JP6611094B2 - Slope work vehicle travel control device - Google Patents

Description

  The present invention relates to a travel control device for a slope working vehicle used for slope mowing work or the like.

Grass cutting along railways and around roads often involves work on slopes, but since there are no machines that can be used for such slope work, human power is mainly used by brush cutters.
For this reason, there is a risk of falling. There is a problem that the cutting blade comes into contact with stones and rocks and is injured by the reaction, or the surrounding people and objects are damaged by the scattered foreign matter.
Further, as a slope working vehicle wheel, a wheel is known in which protrusions such as a claw and a spike that bite into the ground are arranged on the outer periphery of a traveling wheel. (See Patent Document 1)

JP 2000-342046 A

  However, even a vehicle using a wheel provided with protrusions such as claws and spikes that the outer periphery of the traveling wheel bites into the ground is extremely dangerous.

  The problem to be solved by the present invention is to provide a traveling control device for a slope working vehicle that can prevent the vehicle body from sliding on the slope and can be safely or automatically operated by remote operation.

In order to solve the above-mentioned problem, a traveling control device for a slope working vehicle according to claim 1 is
It is mounted on a four-wheel drive four-phase in-phase steering vehicle capable of traveling and steering by automatic or remote operation,
A first wire that is stretched along the width direction of the planned work slope with a pair of left and right fixed anchors on top of the work planned slope;
A first pulley that engages the first wire and moves laterally along the first wire;
A second pulley provided coaxially with the first pulley;
A second wire having a midway wound around the second pulley a plurality of times;
A pair of left and right wire drums provided in the vehicle and capable of winding and feeding both ends of the second wire by a rotation control motor;
A control unit that performs zigzag running control of the vehicle along the working slope by controlling winding or feeding of the second wire to and from both wire drums in synchronization with the running speed and steering direction of the vehicle;
It was set as the means characterized by providing.

In addition, the traveling control device for a slope working vehicle according to claim 2 is the traveling control device for a slope working vehicle according to claim 1,
The wire drum is provided with an alignment winding mechanism that aligns winding and feeding of the second wire to and from each wire drum.

Further, the traveling control device for a slope working vehicle according to claim 3 is the traveling control device for a slope working vehicle according to claim 1 or 2,
The wire drum is provided with a tension sensor for detecting the tension of both the second wires.

Moreover, the travel control device for a slope working vehicle according to claim 4 is the travel control device for a slope working vehicle according to any one of claims 1 to 3,
The vehicle wheel includes a plurality of protrusions that bite into the ground on an outer peripheral surface thereof.

Moreover, the traveling control device for a slope working vehicle according to claim 5 is the traveling control device for a slope working vehicle according to any one of claims 1 to 4,
The vehicle is provided with an inclinometer for detecting the inclination of the vehicle.

Moreover, the traveling control device for a slope working vehicle according to claim 6 is the traveling control device for a slope working vehicle according to any one of claims 1 to 5,
The vehicle includes an azimuth meter and a gyro sensor.

Moreover, the traveling control device for a slope working vehicle according to claim 7 is the traveling control device for a slope working vehicle according to any one of claims 1 to 7,
The vehicle is a mower.

  In the traveling control device for a slope working vehicle according to claim 1, as described above, the first wire stretched along the width direction of the planned work slope with a pair of left and right fixed anchors on the upper part of the planned work slope, A first pulley that engages with the first wire and moves laterally along the first wire, a second pulley that is provided coaxially with the first pulley, and a second pulley that is wound around the second pulley a plurality of times. A wire, a pair of left and right wire drums provided on the vehicle and capable of winding and feeding both ends of the second wire by a rotation control motor, and both wire drums in synchronization with the traveling speed and steering direction of the vehicle A control unit that controls the zigzag running of the vehicle along the work slope by controlling the winding or unwinding of the second wire, thereby preventing the body from slipping on the slope and automatically or remotely operating safely. Run on Effect that will allow and.

  In the traveling control device for a slope working vehicle according to claim 2, as described above, the wire drum is provided with an alignment winding mechanism that aligns winding of the wire around each wire drum, thereby improving the accuracy of automatic traveling. It will be possible to secure.

  In the traveling control device for a slope working vehicle according to claim 3, as described above, the wire drum is provided with the tension control device that controls the tension of both wires, thereby ensuring the accuracy of the automatic traveling. become able to.

  In the traveling control apparatus for a slope working vehicle according to claim 4, as described above, the wheel of the vehicle includes a plurality of protrusions that bite into the ground surface on the outer peripheral surface thereof, thereby preventing the occurrence of a traveling control error due to wheel slip. Will be able to.

  In the traveling control apparatus for slope working vehicle according to claim 5, as described above, the vehicle is provided with an inclinometer for detecting the inclination of the vehicle, so that other control is performed according to the current inclination of the vehicle. Can be complemented.

  In the traveling control device for a slope working vehicle according to claim 6, as described above, the vehicle is provided with an azimuth meter and a gyro sensor for the azimuth meter to detect a change in the direction of the vehicle and to improve the accuracy of the azimuth meter. Can be complemented.

  In the running control device for a slope working vehicle according to the seventh aspect, as described above, when the vehicle is a mower, the mowing work on the slope can be performed safely and efficiently by automatic or remote operation.

It is a perspective view which shows the mower to which the traveling control apparatus for slope working vehicles of Example 1 is applied. It is a perspective view which shows the traveling control apparatus for slope working vehicles of Example 1. FIG. It is a top view which shows the detail of a pulley part. It is a vertical side view in the S4-S4 line of FIG. It is a top view which shows the principal part of the traveling control apparatus for slope working vehicles of Example 1. FIG. It is an enlarged view which shows the left wire drum part. FIG. 7 is a right side view of FIG. 6. It is an expanded sectional view in the S8-S8 line of FIG. It is a control block diagram which shows the traveling control apparatus for slope working vehicles of Example 1. FIG. It is a perspective view which shows the operation preparation condition of the traveling control of the mower to which the traveling control apparatus for slope working vehicles of Example 1 is applied. It is a front view which shows the operation preparation condition of the traveling control of the mower to which the traveling control apparatus for slope working vehicles of Example 1 is applied. It is a front view which shows the automatic traveling setting of the mower to which the traveling control apparatus for slope working vehicles of Example 1 is applied. It is a perspective view which shows the automatic driving | running | working of the mower to which the traveling control apparatus for slope working vehicles of Example 1 is applied. It is a control flowchart which shows the control content of the route 1 of the traveling control apparatus for slope working vehicles of Example 1. FIG. It is a control flowchart which shows the control content of the route 2 of the traveling control apparatus for slope working vehicles of Example 1. FIG. It is a control flowchart which shows the control content of the route 3 of the traveling control apparatus for slope working vehicles of Example 1. FIG. It is a control flowchart which shows the control content of the route 4 of the traveling control apparatus for slope working vehicles of Example 1. FIG. It is explanatory drawing which shows the control content of the route 1 of the traveling control apparatus for slope working vehicles of Example 1. FIG. It is explanatory drawing which shows the control content of the route 2 of the traveling control apparatus for slope working vehicles of Example 1. FIG. It is explanatory drawing which shows the control content of the route 3 of the traveling control apparatus for slope working vehicles of Example 1. FIG. It is explanatory drawing which shows the control content of the route 4 of the traveling control apparatus for slope working vehicles of Example 1. FIG.

  Embodiments of the present invention will be described below with reference to the drawings.

First, the traveling control device for a slope working vehicle according to the first embodiment will be described with reference to the drawings.
As shown in FIGS. 1 to 8 and 11, the traveling control device for a slope working vehicle according to the first embodiment has four wheels (wheels Aa, Ab, Ac, Ad) Mounted on a mower A that is an in-phase steering vehicle, and embedded in an upper portion of a planned work slope G in the width direction of the work planned slope G with embedded anchors (fixed anchors) 1, 1 and tripods 1a, 1a. A main wire (first wire) 2 stretched along the pulley, a pulley B first pulley 3 that engages with the main wire 2 and moves laterally along the main wire 2, and is coaxial with the first pulley 3 A second pulley 4 provided in a shape, a suspension wire (second wire) 5 in which a midway portion is wound around the second pulley 4 a plurality of times, and a left drum driving motor 6 and a right drum provided in the mower A. Both ends of the suspension wire 5 are taken up and driven out by the drive motor 7, respectively. A working slope by controlling the winding or feeding amount of the suspension wire 5 around the wire drums 8 and 9 in synchronization with the traveling speed and steering direction of the mower A and the pair of left and right wire drums 8 and 9 And a control unit 10 that performs zigzag traveling control of the vehicle along the main line.

More specifically, as shown in FIGS. 3 and 4, the pulley B includes a first pulley 3 and a second pulley 4 provided coaxially with the first pulley 3.
The first pulley 3 is provided with two left and right tension rollers 31 and 32 at the upper portion thereof, and an appropriate tension is applied to the main wire 2 between the two tension rollers 31 and 32 and the first pulley 3. It is attached to the main wire 2 while being sandwiched, and moves to the left along the main wire 2 when the first pulley 3 rotates clockwise, and to the right when the first pulley 3 rotates counterclockwise. It has become.

  As shown in FIG. 2, the left drum drive motor 6 (rotation control motor) 6, the right drum drive motor (rotation control motor) 7 and the left and right wire drums 8 and 9 are disposed between the left drum drive motor 6 and the left drum drive motor 6. And speed reducers 11 and 12 that reduce the rotational speed of the right drum drive motor 7 and transmit it to the pair of left and right wire drums 8 and 9, respectively.

  As shown in FIGS. 5 to 9, the wire drums 8 and 9 have an alignment winding mechanism for aligning the winding of the suspension wire 5 around the wire drums 8 and 9, and each suspension wire 5. Tension sensors 13 and 14 and wire feed amount detection sensors 15 and 16 for appropriately controlling tension (wire tension) are provided.

As shown in FIGS. 6 to 8, the left aligned winding mechanism has a sprocket 82 fixed to the end of the roller shaft 81 of the left wire drum 8, and the sprocket 84 at the end of the driver shaft 83 is chained to the sprocket 82. 85, the driver shaft 83 rotates in synchronization with the wire drum 8, and the pin 87 of the driver frame 86 is fitted into an endless groove 88 provided in the driver shaft 83, so that the driver shaft The wire drum 8 moves to the left and right along the roller shaft 81 in accordance with the rotational direction of 83, so that the suspension wire 5 can be aligned and wound around the wire drum 8.
In FIGS. 1 and 5, reference numeral 89 denotes a wire guide.

  Appropriate control of the tension of the hanging wire 5 was detected by placing a sensor in the unit that detects the tension applied to the hanging wire 5, the slackness of the hanging wire 5, and the angle of the hanging wire 5 with respect to the mower A. By controlling the rotation of the wire drums 8 and 9 based on the values, the state of the appropriate hanging wire 5 is maintained in order to synchronize with the travel of the mower A.

Next, details of the traveling control device for the slope working vehicle of the first embodiment will be described based on the control block diagram of FIG.
The mower A includes a wheel drive motor 17, a wheel drive motor encoder 18, a steering drive motor 19, a steering drive motor encoder 20, an azimuth meter 21 for detecting a traveling direction, and an azimuth meter gyro sensor 22. A vehicle speedometer 23 for detecting the traveling speed, an inclinometer 24 for detecting the inclination, a left drum drive motor encoder 25, and a right drum drive motor encoder 26.

Next, the effect | action of this Example 1 is demonstrated based on FIGS.
First, as a preparatory work for the weeding work by the mower A, as shown in FIGS. 10 and 11, the operator installs the embedded anchors 1, 1 at the two upper surfaces of the work area, and embeds the anchor wires 2 at both ends. 1 and 1, the both ends of the main wire 2 are lifted about 1 m from the ground with the tripods 1a and 1a, and the suspension wire 5 connecting the mower A and the pulley B is set so as not to interfere with the upper part of the slope.
Next, as shown in FIG. 11, the mower A is moved to the work start point by remote operation, so that the orientation of the mower A matches the traveling pattern, and the posture of the mower A at the work start point is changed. Remember information.
Next, as shown in FIG. 12, the orientation of the mower A is adjusted to the target first point by remote operation, and the posture of the mower A is adjusted by traveling to the target first point by remote operation. In addition, information on the width of the work range is stored.
Next, as shown in FIG. 13, after reaching the target first point, the distance indicated by the arrow in the slope direction is set, automatic driving is switched, and the set area is mowing automatically.

  Next, the content of the automatic travel control will be described based on the flowcharts of FIGS. 14 to 17 and the control content explanatory diagrams of FIGS.

First, in the flowchart of FIG. 14, in step S1, the control unit 10 performs the following processing as initialization processing.
First, in the vehicle azimuth and inclination degree optimization, the azimuth value is obtained from the azimuth meter 21 mounted on the mower A, and the inclination degree is obtained from the clinometer 24.
In the wire tension optimization, the rotation of the wire drums 8 and 9 is controlled by the tension sensors 13 and 14 in the wire alignment mechanism so that the tension value becomes an appropriate value.
Further, the wire feed amount detection sensors 15 and 16 acquire the wire feed amount.
Moreover, in the inclination direction work length acquisition, the distance in the direction of the slope to be mowed is acquired. That is, if the distance from the start of work to the target first point is the horizontal width (mowing width) of the mowing work range, the distance in the slope direction is the vertical width (mowing length), and by inputting this value The total amount of movement in the slope direction is recognized. In addition, the number of turns required until the end of the work is recognized by setting the degree of overlap, and at the same time, the number of turning is recognized.
In addition, in the grass cutting width overlap acquisition, the width that the mower A can cut the grass when going straight is defined as the grass cutting width, and during the mowing work, the work range is repeated while going straight and folded. Indicate the amount of overlap with the mowing width after the previous straight-ahead operation. By instructing this amount, the number of times of folding required within the work range is recognized.
After the above initialization process, the weeding device of the mower A is activated.

In the subsequent step S2, the loop is started.
In subsequent step S3, the mower A is steered in the downward slope direction.
In subsequent step S4, the mower A is moved forward (downward) (see FIG. 18).
In the subsequent step S5, vehicle constant speed / direction control is performed.
In vehicle constant speed control, constant speed control is performed at a minimum speed of 0.9 km to a maximum of 3.6 km per setting.
In azimuth | direction control, the advancing direction of the mower A is controlled to the azimuth | direction set by the preparation work or the turning direction by a running pattern.
In the subsequent step S6, the wire drums 8 and 9 are rotated in the direction in which the hanging wire 5 is fed out, and the mower A is caused to travel down the slope.
In subsequent step S7, it is determined whether or not the mower A has traveled a predetermined distance. If NO, the process returns to step S4.
Moreover, if it is YES, it will progress to step S8 and it will be determined whether the predetermined number of times of steering was reached, and if it is YES, the driving | running | working of the mower A will be stopped.
If NO, the process proceeds to loop B in FIG.

In the flowchart of FIG. 15, in step S9, the mower A is turned 90 degrees to the left.
In subsequent step S10, the mower A is moved forward (rightward) (see FIG. 19).
In the subsequent step S11, vehicle constant speed / direction control is performed.
In subsequent Steps S12 and S13, wire left winding and wire right feeding are performed. That is, the rotation of the wire drums 8 and 9 that keep the wire tension optimized is controlled in synchronization with the traveling direction and the traveling speed of the mower A.
In subsequent step S14, it is determined whether or not the mower A has traveled a predetermined distance. If NO, the process returns to step S10.
Moreover, if it is YES, it will progress to step S15, it will be determined whether it reached the predetermined number of times of steering, and if it is YES, driving | running | working of the mower A will be stopped.
If NO, the process proceeds to loop C in FIG.

In the flowchart of FIG. 16, in step S16, the mower A is steered 90 degrees to the right.
In the subsequent step S17, the mower A is moved forward (downward) (see FIG. 20).
In the subsequent step S18, vehicle constant speed / direction control is performed.
In continuing step S19, the wire drums 8 and 9 are rotated in the direction which draws out the suspension wire 5, and the mower A is made to drive | work a slope downward.
In subsequent step S20, it is determined whether or not the mower A has traveled a predetermined distance. If NO, the process returns to step S17.
Moreover, if it is YES, it will progress to step S21 and it will be determined whether the predetermined number of times of steering was reached, and if it is YES, the driving | running | working of the mower A will be stopped.
If NO, the process proceeds to loop D in FIG.

In the flowchart of FIG. 17, in step S22, the mower A is steered 90 degrees to the right.
In subsequent step S23, the mower A is moved forward (leftward) (see FIG. 21).
In subsequent step S24, vehicle constant speed / direction control is performed.
In subsequent steps S25 and S26, the wire left feeding and the wire right winding are performed. That is, the rotation of the wire drums 8 and 9 that keep the wire tension optimized is controlled in synchronization with the traveling direction and the traveling speed of the mower A.
In subsequent step S27, it is determined whether or not the mower A has traveled a predetermined distance. If NO, the process returns to step S23.
Moreover, if it is YES, it will progress to step S28, and it will be determined whether the predetermined frequency | count of turning was reached, and if it is YES, the driving | running | working of the mower A will be stopped.
If NO, the process proceeds to loop B in FIG.
By repeating the above control, the mower A can be moved along the working slope G in a zigzag manner.

Next, the effect of the first embodiment will be described.
In the slope working vehicle travel control apparatus according to the first embodiment, as described above, the main work spanned along the width direction of the planned work slope G by the pair of left and right fixed anchors 1 and 1 above the work planned slope. The first pulley 3 that engages with the main wire 2 and moves laterally along the main wire 2, the second pulley 4 that is provided coaxially with the first pulley 3, and the second pulley 4. A suspension wire 5 having a midway portion wound around it several times and a pair of right and left provided on the mower A and capable of winding and feeding the both ends of the suspension wire 5 by a pair of left and right drum drive motors 6 and 7, respectively. Of the wire drums 8, 9 and the cutting speed of the mowing machine A and the winding direction of the suspension wire 5 to the wire drums 8, 9 are controlled in synchronism with the traveling direction and the steering direction of the mower A along the working slope G. And a control unit 10 that performs zigzag traveling control of the machine A. In Rukoto to prevent sliding off mower A slopes G, an effect that it is possible to travel safely automatic or remote control can be obtained.

  Further, the wire drums 8 and 9 are provided with an alignment winding mechanism for aligning the winding of the suspended wire 5 around the wire drums 8 and 9, so that the accuracy of remote or automatic travel can be ensured. become.

  In addition, the wire drums 8 and 9 are provided with a tension control device that controls the tension of the hanging wire 5 to ensure the accuracy of remote or automatic travel.

  Further, the mower A is provided with an inclinometer 24 that detects its inclination, so that other controls can be supplemented according to the current inclination of the mower A.

  Further, the mower A includes the azimuth meter 21 and the gyro sensor 22 for the azimuth meter, so that a change in the direction of the mower A can be detected and the accuracy of the directional meter 21 can be supplemented.

  Although the present embodiment has been described above, the present invention is not limited to the above-described embodiment, and design changes and the like within a scope not departing from the gist of the present invention are included in the present invention.

  For example, in the embodiment, a mower has been described as an example of a vehicle, but the present invention can be applied to a lawn mower and all other work vehicles.

  Moreover, you may make it equip the outer peripheral surface of a wheel with the several protrusion which bites into the ground.

A Mower Aa Wheel Ab Wheel Ac Wheel Ad Wheel B Pulley G Scheduled Work Slope 1 Embedded Anchor 1a Tripod 2 Main wire (first wire)
3 First pulley 31 Tension roller 32 Tension roller 4 Second pulley 5 Hanging wire 6 Left drum drive motor (rotation control motor)
7 Right drum drive motor (rotation control motor)
8 Left wire drum 9 Right wire drum 10 Control unit 11 Reducer 12 Reducer 13 Tension sensor (left)
14 Tension sensor (right)
15 Wire feed amount detection sensor (left)
16 Wire feed amount detection sensor (right)
DESCRIPTION OF SYMBOLS 17 Wheel drive motor 18 Wheel drive motor encoder 19 Steering drive motor 20 Steering drive motor encoder 21 Direction meter 22 Direction meter gyro sensor 23 Vehicle speed meter 24 Inclinometer 25 Left drum drive motor encoder 26 Right drum drive motor encoder 81 Roller shaft 82 Sprocket 83 Driver shaft 84 Sprocket 85 Chain 86 Driver frame 87 Pin 88 Endless groove 89 Wire guide

Claims (7)

It is mounted on a four-wheel drive four-phase in-phase steering vehicle capable of traveling and steering by automatic or remote operation,
A first wire that is stretched along the width direction of the planned work slope with a pair of left and right fixed anchors on top of the work planned slope;
A first pulley that engages the first wire and moves laterally along the first wire;
A second pulley provided coaxially with the first pulley;
A second wire having a midway wound around the second pulley a plurality of times;
A pair of left and right wire drums provided in the vehicle and capable of winding and feeding both ends of the second wire by a rotation control motor;
A control unit that performs zigzag running control of the vehicle along the working slope by controlling winding or feeding of the second wire to and from both wire drums in synchronization with the running speed and steering direction of the vehicle;
A traveling control apparatus for a slope working vehicle, comprising: The travel control device for a slope working vehicle according to claim 1,
The travel control device for a slope working vehicle, wherein the wire drum includes an alignment winding mechanism that aligns winding and feeding of the second wire to and from each wire drum. The travel control device for a slope working vehicle according to claim 1 or 2,
The travel control device for a slope working vehicle, wherein the wire drum is provided with a tension sensor that detects a tension of both the second wires. In the traveling control device for a slope working vehicle according to any one of claims 1 to 3,
The vehicle wheel has a plurality of protrusions that bite into the ground on an outer peripheral surface of the vehicle wheel. In the traveling control device for a slope working vehicle according to any one of claims 1 to 4,
The vehicle is provided with an inclinometer for detecting the inclination of the vehicle. In the traveling control device for a slope working vehicle according to any one of claims 1 to 5,
A traveling control apparatus for a slope working vehicle, wherein the vehicle includes an azimuth meter and a gyro sensor. In the traveling control device for a slope working vehicle according to any one of claims 1 to 7,
A traveling control apparatus for a slope working vehicle, wherein the vehicle is a mower.

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