of a planter 10 according to the present invention will be described based on the drawings.

  In addition, the planter 10 according to the present invention is not limited to the embodiments described below, and is within the scope of the technical idea of the present invention, that is, within the range of shapes, sizes and the like which can exert the same effects. Can be changed as appropriate.

FIG. 1 is an entire explanatory view showing an embodiment of a planter 10 according to the present invention, in which (a) is a schematic perspective view and (b) is a schematic sectional view as viewed from the top.
The weed treadmill 10 according to this embodiment is for automatically traveling to suppress the growth of weeds around the track R, and is formed in a front end of the main body 11 in a flat plate shape or in a warped shape and the lower surface is ground. A grass tread plate 20 in contact with the surface is provided, and a pair of left and right running tires 21 and two running motors 22 capable of independently driving the running tires 21 are provided substantially at the center of the main body 11. A control device 23 for controlling the driving of the running tire 21 and a battery 24 are provided at a location, and the overall weight balance is formed to be in a forward inclined posture. Furthermore, at least two units in a predetermined location of the main body 11 or the grass tread plate 20 The above position sensing function 25 is provided and formed.

  The main body 11 is formed in a substantially box shape using steel materials such as square pipes, and internally includes a running tire 21, a running motor 22, a control device 23, a battery 24, and a position sensing function 25. The weight balance is formed so as to be in a forward lean position.

  The grass tread plate 20 is attached to the front end of the main body 11 and is formed in a flat plate shape or a so-called sled tip shape which warps upward in the front direction, and the weed grown by contacting the ground surface It is formed in the role of stepping on (pressing) gradually.

  The running tire 21 is, for example, a deep groove that can easily travel on a soft ground, a wetland, a weed land, a dry land, an uneven land, a sloped land, etc. It is preferable to have a shape, and it is attached to a left and right pair substantially at the center of the main body 11 and driven by two-wheel drive of single drive. By being attached to the left and right pair substantially at the center of the main body 11, the entire main body 11 is in a forward inclined posture due to weight balance, and has an operation performance capable of facilitating forward, backward and reverse operations during traveling. It also plays a role in stepping on weeds. Further, a comb-like scraper 29 for preventing weed entanglement is provided in front of the traveling tire 21.

  The traveling motor 22 is attached at a position where it is independently connected to traveling tires 21 attached to the left and right pair via a chain, a timing belt, a gear, and the like. As described above, the traveling motor 22 is independently connected to the left and right traveling tires 21 so that the direction change is possible by changing the number of rotations of the left and right.

  The control device 23 is mounted in a box-like control panel incorporating a control circuit for controlling the driving of the traveling tire 21 at a predetermined position of the main body 11.

  The battery 24 is mounted for the purpose of driving the main body 11 (traveling motor 22) and for the purpose of activating the control circuit, and utilizes a general automobile battery 24.

  The position sensing function 25 is provided to allow the device body 11 to automatically travel on the track R, and functions by a position sensing sensor method 25a, a traveling rail method 25b, a GPS method 25c, a radio control (remote control) method 25d, etc. Do.

  The weed treadmill 10 configured as described above constantly manages the ground surface around the power generation panel installation area in a properly greened state by adopting means for suppressing the growth of weeds by contact stimulation by automatic traveling. It is possible to automatically drive to control the growth of weeds around the track R, and not to cause any human harm such as damage to facilities due to human work or an electric shock accident, and an excellent effect such as no maintenance costs such as labor cost In addition, since the application of the herbicide is not performed, it is possible to provide the planter 10 that solves the problem of environmental pollution around the area and adhesion of the drug to the surface of the solar panel.

FIG. 2 is a schematic cross-sectional explanatory view showing the operating state of the planter 10 according to the present invention.
The traveling motor 22 built in the main body 11 is activated by activating the control device 23, and the weed T grown around the track R by the grass tread plate 20 attached to the tip of the main body 11 by advancing the traveling tire 21 While stepping on the running tire 21 to suppress the growth of the weed T, and the tread plate 20 attached to the tip of the main body 11 is formed in a flat plate shape or a shape that curves forward, and the overall weight Since the balance is in the forward leaning posture, the weed T around the track R can be stepped by stepping on (pressing) the grown weed T gradually with the grass tread 20 and also stepping on the running tire 21 again. Adopt methods to control the growth of

FIG. 3 is a traveling image diagram showing the working range of the grass machine 10 according to the present invention.
The weed treadmill 10 started from a predetermined location is configured to automatically travel and suppress the growth of weed T around the trajectory R while performing direction change and positional deviation correction on a preset trajectory R. In addition, by using a system in which the grasshopper 10 travels around the photovoltaic power generation panel 26, the surveillance camera and the alarm device are mounted on the grasshopper 10 itself, whereby appearance control and suspiciousness of the photovoltaic power generation panel 26 are performed. It is also possible to have an intrusion alert function for persons with disabilities.

FIG. 4 is an explanatory view showing another embodiment of the planter 10 according to the present invention.
The planter 10 according to the present embodiment is formed with a solar power generation panel 26 above the main body 11 and has a structure in which the power generated by the solar power generation panel 26 is stored in the battery 24. Ru.

  The photovoltaic panel 26 is formed to be slightly larger than the area of the upper surface of the main body 11, and secures the amount of electricity required for the weeding work for at least one day of the grass pedal 10 to enable automatic operation.

  The battery 24 is formed to have a power generation capacity necessary to drive the present device, and a storage function for temporarily storing the amount of power generated by the solar panel 26.

  By installing the solar power generation function on the main body 11, the grass treadmill 10 configured as described above can secure the driving power supply at low cost, and can provide the grass treadmill 10 by remote control and timed operation. Make it

FIG. 5 is a schematic perspective view showing another embodiment of the planter according to the present invention.
The position sensing function 25 is provided to allow the device body 11 to automatically travel on the track R, and a position sensing sensor system 25a, a traveling rail system 25b, a radio control system 25c, a GPS system 25d, etc. are adopted. The automatic travel system of the step machine 10 is realized. The position at which the position sensing function 25 is provided is a predetermined place on the main body 11 or the grass tread plate 20, and is not particularly limited, and is appropriately determined by the adopted method.

FIG. 5A shows a case where the position detection sensor system 25 a is adopted as the position detection function 25.
A track R such as an iron wire, an electromagnetic force, or a guide wire that generates light is buried in the ground or laid on the ground, and a position sensing function 25 provided in the device senses an iron wire, an electromagnetic force, or light to travel. For example, a method used as a moving means of a golf course cart is adopted.

FIG. 5 (b) shows the case where the traveling rail system 25 b is adopted as the position sensing function 25.
A taxiway (railway) D called a track is laid on the ground and travels on it, and it is mainly used as a railway and a monorail travel taxiway, and the wheels roll on the taxiway (railway) D main body 11 It is a system that can support the weight of the vehicle and guide the path ahead.

FIG. 5C shows the case where a radio control system 25 c is adopted as the position sensing function 25.
Radio control, which is broadly referred to as radio control, refers to radio remote control systems or remote control systems, as well as radio control for models such as automobiles and airplanes, as well as industrial radio control.・ It is used in various fields such as military.

  In addition, what is remotely controlled by positioning of wireless control in remote control is called remote control (remote control), and also includes wireless systems using radio waves other than radio waves such as infrared rays, lasers, and ultrasonic waves. However, since these remote control systems can not transmit command signals unless they are in a sensible range, they are often used at very short distances, and as remote control systems, aircraft, cars, tanks, ships are still used. Radio control to control models such as from a position away from the pilot is mainly used, and it is used as a control means of industrial machines such as helicopters for pesticides spreading and cranes other than model control of hobby. Is also actively used.

FIG. 5D shows the case where the GPS method 25 d is adopted as the position detection function 25.
A global wireless positioning system that three-dimensionally measures the position of a radio wave receiver on the earth from the arrival time of radio waves of time signals emitted from 24 satellites, and adopts a method used for car navigation systems and the like. Specifically, a system for measuring current location information using satellites, which receives radio waves emitted from a plurality of satellites on the earth's orbit R, and calculates the time difference between the signals arriving. Since the position of the receiver can be known, the travel route can be set and corrected in real time with high accuracy on the latitude, longitude and altitude on the earth.

  The grasshopper 10 configured as described above can be equipped with various maneuvering functions, and the specific method of the position sensing function 25 can be arbitrarily selected according to the installation environment of the photovoltaic panel 26. Is possible.

FIG. 6 is a schematic perspective view showing another embodiment of the planter 10 according to the present invention.
The grass treadmill 10 according to the present embodiment is provided with a timer function 27 in the control device 23, and is programmed and controlled by the timer function 27 so that the grass stepping operation can be performed for a predetermined time at a predetermined time.

  The timer function 27 is a function provided in the control device 23 provided at a predetermined place of the main body 11, and is controlled by the timer so as to operate for a predetermined time at a predetermined time preset.

  Since the grass treadmill 10 configured as described above is equipped with the timer function 27, the grass treading operation by automatic traveling is performed for a predetermined time at a predetermined time preset for a predetermined time, so labor cost and operation cost Will be reduced.

FIG. 7 is an explanatory view showing an operating state in another embodiment of the grass machine according to the present invention.
The grass treadmill 10 according to the present embodiment is provided with the collision detection sensor 28 on the grass tread 20, and the collision detection sensor 28 retreats for a predetermined time or a predetermined distance by detecting a collision with the obstacle S, and then It is programmed to turn around and move forward.

  In the case where the grass machine 10 according to the present embodiment leaves the track R, the collision detection sensor 28 repeatedly turns forward and backward while changing the direction upon detection of a collision with the obstacle S. Programming control can be made to attempt an automatic return onto the original trajectory R. At this time, it is also possible to perform programming control so as to automatically stop the operation when it is not possible to return to the original trajectory R within a predetermined time.

  The weed treadmill 10 configured as described above sets the weeding area easily and in real time according to the weed growth degree and the clumping degree by coordinate input of the traveling route using the GPS function of a personal computer or smartphone Furthermore, by mounting a collision detection function in the main body 11, forward and backward are repeated while changing the direction in response to detecting a collision with the obstacle S, and the original S while avoiding the obstacle S It is possible to provide the grasshopper 10 which is program-controlled so as to automatically stop operation when it is not possible to automatically return to the orbit R and to return to the original orbit R within a predetermined time. .

  The present invention can be employed not only in the installation area of photovoltaic panels, but also in any area, and can be run automatically to suppress the growth of weeds around the track, by means of conventional human means or mechanical means, Weeding work is possible without using chemical means, and by installing a monitoring camera, facility management, weed growth management and crime prevention management can be simultaneously achieved. Also, by the method of programming control, so-called automatic cleaner robot-like operation, that is, the collision detection sensor senses the collision to the obstacle and repeats the backward movement and the change of direction so that the grass work is performed uniformly in a predetermined area. It is also possible to take an aspect, and the industrial applicability of the "grass machine" according to the present invention is considered to be extremely large.

DESCRIPTION OF SYMBOLS 10 grass tread 11 body 20 grass tread 21 running tire 22 running motor 23 control device 24 battery 25 position sensing function 25a position sensing sensor system 25b traveling rail system 25c radio control system 25d GPS system 26 photovoltaic panel 27 timer function 28 collision detection Sensor 29 Scraper S Obstacle R Trajectory D Induction path (track)
T weed

Claims (5)

It is a grasshopper that controls the growth of weeds around Track R by traveling automatically,
The grass tread machine is provided with a grass tread plate having a flat plate shape or a forward curved shape at the front end of the main body and a lower surface contacting the ground surface, and a pair of left and right running tires and the running tires independently at substantially the center of the main body. And a control device for controlling the driving of the traveling tire and a battery are provided at predetermined positions of the main body, and the overall weight balance is formed to be in a forward inclined posture, and further, The position detection function is provided at a predetermined place of the main body or the grass board,
A grass treading machine characterized in that the grass treading machine and the traveling tire perform grass stepping work around the track by automatically traveling on the predetermined track.   The planter according to claim 1, wherein a solar power generation panel is provided above the main body, and power generated by the solar power generation panel is stored in the battery.   The grass-foot machine according to claim 1 or 2, wherein the control device is provided with a timer function, and programming control is performed by the timer function so as to perform a stepping operation for a predetermined time at a predetermined time.   The grass board is provided with a collision detection sensor, and the collision detection sensor is programmed to be retracted for a predetermined time or a predetermined distance by sensing a collision with an obstacle, and to be programmed to change its direction and advance thereafter. The planter according to any one of claims 1 to 3, characterized in that   When the grasshopper has left the orbit, the collision detection sensor tries to automatically return to the original orbit while changing forward and backward while changing the direction while being triggered to detect a collision with an obstacle. 5. A planter according to claim 4, wherein the operation is controlled automatically to stop the operation if it can not return to the original trajectory within a predetermined time.