JP6913992B2 - Travel control device for slope work vehicles - Google Patents

Description

The present invention relates to a traveling control device for a slope work vehicle used for mowing work on a slope.

Most of the mowing along railway lines and around roads is done on slopes, but since there is no machine that can be applied to such slope work in the past, human power is mainly used with brush cutters.
Therefore, there is a risk of falling. There are problems such as the cutting blade coming into contact with stones and rocks and being injured by the reaction, and the scattered foreign matter injuring surrounding people and objects.
Further, as a wheel for a slope work vehicle, a wheel in which protrusions such as claws and spikes that bite into the ground are arranged on the outer periphery of the traveling wheel is known. (See Patent Document 1)

Japanese Unexamined Patent Publication No. 2000-342406

However, even if the vehicle uses wheels having protrusions such as claws and spikes whose outer circumferences bite into the ground, it is extremely dangerous to work on a steep slope.

An object to be solved by the present invention is to provide a traveling control device for a slope work vehicle, which can prevent the vehicle body from slipping on a slope and can safely travel automatically or remotely.

In order to solve the above problem, the traveling control device for a slope work vehicle according to claim 1 is
It is installed in vehicles that can be driven and steered automatically or remotely.
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, and the first pulley engaged with the first wire laterally along the first wire. It is equipped with a moving pulley unit and a vehicle mounting part.
A pair of left and right second pulleys are provided below the first wire in the pulley unit.
The vehicle mounting unit includes a pair of wire drums capable of independently winding and feeding two second wires by a rotation control motor, and a vehicle traveling control unit.
The tips of the two second wires are connected and fixed to the fixing anchors via the pair of left and right second pulleys, respectively.
The vehicle traveling control unit controls the winding or unwinding of the pair of left and right second wires to the pair of wire drums in synchronization with the traveling speed and steering direction of the vehicle, so that the vehicle travels along the work slope. The means is characterized in that it is configured to perform zigzag traveling control.

The travel control device for a slope work vehicle according to claim 2 is the travel control device for a slope work vehicle according to claim 1.
The wire drum is provided with an aligned winding mechanism for aligning the winding and unwinding of the second wire to each wire drum.

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

The travel control device for a slope work vehicle according to claim 4 is the travel control device for a slope work vehicle according to any one of claims 1 to 3.
The wheel of the vehicle is provided with a plurality of protrusions that bite into the ground on its outer peripheral surface.

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

The travel control device for a slope work vehicle according to claim 6 is the travel control device for a slope work vehicle according to any one of claims 1 to 5.
The vehicle is provided with a directional meter and a gyro sensor.

The travel control device for a slope work vehicle according to claim 7 is the travel control device for a slope work vehicle according to any one of claims 1 to 6.
The means is characterized in that the vehicle is a mower.

The travel control device for a slope work vehicle according to claim 8 is the travel control device for a slope work vehicle according to any one of claims 1 to 7, wherein the vehicle can be steered in the same phase with four wheels. It was a means characterized by being.

In the traveling control device for a slope work vehicle according to claim 1, as described above, a first wire stretched along the width direction of the planned work slope by a pair of left and right fixed anchors on the upper part of the planned work slope. A pulley unit that laterally moves along the first wire by the first pulley engaged with the first wire, and a vehicle mounting portion are provided.
A pair of left and right second pulleys are provided below the first wire in the pulley unit.
The vehicle mounting unit includes a pair of wire drums capable of independently winding and feeding two second wires by a rotation control motor, and a vehicle traveling control unit.
The tips of the two second wires are connected and fixed to the fixing anchors via the pair of left and right second pulleys, respectively.
The vehicle traveling control unit controls the winding or unwinding of the pair of left and right second wires to the pair of wire drums in synchronization with the traveling speed and steering direction of the vehicle, so that the vehicle travels along the work slope. Since it is configured to perform zigzag running control, it is possible to prevent the vehicle body from slipping down on a slope and to safely run the vehicle automatically or remotely.
Further, by providing the first wire in which the first pulley of the pulley unit is locked in addition to the second wire, it is possible to prevent the vehicle from sliding down even if the second wire is broken. Be done.

In the traveling control device for a slope work vehicle according to claim 2, as described above, the wire drum is provided with an aligned winding mechanism for aligning the winding of the wire to each wire drum to improve the accuracy of automatic traveling. You will be able to secure it.

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

In the travel control device for a slope work vehicle according to claim 4, as described above, the wheels of the vehicle are provided with a plurality of protrusions that bite into the ground on the outer peripheral surface thereof to prevent the occurrence of travel control error due to wheel slippage. You will be able to do it.

In the traveling control device for a slope work 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 can be performed according to the current inclination of the vehicle. Can be complemented.

In the traveling control device for a slope work vehicle according to claim 6, as described above, the vehicle is provided with a directional meter and a gyro sensor to detect a change in the orientation of the vehicle and supplement the accuracy of the directional meter. Can be done.

As described above, in the traveling control device for a slope work vehicle according to claim 7, when the vehicle is a mower, the mowing work on the slope can be safely and efficiently performed by automatic or remote control.

In the traveling control device for a slope work vehicle according to claim 8, since the vehicle can be steered in the same phase with four wheels driven as described above, it is possible to perform a zigzag traveling operation for work such as mowing.

It is a perspective view which shows the mower to which the traveling control device for a slope work vehicle of Example 1 was applied. It is a perspective view at the time of traveling in the left-right direction of the vehicle which shows the traveling control device for a slope work vehicle of Example 1. FIG. It is a perspective view at the time of traveling in the vertical direction of the vehicle which shows the traveling control device for a slope work vehicle of Example 1. FIG. It is a front view which shows the detail of the pulley unit part. It is a right side view which shows the detail of the pulley unit part. It is a vertical sectional side view of the line S6-S6 of FIG. It is a top view which shows the vehicle mounting part of Example 1. FIG. FIG. 5 is a vertical cross-sectional view taken along the line S8-S8 of FIG. It is a control block diagram which shows the traveling control device for a slope work vehicle of Example 1. FIG. It is a perspective view which shows the operation preparation state of the run control of the mower to which the run control device for a slope work vehicle of Example 1 is applied. It is a front view which shows the operation preparation state of the run control of the mower to which the run control device for a slope work vehicle of Example 1 is applied. It is a front view which shows the automatic running setting of the mower to which the running control device for a slope work vehicle of Example 1 is applied. It is a perspective view which shows the automatic running of the mower to which the running control device for a slope work vehicle of Example 1 is applied. It is a control flow diagram which shows the control content of the loop A of the traveling control device for a slope work vehicle of Example 1. FIG. It is a control flow diagram which shows the control content of the loop B of the traveling control device for a slope work vehicle of Example 1. FIG. It is a control flow diagram which shows the control content of the loop C of the traveling control device for a slope work vehicle of Example 1. FIG. It is a control flow diagram which shows the control content of the loop D of the traveling control device for a slope work vehicle of Example 1. FIG. It is explanatory drawing which shows the control content of the loop A of the traveling control device for a slope work vehicle of Example 1. FIG. It is explanatory drawing which shows the control content of the loop B of the traveling control device for a slope work vehicle of Example 1. FIG. It is explanatory drawing which shows the control content of the loop C of the traveling control device for a slope work vehicle of Example 1. FIG. It is explanatory drawing which shows the control content of the loop D of the traveling control device for a slope work vehicle of Example 1. FIG.

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

First, the traveling control device for a slope work vehicle according to the first embodiment will be described with reference to the drawings.

As shown in FIGS. 1 to 8 and 10, the traveling control device for a slope work vehicle according to the first embodiment is a four-wheel drive four-wheel drive vehicle (wheels Aa, Ab, Ac, which can travel and steer remotely or automatically. Ad) It is mounted on the mower (vehicle) A that can steer in the same phase.
The first wire 2 stretched along the width direction of the planned work slope G and the first wire 2 were engaged with the tripods 1 and 1 fixed to the upper part of the planned work slope G by the fixed anchors 1a and 1a. The main configuration includes a pulley unit 3 that is laterally moved along the first wire 2 by a pair of left and right first pulleys 31, 31 and a vehicle mounting portion 4.

Further, in detail, a pair of left and right second pulleys 32 and 33 are provided below the first wire 2 in the pulley unit 3.

The vehicle mounting unit 4 uses two second wires 7 and 8 by a left drum drive motor (rotation control motor) 5 equipped with a speed reducer and a right drum drive motor (rotation control motor) 6 equipped with a speed reducer, respectively. It includes a pair of wire drums 9 and 10 that can be independently driven by winding and feeding, and a vehicle traveling control unit 11.
The tips of the two second wires 7 and 8 are connected and fixed to the tripods 1 and 1 via the pair of left and right second pulleys 32 and 33, respectively.

The vehicle travel control unit 11 controls the winding or unwinding of the pair of left and right second wires 7 and 8 to the pair of wire drums 9 and 10 in synchronization with the traveling speed and steering direction of the mower A. It is configured to perform zigzag traveling control of the mower A along the work slope G.

Further, as shown in FIGS. 8 and 9, the wire drums 9 and 10 have an alignment winding mechanism for aligning the winding of the second wires 7 and 8 on the wire drums 9 and 10, and each second wire. It is provided with tension sensors 13 and 14 for appropriately controlling the tension (wire tension) of 7 and 8 and wire feeding amount detection sensors 15 and 16.

In the aligned winding mechanism on the left side, as shown in FIG. 8, the drive shaft 27 rotates in synchronization with the wire drum 9, and the pin 28 of the driver frame 36 fits into the endless groove 29 provided in the drive shaft 27. As a result, the wire drum 9 moves left and right along the roller shaft 30 according to the rotation direction of the drive shaft 27, whereby the second wire 7 can be aligned and wound around the wire drum 9.
In FIG. 1, 34 and 35 indicate wire guides.

Appropriate control of the tension of the second wires 7 and 8 controls the tension applied to the second wires 7 and 8 so that the second wires 7 and 8 do not sag. By arranging a sensor that detects the angle of 8 and controlling the rotation of the wire drums 9 and 10 based on the detected value, the proper state of the second wires 7 and 8 can be obtained in synchronization with the running of the mower A. maintain.

Next, the details of the travel control device for the slope work vehicle of the first embodiment will be described with reference to the control block diagram of FIG.
The mowing machine 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 the traveling direction, a gyro sensor 22, and a traveling speed. It is provided with a vehicle speed meter 23 for detecting the above, an inclinometer 24 for detecting the inclination, an encoder 25 for a left drum drive motor, and an encoder 26 for a right drum drive motor.

Next, the operation of Example 1 will be described with reference to FIGS. 10 to 13.
First, as a preparatory work for the weeding work by the mower A, as shown in FIGS. By connecting and fixing both ends to the embedded anchors 1a and 1a while floating about 1 m above the ground, the first wire 2 connecting the mower A and the pulley 3 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 control so that the orientation of the mower A matches the traveling pattern, and the posture of the mower A and the like at the work start point and the like. Memorize information.
Next, as shown in FIG. 12, the posture of the mower A is adjusted to match the target first point by remote control, and the posture of the mower A is changed by traveling to the target first point by remote control. 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, the vehicle is switched to automatic driving, and the set area is automatically mowed.

Next, the contents of the automatic driving control will be described with reference to the flowcharts of FIGS. 14 to 17 and the control contents explanatory diagrams of FIGS. 18 to 21.

First, in the flowchart of FIG. 14, in step S1, the control unit 11 performs the following processing as the initialization processing.
First, in the vehicle orientation and inclination aptitude, the orientation value is acquired from the directional meter 21 mounted on the mower A, and the inclination is acquired from the inclinometer 24.
Further, in the wire tension optimization, the tension sensors 13 and 14 in the wire alignment mechanism control the rotation of each drum 9 and 10 so that the tension value becomes an appropriate value.
Further, the wire feeding amount detection sensors 15 and 16 acquire the wire feeding amount.
Further, in the acquisition of the working length in the inclined direction, the distance in the inclined direction to be mowed is acquired. That is, if the distance from the start of work to the target first point is the width of the mowing work range (mowing work width), the distance in the slope direction is the vertical width (mowing length), and enter this value. Recognizes the total amount of movement in the slope direction. In addition, the number of turns required to complete the work is recognized by setting the degree of overlap, and at the same time, the number of turns is also recognized.
In addition, in the acquisition of the mowing width multiplicity, the width at which the mowing machine A can mow the grass when going straight is set as the mowing width, and the work range is repeatedly straightened and turned back during the mowing work. Instruct the amount that overlaps with the mowing width after the previous straight-ahead work. By indicating this amount, the number of turns required within the working range is recognized.
After the above initialization process, the weeding device of the mower A is started.

In the following step S2, the loop is started.
In the following step S3, the mower A is steered in the downward direction on the slope.
In the following step S4, the mower A is advanced (downward) (see FIG. 18).
In the following step S5, the vehicle constant speed / direction control is performed.
In the vehicle constant speed control, the constant speed control is performed at a minimum speed of 0.9 km / h to a maximum speed of 3.6 km / h depending on the setting.
In the direction control, the traveling direction of the mower A is controlled in the direction set in the preparatory work or the steering direction according to the traveling pattern.
In the following step S6, the wire drums 9 and 10 are rotated in the direction of feeding out the left and right second wires 7 and 8, and the mower A is driven downward on the slope.
In the following step S7, it is determined whether or not the mower A has traveled a predetermined distance, and if NO, the process returns to step S4.
If YES, the process proceeds to step S8, and it is determined whether or not the predetermined number of steerings has been reached. If YES, the mower A stops running.
If NO, the process proceeds to loop B in FIG.

In the flowchart of FIG. 15, in step S9, the mower A is steered 90 degrees to the left.
In the following step S10, the mower A is advanced (to the right) (see FIG. 19).
In the following step S11, the vehicle constant speed / direction control is performed.
In the following steps S12 and 13, the second wire 7 is unwound and the second wire 8 is wound. That is, the rotation of the wire drums 9 and 10 is controlled in synchronization with the traveling direction and traveling speed of the mower A and maintaining the appropriateness of the wire tension.
In the following step S14, it is determined whether or not the mower A has traveled a predetermined distance, and if NO, the process returns to step S10.
If YES, the process proceeds to step S15, and it is determined whether or not the predetermined number of steerings has been reached. If YES, the mower A stops running.
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 following step S17, the mower A is advanced (downward) (see FIG. 20).
In the following step S18, the vehicle constant speed / direction control is performed.
In the following step S19, the wire drums 9 and 10 are rotated in the direction of feeding out the left and right second wires 7 and 8, and the mower A is driven downward on the slope.
In the following step S20, it is determined whether or not the mower A has traveled a predetermined distance, and if NO, the process returns to step S17.
Further, if YES, the process proceeds to step S21, it is determined whether or not the predetermined number of steerings has been reached, and if YES, the running of the mower A is 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 the following step S23, the mower A is advanced (to the left) (see FIG. 21).
In the following step S24, the vehicle constant speed / direction control is performed.
In the following steps S25 and 26, the second wire 7 is wound and the second wire 8 is unwound. That is, the rotation of the wire drums 9 and 10 is controlled in synchronization with the traveling direction and traveling speed of the mower A and maintaining the appropriateness of the wire tension.
In the following step S27, it is determined whether or not the mower A has traveled a predetermined distance, and if NO, the process returns to step S23.
If YES, the process proceeds to step S28, and it is determined whether or not the predetermined number of steerings has been reached. If YES, the mower A stops running.
If NO, the process proceeds to loop B in FIG.
By repeating the above control, the mower A can be run in a zigzag along the work slope G.

Next, the effect of this Example 1 will be described.
In the traveling control device for the slope work vehicle of the first embodiment, as described above, a pair of left and right fixed anchors 1a and 1a are stretched over the planned work slope G along the width direction of the planned work slope G. The first wire 2 in the pulley unit 3 includes a first wire 2, a pulley unit 3 that moves laterally along the first wire 2 by a first pulley 31 engaged with the first wire 2, and a vehicle mounting portion. A pair of left and right second pulleys 32 and 33 are provided below the above, and two second wires 7 and 8 are independently wound around the vehicle mounting portion 4 by a left drum drive motor 5 and a right drum drive motor 6, respectively. It is provided with a pair of wire drums 9 and 10 capable of pulling and feeding and driving, and a vehicle traveling control unit 11, and the tips of the two second wires 7 and 8 are a pair of left and right second pulleys 32 and 33 and a tripod 1 respectively. The vehicle travel control unit 11 is connected and fixed to the fixed anchors 1a and 1a via 1 and 1, respectively, and the vehicle travel control unit 11 has a pair of left and right second wires to the pair of wire drums 9 and 10 in synchronization with the travel speed and steering direction of the vehicle. Since it is configured to control the zigzag running of the vehicle along the work slope G by controlling the winding or unwinding of 7 and 8, it is possible to prevent the vehicle body from slipping on the slope G and safely automatically or remotely. You will be able to run.

Further, by providing the first wire 2 in which the first pulleys 31 and 31 of the pulley unit 3 are locked in addition to the second wires 7 and 8, the vehicle is prevented from slipping even if the second wires 7 and 8 are broken. The effect of being able to do is obtained.

Further, the wire drums 9 and 10 are provided with an aligned winding mechanism for aligning the winding of the second wires 7 and 8 of the wire drums 9 and 10, so that the accuracy of remote or automatic traveling can be ensured. Will be.

Further, the wire drums 9 and 10 are provided with a tension control device for controlling the tension of the second wires 7 and 8, thereby ensuring the accuracy of remote or automatic traveling.

Further, by equipping the mower A with an inclinometer 24 for detecting its inclination, other controls can be complemented according to the current inclination of the mower A.

Further, by equipping the mower A with an azimuth meter 21 and a gyro sensor 22, it is possible to detect a change in the orientation of the mower A and supplement the accuracy of the directional meter 21.

Further, since the mowing machine A is capable of four-wheel drive and four-wheel in-phase steering, it is possible to perform a zigzag running operation for operations such as mowing.

Although the present embodiment has been described above, the present invention is not limited to the above-described embodiment, and even if there is a design change or the like within a range that does not deviate from the gist of the present invention, the present invention is included in the present invention.

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

Further, in the first embodiment, as the mower (vehicle) A, a vehicle capable of four-wheel drive and four-wheel (wheels Aa, Ab, Ac, Ad) in-phase steering has been described as an example, but traveling and steering by remote control have been described. The present invention can be applied to all possible vehicles.

Further, the outer peripheral surface of the wheel may be provided with a plurality of protrusions that bite into the ground.

A mower (vehicle)
Aa Wheel Ab Wheel Ac Wheel Ad Wheel 1 Tripod 1a Fixed Anchor 2 1st Wire 3 Pulley Unit 31 1st Pulley 32 2nd Pulley 33 2nd Pulley 34 Wire Guide 35 Wire Guide 4 Vehicle Mount 5 Left Drum Drive Motor (Rotation Control) motor)
6 Right drum drive motor (rotation control motor)
7 2nd wire 8 2nd wire 9 Left wire drum 10 Right wire drum 11 Vehicle running control unit 13 Tension sensor (left)
14 Tension sensor (right)
15 Wire feed amount detection sensor (left)
16 Wire feed amount detection sensor (right)
17 Wheel Drive Motor 18 Wheel Drive Motor Encoder 19 Steering Drive Motor 20 Steering Drive Motor Encoder 21 Direction Meter 22 Gyro Sensor 23 Vehicle Speed Meter 24 Tilt Meter 25 Left Drum Drive Motor Encoder 26 Right Drum Drive Motor Encoder 27 Drive Shaft 28 Pin 29 Endless groove 30 Roller shaft 36 Driver frame G Scheduled work slope

Claims (8)

It is installed in vehicles that can be driven and steered automatically or remotely.
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, and the first pulley engaged with the first wire laterally along the first wire. It is equipped with a moving pulley unit and a vehicle mounting part.
A pair of left and right second pulleys are provided below the first wire in the pulley unit.
The vehicle mounting unit includes a pair of wire drums capable of independently winding and feeding two second wires by a rotation control motor, and a vehicle traveling control unit.
The tips of the two second wires are connected and fixed to the fixing anchors via the pair of left and right second pulleys, respectively.
The vehicle traveling control unit controls the winding or unwinding of the pair of left and right second wires to the pair of wire drums in synchronization with the traveling speed and steering direction of the vehicle, so that the vehicle travels along the work slope. A travel control device for a slope work vehicle, which is configured to perform zigzag travel control. In the traveling control device for a slope work vehicle according to claim 1,
A traveling control device for a slope work vehicle, wherein the wire drum includes an aligned winding mechanism for aligning winding and unwinding of a second wire to each wire drum. In the traveling control device for a slope work vehicle according to claim 1 or 2.
A traveling control device for a slope work vehicle, wherein the wire drum is provided with a tension sensor that detects the tension of both second wires. In the traveling control device for a slope work vehicle according to any one of claims 1 to 3.
A traveling control device for a slope work vehicle, wherein the wheel of the vehicle is provided with a plurality of protrusions that bite into the ground on the outer peripheral surface thereof. In the traveling control device for a slope work vehicle according to any one of claims 1 to 4.
A travel control device for a slope work vehicle, wherein the vehicle is provided with an inclinometer for detecting the inclination of the vehicle. The traveling control device for a slope work vehicle according to any one of claims 1 to 5.
A traveling control device for a slope work vehicle, wherein the vehicle is provided with a directional meter and a gyro sensor. In the traveling control device for a slope work vehicle according to any one of claims 1 to 6.
A traveling control device for a slope work vehicle, wherein the vehicle is a mower. In the traveling control device for a slope work vehicle according to any one of claims 1 to 7.
A traveling control device for a slope work vehicle, wherein the vehicle can be steered in the same phase with four wheels driven by four wheels.

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