JPH10113318A - Working machine for floor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simply operate a working machine and efficiently perform work wherein a machine body shifts from a worked line to the next working line and runs on the next working line, and also shifts to the worked line and runs on the worked line again. SOLUTION: When a machine body reaches the end of the line X of a working line G1, a running control means automatically outputs a signal to a U-turn control means for actuation. Then the U-turn control means automatically turns in a U-turn and shifts the machine body from the worked line G1 to the next working line G2, and positions the machine body on the work starting end of the working line G2. When the machine body reaches the last end XE of the last worked line GE, the running control means automatically outputs a signal to pivotal turn control means for actuation. Then the pivotal turn control means automatically makes the machine body pivotally turn from the worked line GE to this worked line GE and positions the working machine on the last end XE of the worked line GE.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled machine which incorporates working devices such as a waxing device, a cleaning device, a cleaning device, and a polishing device acting on a floor made of various materials such as wood, stone, resin and concrete. The present invention relates to a floor working machine provided.

[0002]

2. Description of the Related Art In performing work using the above floor working machine, the machine generally travels straight from one end to the other end of the work area, and when it reaches the end of this work line, the machine direction is reversed. At the same time, the work device is turned so as to coincide with the next work sequence, and the work device is reciprocated by traveling in the opposite direction to the previous work sequence. Then, in order to turn the machine body that has reached the end of the work train so that the machine body direction is reversed and the work device turns so as to match the next work train, the machine body can be conveniently turned in a U-shape. For this reason, conventionally, even in the case of a non-automatic working machine in which the operator operates the aircraft by sending a command signal or the like while traveling, the automatic working machine in which the aircraft automatically travels based on the traveling program is used. Also in this case, the traveling direction can be changed in the opposite direction only by turning the body in a U-shape.

[0003]

In performing the work, for example, a part of the floor surface is badly worn or dirty, and it is necessary to wax or clean the part more times than other parts. In some cases, the number of operations must be increased partially. Also, when the work machine travels with a position shift from the work row, a processing omission portion occurs due to the position shift, and in order to process the processing omission portion,
It may be necessary to run the work queue again. In such a case, if the work equipment is returned to the work queue that requires reprocessing after the work over the entire work location is completed, the work equipment needs to be moved over a long distance, or the part to be reprocessed is another part. However, if the work equipment is re-running immediately after reaching the end of the work equipment, it is not necessary to move the work equipment over long distances, and parts that require reprocessing Work without having to find out where the is. However, when the working machine that has reached the end of the working train is re-running the working train, conventionally, the working device must return to the original working train unless the working machine is turned around in a U-shape. It did not match, and it took time to align the work device with the work line to be re-run, resulting in poor work efficiency. Also, depending on the work location, such as if the work area is badly lacking in wax throughout, or if it is very dirty, it may be necessary to apply wax over the entire work area or need to wash repeatedly. May have to be repeated throughout.
In this case, if the work equipment that has reached the end of the final work row is repeatedly operated by returning it to the place where the work was started earlier, it is necessary to move the work equipment over a long distance. When the work machine that has reached the end of the work machine is turned at that point and it is run repeatedly from the end of the last work row in the direction opposite to the previous work, the work machine does not need to be moved over long distances and works efficiently it can. However, even when the work machine is rotated in the final work row and the work is repeated as described above, conventionally, unless the work machine is turned around in a U-shape, the working device matches the work row. However, it took time to position the working device at the end of the final working row, and the working efficiency was poor. SUMMARY OF THE INVENTION An object of the present invention is to provide a floor working machine that can efficiently work in both cases where repetitive work in a work row is required or not.

[0004]

The constitution, operation and effect of the invention according to claim 1 are as follows.

[Construction] In a floor working machine provided with a working device acting on the floor surface in the self-propelled body, the self-propelled body is automatically turned in a U-shape to move the working device before turning. U-turn control means for adjusting the position of the self-propelled body to the work line before the turn by automatically turning the self-propelled body to the work line before turning, based on the input signal Traveling control means for automatically operating the U-turn control means and the pivot turn control means to selectively execute the U-turn by the U-turn control means of the self-propelled body and the pivot turn by the pivot-turn control means And are provided.

When no repetitive work is required due to the necessity of recoating or repeated cleaning of wax or the occurrence of processing omission, a turning operation in a U-shape (hereinafter referred to as a U turning operation). )), The U-turn control means is operated for automatic operation by the drive control means, and the vehicle is turned in a U-shape. Allows the traveling equipment to quickly align the work equipment with the work line adjacent to the work line before turning, enabling the work machine to work efficiently by sequentially processing all work lines sequentially and appropriately. I do.
Also, some work lines may be repeatedly performed due to partial severe wear or dirt, or all work lines may be repeatedly performed by repeatedly applying wax over the entire work area or repeatedly cleaning. If it is necessary to do so, artificially input a signal to make a pivot turn to the travel control means at an appropriate timing,
When automatically inputting, the pivot turning control means is operated for automatic operation by the traveling control means, pivots the fuselage to align the working device with the work line before turning, and the work machine is turned before the turning. Work efficiently in the opposite direction to the previous work line to process the work line properly, or re-run all work lines in the reverse direction to the last work line from the end of the last work line. To go.

[Effect] When a partial repetition operation or a whole repetition operation is not required, the work machine is quickly turned to an appropriate state for traveling in the next operation train only by inputting a U turn signal. Efficient work can be performed by running all work lines sequentially and appropriately. In addition, when it is necessary to repeat work in some work rows or repeat work over the entire work location, simply enter the pivot turn signal and the work machine will re-run the previous work row properly. Alternatively, it is possible to efficiently turn the final work row to a state in which it is quickly turned to a state in which it travels appropriately from the opposite side to the previous time, and to re-run part or all of the work rows appropriately to perform repetitive work. In addition, even in the case of maneuvering by inputting a signal artificially, a simple operation of merely inputting a signal such as a U turn or a pivot turn to the travel control means is sufficient, and work can be performed easily.

The structure, operation and effect of the invention according to claim 2 are as follows.

In the construction according to the first aspect of the present invention, the self-propelled body is driven by one steerable and drivable front wheel and a pair of right and left freely rotatable non-steerable rear wheels. The pivot turn control means is configured to drive the front wheel in a lateral direction while driving the self-propelled body to pivot around an intermediate point between the left and right rear wheels. is there.

[Operation] When the front wheels are driven sideways, the right and left rear wheels rotate in opposite rotation directions due to the propulsion action of the front wheels, and the self-propelled body rotates about the middle point between the left and right rear wheels as a turning center. Make a pivot turn.

[Effect] With a simple structure that allows only the front wheels to be steered and driven, a pivot turn can be performed, and a repetitive operation can be advantageously performed relatively economically.

The structure, operation and effect of the invention according to claim 3 are as follows.

[0013] [Structure] In the structure of the invention according to claim 1 or 2, the traveling control means includes a semi-automatic control unit, and the semi-automatic control unit is operated by a U-turn command from a control device. The turning control means is operated to cause the self-propelled body to make a U-turn, and the base turning control means is operated in accordance with the input of a turning point command from the control device to cause the self-propelled body to perform a turning point. It is configured in.

[Operation] Finish of work, running of work machine,
The work is performed while monitoring the condition of the floor surface. If there is no abnormality, the control device inputs a U-turn signal to the semi-automatic control unit when the work machine reaches the end of the work line. Then, the U-turn control means operates for automatic operation by the semi-automatic control unit, turns the work machine in a U-shape, aligns the work device with the work line adjacent to the work line before turning, and performs all operations. You can run the train sequentially. There is an abnormality such as omission of wax or insufficient cleaning in the finish or running,
If the floor has abnormalities such as severe wear or dirt, the control device inputs a pivot signal to the semi-automatic control unit when the working machine reaches the end of the work line.
Then, the pivot turning control means is activated for automatic operation by the semi-automatic control unit, pivots the work implement to position the work device to the work line before turning, and moves the work line in the opposite direction to the previous one. I can run again. In the case where the work is repeatedly performed such as repeatedly applying wax or polishing repeatedly over the entire work area, a pivoting signal is input to the semi-automatic control unit by the control device when the work machine reaches the end of the final work line. Then, the pivot turning control means is operated for automatic operation by the semi-automatic control unit, pivots the work machine to position the working device at the end of the final work row, and moves all work rows from the end of the final work row. Can be run again in the opposite direction to the previous one. Thus, the work machine travels all the work lines sequentially and works by simply performing the transmission operation.

[Effect] When a partial repetition work or a whole repetition work is not required, the work machine can be properly arranged by simply performing a simple operation of transmitting a U-turn signal at an appropriate timing. By turning the vehicle in a running state, all the work trains can be sequentially and appropriately run, and work can be performed efficiently and easily. In addition, even if it is necessary to repeat work in some work rows or repeat work over the entire work location, simply perform a simple operation of transmitting a pivot turn signal at the appropriate timing and set the work machine to the previous work Perform a repetitive operation by quickly turning to the state where the train is properly re-running or the last work line is properly run from the opposite side from the previous time, and some or all of the work lines are appropriately re-run. You can work efficiently and effortlessly.

The structure, operation and effect of the invention according to claim 4 are as follows.

[Structure] In the structure of the present invention according to any one of claims 1 to 3, the travel control means includes a fully automatic control unit, and the fully automatic control unit includes a program for setting travel. The U-turn control means and the pivot turn control means are automatically operated based on the self-propelled body so that the self-propelled body performs a work traveling in which the self-propelled body travels while making a U-turn at an end of the work location. In addition, depending on the set traveling program, the self-propelled body is configured to cause the self-propelled body to perform a work traveling in which the self-propelled body turns around at a set turning point and goes backward.

[Operation] A running program is set with the last work sequence of all work sequences as the end. Then, the U-turn control means makes the machine turn in a U-shape for automatic operation by the full-automatic control unit, quickly aligns the work device to the next work line, and the work machine sequentially moves all the work lines. Automatically run so as to process appropriately. The traveling program is set with the end of the last work column among all the work columns as the set turning point. Then, the U-turn control means makes the machine turn in a U-shape for automatic operation by the full-automatic control unit, quickly aligns the work device to the next work line, and the work machine sequentially moves all the work lines. When the work machine reaches the end of the final work line, the pivot control means turns the aircraft for automatic operation by the fully automatic control unit. Then, the work apparatus is positioned at the end of the final work row, and the work machine automatically runs and processes all work rows from the end of the last work row in the direction opposite to the last time.

[Effect] By simply setting and starting the program and automatically processing the work site a predetermined number of times over the entire work area, for example, when the floor is severely damaged or the wax is insufficient, the predetermined number of times can be reduced. It is possible to easily perform an appropriate treatment according to the condition of the floor surface, for example, by automatically applying a layer of paint and, when there is little damage or lack of wax, automatically applying wax once. Then, even when the process is repeatedly performed, work can be performed efficiently by going backward from the end of the last column.

The structure, operation and effect of the invention according to claim 5 are as follows.

[Configuration] In the configuration of the present invention according to claim 4, when the self-propelled body makes a pivot turn, the fully automatic control unit controls the same turning direction as the U-turn immediately before the pivot turn. It is configured to operate the pivot turning control means to pivot in the direction.

[Operation] When the work is repeatedly performed over the entire work place, the work line to be the turn-back place is often located near the wall. In this case, when the aircraft makes a pivot turn at the turning point, if the aircraft turns in the reverse direction of the U-turn immediately before the pivot turn, if the aircraft turns around the rear end side of the aircraft, the front end of the aircraft turns The trouble of hitting the wall by moving the side where the wall is located with respect to the center is likely to occur. On the other hand, according to the present invention according to claim 4, the pivot turning control means turns the pivot in the same turning direction as the U turn immediately before the pivot turning for the operation by the fully automatic control unit. The front end of the fuselage moves on the opposite side to the wall with respect to the turning center, and makes a turning turn without hitting the wall.

[Effect] Even when the turning point is near the wall, the body turns without turning on the wall, so that the turning point is set as close to the wall as possible, and the floor portion remaining unworked along the wall is minimized. Work efficiently.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIGS. 1-3, one front wheel 1 for traveling and a pair of right and left rear wheels 2, 2 are constructed so that they can travel on their own.
A waxing device 10 having a wax supply nozzle 11, an applicator 12, a drying fan 13 and the like between front and rear wheels of the self-propelled body configured to be able to be manually pushed by
A power supply battery B disposed between the rear wheels, a tank mounting portion 4 formed to mount a wax tank T1 and a washing water tank T2 behind the rear wheel 2, and disposed above the tank mounting portion 4. A control panel 5 having a power switch, a battery meter, and the like, an indicator light 6 composed of a rotating light disposed at an upper end of the self-propelled body, a front wheel 1, a waxing device 10, and a battery B are formed so as to cover the upper part. The self-propelled machine body is provided with a cover 7 which can be opened and closed by swinging up and down to constitute a self-propelled waxing machine.

As shown in FIGS. 1, 3 and 4, a front wheel support 20 supporting the front wheel 1 via a front axle 1a which rotates integrally with the wheel 1 is connected to the front wheel support 20. 2
A front portion 8a of the frame 8 of the self-propelled body by a mounting shaft 21 extending upwardly and integrally rotatable from an upper end of the self-propelled body.
The mounting shaft 21 is attached so as to rotate around the vertical axis of the machine body. As a result, the front wheel 1 swings around the axis of the mounting shaft 21 with respect to the self-propelled body to be in a straight traveling direction, a left turning direction, or a right turning direction. A steering gear 22 is mounted on the upper end of the front wheel support 20 so as to rotate integrally with the mounting shaft 21, and a steering motor M 1 is rotated by being supplied with power from the battery B to the front frame portion 8 a. And a conversion mechanism 24 for converting the rotational power of the steering motor M1 from the horizontal output shaft 23 to a rotational power about the vertical axis of the fuselage. The conversion mechanism 24 outputs the rotational power of the output shaft 24a of the conversion mechanism 24. The output shaft 23 and the steering gear 22 are linked to each other via a speed reduction mechanism 25 that transmits the speed reduced by a plurality of flat gears 25a, 25b, 25c. As a result, when the steering motor M1 is driven, the steering gear 22 rotates the front wheel support 20 with the driving force of the steering motor M1 to operate the front wheel 1 in a direction in which the front wheel 1 is attached to the self-propelled body.
Operate left or right. The front wheel support 20
The traveling motor M2 is configured so as to rotate by being supplied with power from the battery B, and is mounted on a bracket 26 supported by the vehicle. The output gear 27 of the traveling motor M2 is attached to one end of the front axle 1a. The input gear 28a of the clutch 28 is linked via a transmission chain 29, and the electromagnetic clutch 28 is configured to transmit the rotational power of the input gear 28a to the front axle 1a. This allows
The front wheel 1 is driven by a traveling motor M2, and is steered by a steering motor M1 in a straight traveling direction or a leftward or rightward turning direction. Left and right rear wheels 2,2
The rear part 8b of the body frame 8 is a bracket 3
It is rotatably attached to one rear axle 2a, which is non-rotatably supported via a zero. As a result, the left and right rear wheels 2, 2 become free-wheeling wheels that rotate freely and rotate independently of each other due to friction with the floor surface, and
It is a non-steerable wheel that cannot be steered.

Accordingly, by operating the steering motor M1 to the straight traveling side and driving the traveling motor M2, the body travels straight and the steering motor M1 is driven.
By operating the vehicle motor 1 to the left or right turning side and driving the traveling motor M2, the aircraft turns left or right. And the traveling motor M2
By stopping the operation, the aircraft traveling stops.

The wax supply nozzle 11 is slidably supported by a guide rail (not shown) in the lateral direction of the machine fixed to the machine frame 8.
4 is supported. An endless chain 15a in which the nozzle support 14 is locked so as to reciprocate along the guide rail is rotatably provided inside a chain case 15 fixed to the body frame 8, and the chain case 15 The nozzle transfer motor M3 attached to the upper surface at one end is driven by the electric power from the battery B to rotate the endless chain 15a. A wax supply hose 11a having flexibility is connected to the upper end side of the wax supply nozzle 11 so that the wax supply nozzle 11 can be laterally moved by bending deformation. This wax supply hose 11
a is connected to a discharge side of a gear pump P which is configured to be driven by electric power from the battery B and is mounted on a position above the tank mounting portion 4 of the self-propelled body, and a suction side of the pump P Suction hose 1 extended from
1b is configured to be detachably connected to the wax tank T1 mounted on the tank mounting section 4. Accordingly, when the suction hose 11b is connected to the wax tank T1 mounted on the tank mounting section 4, the gear pump P takes out the liquid wax from the wax tank T1 and supplies the liquid wax to the wax supply nozzle 11. Supplies the liquid wax from the wax tank T1 onto the floor while being reciprocated in the lateral direction of the self-propelled body by the rotating power of the nozzle transfer motor M3.

As shown in FIGS. 1 and 2, the applicator 12 is positioned rearward of the wax supply nozzle 11 at the rear of the machine so as to prevent the rear wheel 2 from moving over the applied wax. It is arranged so as to be located between the wheels 2 and 2, and is supported by a vibration generator 16 having a vibration motor M4 and a weight 16b. This vibration generator 16
Is connected to the drying fan 13 by a mounting arm 16a that extends from the case of the device 16 toward the rear of the machine body and has an extended end side rotatably connected to the fan case of the drying fan 13 so as to be vertically swingable. I have. A screw-type lift device 17 and a lift motor M5 configured to operate the lift device 17 driven by electric power from the battery B are attached to a portion of the self-propelled body located above the drying fan 13, The lifting device 17 is provided with a lifting / lowering operating portion 17a.
The vibration generating device 16 is configured to be pulled up or suspended via a suspension cable 18 connected to the case. As a result, the applicator 12 is lifted with the vibration generating device 16 with respect to the self-propelled fuselage along with the vibration generating device 16 around the horizontal connecting shaft center between the mounting arm 16a and the fan case by the operating force of the lift motor M5, and As shown in FIG. 1, the user moves to a raised storage position as shown in FIG. 1, or a lowered use position as shown in FIG. When the applicator 12 is at the lowered use position, the vibration generator 16 presses the applicator 12 against the floor surface by the weight of the vibration motor M4 and the weight 16b and the weight of other device parts, and the battery The vibrating motor M4 driven by the electric power from B operates to turn the vibrating motor M4 to vibrate the applicator 12.

The drying fan 13 is located on the rear side of the fuselage with respect to the applicator 12 and includes a recirculation fan that is driven by the electric power from the battery B to generate room temperature air. The room temperature air is supplied as wax drying air to the floor on the rear side of No. 12.

Therefore, when the pump P, the nozzle transfer motor M3, the vibration motor M4, and the drying fan 13 are driven and the lift motor M5 is operated to the lower side, the waxing device 10 is in a working state and stored in the wax tank T1. The supplied liquid wax is dropped and supplied in a zigzag manner on the floor surface by the wax supply nozzle 11 at a supply width determined by the horizontal movement stroke of the wax supply nozzle 11 for reciprocating movement of the wax supply nozzle 11 and running of the machine. The wax is applied by the applicator 12 to the floor surface with an application width C determined by the length of the applicator 12 in the machine body lateral direction, applied, and dried by the air from the drying fan 13. At this time, the applicator 12 is vibrating and exerts an effective spreading action, so that the wax is uniformly applied to the floor surface so as to be easily dried. Then, the pump P is stopped and the lift motor M5 is operated to the ascending side.
The waxing device 10 is in a non-working state.

As shown in FIG. 6, the traveling motor M2, the steering motor M1, the lift motor M5, the nozzle transfer motor M3, the vibration motor M4, the pump P and the control means 36 linked to the drying fan 13 are connected to the self-propelled body. It is provided below the operation panel 5. As shown in FIG. 6, the control means 36 includes a semi-automatic switch 47a and a fully automatic switch 47b of an operation mode selection mechanism 47, a high-speed switch 48a and a low-speed switch 48b of a speed switching mechanism 48, a receiving device 32, and a mileage sensor 33. , Steering angle sensor 3
4. Applicator position sensor 40, distance setting mechanism 49, number of rows setting mechanism 50, number-of-applications setting mechanism 51, turning setting mechanism 5
2, a left turning switch 52a and a right turning switch 52b, an origin return switch 35, a wax amount sensor 39, and the like are linked. The control means 36 comprises a microcomputer, and includes a semi-automatic control unit 53a and a fully automatic control unit 53b.
, A start control means 54, a U turn control means 55, a pivot turn control means 56, and a storage section 57.

The semi-automatic switch 47a, fully automatic switch 47b, high-speed switch 48a, low-speed switch 48b,
The home position return switch 35 is configured such that the switch section is activated by touching with a fingertip, and a first display surface 58a as shown in FIG.
Switch section. When the semi-automatic switch 47a is operated, the semi-automatic control unit 53a causes the receiving device 32, the traveling distance sensor 33, the steering angle sensor 34, and the applicator position sensor 4 to operate.
The start control means 54, the U turn control means 55, and the pivot turn control means 56 are automatically operated based on the information from 0. That is, when a command such as a U turn or a pivot turn is transmitted by a remote control device 31 (hereinafter, abbreviated as a remote controller 31) as shown in FIG. 5, the semi-automatic control unit 53a operates the machine based on the command. It becomes semi-automatic operation.

When the fully automatic switch 47b is operated, the fully automatic control unit 53a converts the information from the traveling distance sensor 33, the steering angle sensor 34, the applicator position sensor 40 and the set traveling program stored in the storage unit 57. Based on this, the start control means 54, the U-turn control means 55, and the pivot turn control means 56 are automatically operated. That is, fully automatic operation is performed so that the fully automatic control unit 53b operates the aircraft based on the set traveling program.

When the high-speed switch 48a is operated, the control means 36 switches the traveling motor M2 to the high-speed side, and the aircraft travels at high speed in both the semi-automatic operation and the fully automatic operation. When the low speed switch 48b is operated, the control means 36 switches the traveling motor M2 to the low speed side, and the aircraft travels at low speed in both the semi-automatic operation and the fully automatic operation.

When the return-to-origin switch 35 is operated, the control means 36 outputs information from the return-to-origin switch 35 and a detection target rotary disk integrally rotatably mounted on the upper end of the mounting shaft 21 as shown in FIGS. A plurality of sensors 38 fixed to the front frame portion 8a so as to detect the mounting direction of the front wheel 1 based on the rotational position of 37.
, The steering motor M1 is automatically operated based on the information from the vehicle, and the mounting direction of the front wheel 1 is set to the straight traveling direction, and the mounting direction is set as a reference direction for control. At the same time, the control means 36 detects the amount of wax in the tank based on the weight of the wax tank T1 based on information from the wax amount sensor 39 provided in the tank mounting section 4 so as to detect the amount of wax in the tank.
Judge whether or not 1 contains more than the set amount of wax,
If it is determined that the amount of wax in the tank is less than the set amount,
Both semi-automatic operation and fully automatic operation are disabled, and if it is determined that the amount of wax in the tank is equal to or greater than the set amount, the operation is enabled. That is, the wax tank T1
, The front wheels 1 are in a semi-automatic and fully automatic automatic driving standby state in which the front wheels 1 are directed straight. At this time, the origin lamp 59 displayed on the first display surface 58a is lit and displayed. If the amount of wax in the wax tank T1 is less than the set amount, a wax-deficient lamp (not shown) provided on the operation panel 5 is lit and displayed even when the amount becomes smaller than the set amount during the operation. And give an alarm. If the wax amount becomes smaller than the set amount during the work, the control means 36 automatically performs the stop control, and the traveling of the aircraft automatically stops.

As shown in FIG. 4, the traveling distance sensor 33 is a rotation sensor which is attached to the lateral side surface of the front wheel support 20 via a bracket 33a and has a rotation operation unit linked to the front axle 1a. The driving speed is detected and the detection result is output to the control means 36 as an electric signal, and the traveling distance of the body is detected based on the driving speed of the front wheels 1 and the detection result is converted to the control means 36 as an electric signal. Output to

As shown in FIG. 4, the steering angle sensor 34 is a rotation sensor which is mounted on the upper surface of the front frame portion 8a via a bracket 34a and which has a rotation operation unit linked to the mounting shaft 21. The steering direction and the steering angle of the front wheel 1 from the straight running direction are detected based on the rotation angle of the front wheel portion 21 with respect to the front frame portion 8a, and the detection result is output to the control means 36 as an electric signal.

The applicator position sensor 40 is attached to the lift device 17, and the lifting operation unit 17 of the lift device 17 is provided.
Switching of the applicator 12 between the lower use position and the upper storage position is detected based on the position a, and the detection result is output to the control means 36 as an electric signal.

The distance setting mechanism 49, the number-of-rows setting mechanism 50, the number-of-applications setting mechanism 51, and the left turning switch 52a and the right turning switch 52b of the turning setting mechanism 52 set a program for causing the machine to run by fully automatic operation. The set traveling program is input to the control means 36 and stored. That is, the distance setting mechanism 49, the number-of-rows setting mechanism 50, and the number-of-applications setting mechanism 51 include the number switch unit 60 on the second display surface 58b as shown in FIG. A mode switch unit 61, a cursor 62, and a distance setting mechanism 49
Is the distance traveled straight from the application start point X1 of the work target area shown in FIGS. 9 and 11 to the first turning point X, and the turning point X on one end and the turning point X on the other end of the work target area. , A distance that is also a linear distance of one work line between the two is set, and the set distance L6 is input to the fully automatic control unit 53b and stored in the storage unit 57. The column number setting mechanism 50 determines the number N of the work columns existing in the work target range.
R is set, and the set number of columns NR is input to the fully automatic control unit 53b and stored in the storage unit 57. The number-of-applications setting mechanism 51 sets the number of times NK to apply wax to each work column existing in the work target range, and inputs the set number of times NK to the fully automatic control unit 53b and stores it in the storage unit 57. The set number of times NK is set to 1 when waxing the work target area only once, and the set number of times NK is set to perform waxing once again for each work row that has been waxed once. = 2, a numerical value corresponding to the number of times the wax is to be applied over the entire work target range is set. By operating the operation mode switch section 61, the cursor 62 is displayed on the first display section 63a, and a predetermined number switch of the number switch section 60 is operated to set the set distance L6 to be set on the first display section 63a. By displaying a numerical value, setting and input of the set distance L6 can be performed. The cursor 62 is displayed on the second display section 63b, and a predetermined number switch of the number switch section 60 is operated to display the numerical value of the set column number NR to be set on the second display section 63b. The number of times NR can be set and input. The cursor 62 moves to the third display section 63c.
Is displayed, and a predetermined number switch of the number switch unit 60 is operated to display the numerical value of the set number NK to be set on the third display unit 63c, so that the set number NK can be set and input. . The left turning switch 52a and the right turning switch 52b of the turning setting mechanism 52 are switch portions of the first display surface 58a displayed by the touch panel, and the machine turns from the application start point X1 to the first turning point X.
The U-turn control unit 55 sets the U-turn direction to be turned to the left or right when the vehicle reaches the position, and inputs the set initial U-turn direction to the fully automatic control unit 53b and stores it in the storage unit 57. Things. Right turn switch 5
By touching 2a with a fingertip, a right-side setting first U-turning direction can be set, and a left-side setting first U-turning direction can be set and input by touching the left turning switch 52b with a fingertip.

The remote controller 31 is of an infrared type so as to transmit a command based on an infrared signal as an example of a wireless signal. As shown in FIG. 5, a plurality of operation buttons 31a to 31g are provided, and when these operation buttons 31a to 31g are operated, each of the operation buttons 31a to 31g is operated.
The command corresponding to ~ 31g is transmitted. That is, a start command is transmitted when one of the operation buttons 31a to 31e is operated. By operating the operation button 31b, a leftward U-turn command is transmitted, and by operating the operation button 31c, a rightward U-turn command is transmitted. Operation button 3
If 1f is operated, a left turning pivot command is transmitted, and if the operation button 31g is operated, a right turning pivot command is transmitted. By operating the operation button 31d, a leftward course correction command is transmitted, and by operating the operation button 31e, a rightward course correction command is transmitted. When the remote controller 31 transmits the signals of the various commands to the receiving device 32, the receiving device 32 converts the received signals of the various commands into electric signals corresponding to the signals and outputs the signals to the control unit 36.

The semi-automatic control unit 53a inputs information from the receiving device 32 and operates automatically based on the input information and the control flow shown in FIG. That is, it is determined whether or not there is a start command from the receiving device 32. If it is determined that there is a start command, an operation signal is output to the start control means 54 to control the start operation of the body. After the end of the start-up operation control, the vehicle is driven to continue the start-up operation control, that is, to carry out the straight traveling with the hacking device 10 in the working state. It is determined whether or not there is a U-turn command from the receiving device 32.
4 to output an operation signal to control the U-turn of the aircraft.
In this case, the semi-automatic control unit 53a makes a U-turn in the turning direction corresponding to the turning direction input from the receiving device 32. It is determined whether or not there is a pivot turn command from the receiving device 32, and when it is determined that there is a pivot turn command, an operation signal is output to the pivot turn control means 56 to control the fuselage pivot of the machine. In this case, the semi-automatic control unit 53a makes the pivot turn in the turning direction corresponding to the turning direction input from the receiving device 32. It is determined whether or not there is a work end command from the receiving device 32. If it is determined that there is a work end command, the work is stopped. That is, the running of the aircraft is stopped, and the waxing device 10 is operated to a non-working state.

The fully automatic control unit 53b inputs information from the receiving device 32, the traveling distance sensor 33, and the storage unit 57, and operates automatically based on the input information and the control flow shown in FIG. That is, it is determined whether or not there is a start command from the receiving device 32.
An operation signal is output to the start control means 54 to control the start operation of the body. After the end of the start operation control, the number N of times the U-turn control of the airframe is executed by the U-turn control means 55 is performed.
U is measured, the storage of the number of U-turn executions NU stored in the storage unit 57 is reset to zero, and a new U-turn execution number NU is stored again. At the same time, the vehicle continues running after the start-up operation control, that is, the vehicle travels straight with the wacking device 10 in the working state. It is determined whether or not the travel distance detected by the travel distance sensor 33 has reached the set travel distance L6 set in the set travel program. If it is determined that the travel distance has not been reached, straight traveling is continued. If it is determined that the number has reached, the number of U-turn executions NU stored in the storage unit 57 is compared with a value obtained by subtracting 1 from the set number of rows NR set in the set traveling program, and NU is set to NR-1. It is determined whether or not has been reached. When it is determined that the travel distance has not reached, the U-turn direction of the U-turn control by the U-turn control unit 55 performed before the travel distance detected by the travel distance sensor 33 reaches the set travel distance L6, and the set travel program are set. The U-turn direction to be executed this time is determined based on the set initial turn direction. That is, if the U-turn control has not been executed yet at the stage where the end X of the first work sequence G1 has been reached, the same direction as the set initial turn direction is determined as the U-turn direction to be executed this time, and When the U-turn control is being executed, a turn direction opposite to the previously-executed U-turn direction is determined as the U-turn direction to be executed this time.
Then, in the determined U turning direction, the U turning control means 55
Execute turning control. When this U-turn control is completed,
The number NU of U-turns executed up to this time, including the current U-turn, is stored in the storage unit 57, and the traveling device 10 is caused to perform straight running with the hacking device 10 in the working state. U ahead
In the step of determining whether or not the number of rotation executions NU has reached a value obtained by subtracting 1 from the set number of rows NR, if it is determined that the number has been reached, the set application number NK set in the set traveling program is determined. It is determined whether it is greater than one. When it is determined that the set number of application times NK is not larger than 1,
Stop work. That is, the running of the aircraft is stopped, and the waxing device 10 is operated to a non-working state. If it is determined that the set application frequency NK is greater than 1,
The number NS of times that the pivot turning control of the machine is executed by the pivot turning control means 56 is measured and stored in the storage unit 57, and the value obtained by subtracting 1 from the set application number NK. Are compared, it is determined whether or not NS = NK-1, and if it is determined that NS = NK-1, the work is stopped. That is, the running of the aircraft is stopped, and the waxing device 10 is operated to a non-working state. NS = NK
If it is determined that it is not -1, the pivot control means 5
6 is executed. In this case, the traveling distance detected by the traveling distance sensor 33 is equal to the set traveling distance L6.
Is turned in the same turning direction as the U turning direction of the U turning control by the U turning control means 55 performed before the rotation of the vehicle. When this pivot turn control is completed, including this pivot turn,
The storage unit 57 stores the number NS of the pivot turns executed up to this time. Then, the storage unit 57 resets the storage of the number of U-turn executions NU to zero, stores a new number of U-turn executions NU again, and performs straight running with the wacker device 10 in the working state. Let it do.

The start control means 54 includes a semi-automatic control unit 53a.
Alternatively, when a signal for performing start control is input from the fully automatic control unit 53b, the travel distance sensor 33, the steering angle sensor 34, and the applicator position sensor 40 receive signals from the travel distance sensor 33 so that the aircraft performs a start operation as shown in FIG. Automatically operates based on this information and the control flow shown in FIG. That is, it is determined whether or not the aircraft is in a state where it can be automatically driven (standby for automatic driving). If it is determined that it is in a state where it can be driven automatically, the lift motor M5 is operated to descend and the pump P and the nozzle transfer motor are driven. M3 and the vibration motor M4 are driven to drive the waxing device 10 into a coating preparation state.
When the pump P is driven for the set time and the preparation work is completed, the pump P and the nozzle transfer motor M3 are stopped, and then the travel motor M2 is driven to start straight traveling. When the vehicle starts running, the set distance S for starting from the start location ST based on the information from the running distance sensor 33.
L, it is determined that the travel distance has reached the starting set distance SL, and the travel motor is operated while the lift motor M5 is operated on the descending side and the vibration motor M4 is operated. M2 is stopped to temporarily stop the machine running. The set time for driving the pump is set to the time required for the wax supply nozzle 11 to supply a necessary amount of wax to be absorbed by the applicator 12, and the start set distance SL is set to the wax supply nozzle 11
And a distance equal to or slightly longer than the distance D from the applicator 12 at the lower use position. In other words, at the start of the work, the applicator 12 is in a dry state, and if the running of the machine is continued as it is, the wax supply nozzle 11
The wax from the water is absorbed by the applicator 12 so that the floor area can be widened, such as when the wax is not applied or when the wax is insufficient, so that the wax is sufficiently absorbed by the applicator 12 to prevent this. . When the stop time reaches a set stop time set in advance as necessary for absorbing the wax of the applicator 12, the traveling motor M2,
The pump P, the nozzle transfer motor M3, and the drying fan 13 are driven and operated, and the waxing device 10 is put into a working state and travels straight. The wax application is started by setting the location X1 that has traveled the start set distance SL from the start location ST as the actual wax application start location in the work target range.

The U-turn control means 55 includes a semi-automatic control unit 53
a or a signal to perform the U-turn control from the fully-automatic control unit 53b, and information from the semi-automatic control unit 53a or the fully-automatic control unit 53b so that the aircraft performs the U-turn travel as shown in FIG. The operation is automatically performed based on information from the traveling distance sensor 33, the steering angle sensor 34, and the applicator position sensor 40, and the control flow shown in FIGS. That is, when it is determined that a U-turn command has been issued based on information from the semi-automatic control unit 53a or the fully automatic control unit 53b, the pump P and the nozzle transfer motor M3 are stopped, and the lift motor M5 is operated on the descending side. In addition, while the vibration motor M4 and the drying fan 13 are driven, the traveling motor M2 is also driven, and the vehicle travels straight. After this, the traveling distance sensor 33
It is determined whether or not the vehicle has traveled straight through the first set distance L1 from the turn command receiving location X based on the information from the vehicle. When the travel distance from the turn command receiving location X reaches the first set distance L1, the travel motor M2 Then, the vibration motor M4 is stopped and the lift motor M5 is operated upward, so that the waxing device 10 is switched to the non-working state while the body is temporarily stopped. As the first set distance L1, a distance equal to the distance D between the wax supply nozzle 11 and the applicator 12 at the lower use position is set. That is, since the wax supply nozzle 11 supplies the wax until the timing at which the U-turn command is received, the wax supplied to the turning-command receiving location X is applied by the applicator 12 even after receiving the swivel command. After finishing, the application tool 12 is switched from the lowered use position to the raised storage position, and the waxing device 10 is switched to a non-working state for turning the body.
As the lift motor M5 rotates, it is determined based on information from the applicator position sensor 40 whether the applicator 12 has reached the raised storage position. When it is determined that the applicator 12 has reached the ascending storage position, the traveling motor M2 is driven and operated while the steering motor M1 is being operated to the straight traveling side, so that the aircraft is temporarily moved straight from the stop position Y. With this travel, it is determined whether or not the aircraft has once traveled the second set distance L2 from the stop location Y based on information from the travel distance sensor 33, and this travel distance reaches the second set distance L2. If it is determined that the vehicle has stopped, the traveling motor M2 and the drying fan 13 are stopped, and the steering motor M1 is operated to the turning side. Steer to the right or to the right. As the steering motor M1 rotates, the steering angle sensor 3
4 to determine whether or not the steering angle of the front wheels 1 has reached the set steering angle A. If it is determined that the steering angle has reached the set steering angle A, the driving motor M2 is driven and the front wheel The aircraft is caused to turn while maintaining 1 at the turning direction at the set steering angle A. In accordance with this turning travel, it is determined whether or not the aircraft has traveled a set turning travel distance L3 from the turning travel start position Z based on information from the travel distance sensor 33, and the turning travel distance is set to the set turning travel distance L3. Is determined, the traveling motor M2 is stopped, the steering motor M1 is moved straight ahead, the lift motor M5 is moved down, and the applicator 1 is temporarily stopped.
2 and the returning operation of the front wheels 1 to the straight traveling side. With the rotation of the steering motor M1 and the lift motor M5, it is determined whether or not the front wheels 1 have turned straight ahead based on information from the steering angle sensor 34.
The applicator 1 based on the information from the applicator position sensor 40
2 is determined to be in the lowered use position, and when it is determined that the front wheel 1 is in the straight running direction and the applicator 12 is in the lowered use position, the pump P, the nozzle transfer motor M3, the vibration motor M4, and the drying fan 13 are determined. Then, the traveling motor M2 is driven to drive the waxing apparatus 10 into a working state and travel straight. As the second set distance L2, the set turning travel distance L3, and the set steering angle A, the wax supply nozzle 11 is used when the aircraft reaches a stop location R after turning.
Is a virtual straight line E that passes through the location where is located and the location where the washer supply nozzle 11 was located when the U-turn command was previously received.
Will be orthogonal to the straight running course, and
The distance or the angle is set such that when the machine body travels straight from the stop point R after the turning travel, the one end side of the applicator 12 enters the one end side of the application width Cb. Thereby, the turning command receiving location X becomes the work end X of the work sequence. Then, the U-turn control means 54 drives the front wheel 1 to the forward side while operating the steering wheel in a slightly lateral direction rather than in the straight ahead direction, thereby propelling the front wheel 1 and the floor surfaces of the left and right rear wheels 2, 2. The right and left rear wheels 2, 2 are rotated with a rotational speed difference in directions opposite to each other for contact with each other, so that the aircraft makes a U-shaped turn as shown by broken lines in FIGS. 9 and 11. Perform control. In addition, after the body turns, the applicator 12 after the turn is aligned with a work line adjacent to the work line before the turn in a state in which the orientation is changed by 180 degrees with respect to before the turn, as shown in FIG. In the state, the application lateral width Ca by the application tool 12 after the rotation is further increased.
The U-turn of the machine in such a state that one end side of the body overlaps with the coating width Cb which has been subjected to the coating process and has a width H, so that no coating leakage occurs between the work line before turning and the work line after turning. Perform control.

The base turning control means 56 includes a semi-automatic control unit 5
When the signal for performing the pivot turn control is input from the 3a or the fully automatic control unit 53b, the information from the semi-automatic control unit 53a or the fully automatic control unit 53b is set so that the aircraft performs the pivot turn as shown in FIG. And mileage sensor 3
3. Automatically operates based on information from the steering angle sensor 34 and the applicator position sensor 40 and the control flow shown in FIGS. 20 and 21. That is, the semi-automatic control unit 53
a, or when it is determined that there is a pivot turn command based on information from the fully automatic control unit 53b, the pump P and the nozzle transfer motor M3 are stopped, the lift motor M5 is operated on the descending side, and While the motor M4 and the drying fan 13 are driven, the traveling motor M2 is also driven and the vehicle travels straight. Thereafter, based on information from the traveling distance sensor 33, it is determined whether or not the vehicle has traveled straight through the fourth set distance L4 from the turning command receiving location X, and the traveling distance from the turning command receiving location X is determined by the fourth setting distance L4. Is reached, the traveling motor M2 and the vibration motor M4 are stopped, and the lift motor M5 is operated upward, so that the waxing device 10 is switched to the non-working state while the body is temporarily stopped. As the fourth set distance L4, a distance equal to the distance D between the wax supply nozzle 11 and the applicator 12 at the lower use position is set. In other words, since the wax supply nozzle 11 supplies the wax until the timing of receiving the pivot turning command, the wax supplied to the turning command receiving point X receives the wax even after receiving the turning command.
Coating process, and after this process is completed, the coating tool 1
2 is switched from the lowered use position to the raised storage position, and the waxing device 10 is switched to a non-working state for turning the body. As the lift motor M5 rotates, it is determined based on information from the applicator position sensor 40 whether the applicator 12 has reached the raised storage position. When it is determined that the applicator 12 is at the raised storage position, the traveling motor M1 is operated while the steering motor M1 is being operated in the straight traveling side.
2 is operated to drive the aircraft straight forward from the stop position Y. With this travel, it is determined whether or not the aircraft has once traveled the fifth set distance L5 from the stop location Y based on information from the travel distance sensor 33, and this travel distance reaches the fifth set distance L5. When it is determined that the
2 and the drying fan 13 are stopped, the steering motor M1 is turned to the turning side, and the front wheel 1 is turned from the straight ahead direction to the left side or the right side corresponding to the pivot turn command while the body is temporarily stopped. Operation.
As the steering motor M1 rotates, it is determined based on information from the steering angle sensor 34 whether or not the steering angle of the front wheel 1 has reached a predetermined steering direction. When it is determined that the steering direction is about 90 degrees sideways, the traveling motor M2 is driven to operate, and the aircraft is caused to turn while maintaining the front wheels 1 in the turning direction at the set steering angle (about 90 degrees). In accordance with the turning travel, it is determined whether the driving speed of the front wheel 1 has reached the set driving speed N based on the information from the running distance sensor 33, and the front wheel driving speed is set to the set driving speed N When it is determined that
The traveling motor M2 is stopped, the steering motor M1 is moved straight ahead, the lift motor M5 is moved down, and the applicator 12 is moved down while the body is temporarily stopped, and the front wheels 1 are returned to the straight side. Perform the operation. As the steering motor M1 and the lift motor M5 rotate, whether or not the front wheel 1 has turned straight ahead is determined based on information from the steering angle sensor 34 based on information from the applicator position sensor 40. It is determined whether or not the applicator 12 has reached the descending use position. If it is determined that the front wheel 1 is in the straight running direction and the applicator 12 has reached the descending use position, the pump P, the nozzle transfer motor M3, and the vibration motor M
4. Drive the drying fan 13 and the traveling motor M2 to drive the waxing device 10 into a working state and travel straight. As the fifth set distance L5 and the set drive rotation speed N, the position where the wax supply nozzle 11 is located after the fuselage turns and the position where the wask supply nozzle 11 is located when the base turn command is received first. When the position is the same as or close to it, and the aircraft travels straight from the stop point after the pivot turn, at this time, the application width Ca by the applicator 12 and the application width Cb before turning are the full width. The distance or the number of rotations of the drive that overlaps in a state that is close to or over the range is set. As a result, the turning command receiving location X becomes the work end location X of the work sequence and also becomes the start end X of the work repetition. And the pivot control means 5
6 drives the front wheel 1 forward while operating the front wheel 1 in a steering state in which the front wheel 1 is turned sideways by about 90 degrees from the straight running direction, thereby propelling the front wheel 1 and contacting the floor surfaces of the left and right rear wheels 2 and 2 with each other. The left and right rear wheels 2, 2 are rotated in opposite directions to each other, so that the aircraft turns around an intermediate point Q between the left and right rear wheels 2, 2 as shown in FIG. I do.
Further, after the body turns, the orientation is changed by 180 degrees with respect to the state before the turn, and the applicator 12 after the turn is aligned so as to match the work line before the turn as shown in FIG. In this state, the base turning control of the aircraft is performed.

The machine is operated semi-automatically and the waxing device 10
When the receiver 32 receives the course correction command while the vehicle is traveling straight with the operation state, the control means 36 automatically operates based on the control flow shown in FIG.

That is, when it is determined that there is a course correction command based on the information from the receiving device 32, the steering motor M1 is driven leftward or rightward corresponding to the turning command, and the front wheel 1 is turned leftward or rightward. Operate the steering. In this case, the operation button 31d or 31e
Is operated, the steering operation of the steering motor M1 to the left or right is performed for a set time, and then the steering motor M1 is automatically operated to the straight ahead side, and the front wheel 1 is returned to the straight ahead direction. .

That is, the waxing operation is performed as shown in FIG. That is, in both cases of the semi-automatic operation and the fully automatic operation, the machine is installed at the start point ST on the work target floor, the origin return switch 35 is operated, and the remote controller 31 is operated to transmit a start command. . Then, based on a signal from the remote controller 31, the semi-automatic control unit 53a or the fully-automatic control unit 53b automatically outputs an operation signal to the start control unit 54 to perform start control, thereby starting operation. That is, at the start point ST, the applicator 12 is set to the descending use position to supply the wax, and when the application preparation work is completed, the vehicle travels straight, and travels the start distance SL to reach the application start point X1.
The application tool 12 is automatically stopped once and the wax is permeated into the applicator 12. When the applicator 12 is in a sufficiently wax-absorbed state, the straight running is automatically started, and the application of the wax having the application width C is performed. Thereafter, in the case of semi-automatic driving, driving is performed by the remote controller 31 as follows.

That is, the aircraft that has started the application start point X1 reaches the end of the first working row G1 having the application start point X1 on the side opposite to the application start point X1, and the wax supply nozzle 11 is moved to the first position. When reaching the location X where the turning of the aircraft is to be performed at the end of the operation of the work row G1, the remote control 31 is operated, and a rightward or leftward U-turn command corresponding to the direction in which the aircraft is to be turned (in the case shown in FIG. 9, A rightward U-turn command is transmitted. Then, remote control 3
The semi-automatic control unit 53a automatically outputs an operation signal to the U-turn control means 55 based on the signal from 1 to perform the U-turn control. Accordingly, the machine automatically switches the waxing device 10 to the non-working state and makes a U-turn, and when the turning is completed, the aircraft automatically switches the waxing device 10 to the working state and travels straight, and the coating after turning is performed. The application process of the second work column G2 adjacent to the first work column G1 is performed in a state where the width Ca overlaps with the applied range Cb in which the coating process has been performed before turning and overlaps with the width H. When the machine arrives at the point X where the machine body should be turned at the end of the work in the second work row G2, the remote control 31 is moved in the same manner as when turning from the first work row G1 to the second work row G2. The semi-automatic control unit transmits the U-turn command (the U-turn command in the left direction in the case of FIG. 9) of the turning direction opposite to the turning direction from the first work column G1 to the second work column G2 by operating. 53a executes the U-turn control by the U-turn control means 55, and
From the third work column G2 to the third work column G3 adjacent thereto
The application process of the third work column G3 is performed by turning. That is, each time the wax supply nozzle 11 of the machine reaches the work end X of each work row, the remote control 31 is operated to transmit a U-turn command in a predetermined turning direction. By automatically turning the aircraft from the work line before turning to the work line adjacent to it and automatically running the work line after turning,
The application work is performed by reciprocating the entire work target floor surface. If the application process needs to be performed again in a part of the work sequence, when the machine reaches the end X of the work sequence to be reprocessed, the remote controller 31 is operated to transmit a pivot point command. Then, based on a signal from the remote controller 31, the semi-automatic control unit 53a automatically outputs an operation signal to the base turning control means 56 to perform base turning control.
As a result, the aircraft automatically switches the waxing device 10 to the non-working state and makes a pivot turn, and when the turn is completed, the aircraft automatically switches the waxing device 10 to the working state and travels straight, The application line is traveled again in the traveling direction opposite to that before the turn, and the coating process is performed again. Further, when it is necessary to apply the entirety of the work floor to the entire work surface, when the machine reaches the end XE of the final work line GE located on the opposite side of the first work line G1 on the work target floor surface, 31 to transmit a pivot turn command, causing the semi-automatic control unit 53a to execute pivot turn control by the pivot turn control means 56, and to move the machine from the last work row GE to the end of the last work row GE with all previous work rows. Is run in the opposite running direction to perform the re-coating process for each work row. At this time, in the case shown in FIG. 9, the pivot point is set to the right turning direction and the aircraft is turned while not hitting the wall K. However, the aircraft travels in the final work line GE before the pivot turning. From the relationship between the turning direction and the wall K, as the turning direction of the pivot turn, a direction that can avoid the collision between the aircraft and the wall K is selected. If the vehicle is out of the predetermined traveling course due to inclination or distortion of the floor surface while the vehicle is traveling, the remote controller 31 is operated to transmit a course correction command. Then, the aircraft changes the traveling direction and corrects the traveling course to a predetermined traveling scheduled course.

On the other hand, in the case of automatic driving, and FIG.
In the case of the work form shown in (1), a rightward U-turn direction is set as the set initial U-turn direction.
The aircraft that has started the application start location X1
Reaches the end opposite to the coating start point X1 of the first work row G1 having the
, The fully automatic control unit 53b automatically outputs an operation signal to the U-turn control means 55 to perform the U-turn control in the right turning direction. As a result, the aircraft automatically switches the waxing device 10 to the non-working state and makes a U-turn traveling in the right turning direction. When the U-turn is completed, the aircraft automatically switches the waxing device 10 to the working state and travels straight. Then, the first working row G in a state where the coating width Ca after turning overlaps the coated area Cb where the coating process was performed before turning and overlaps with the width H.
The coating process of the second work row G2 adjacent to No. 1 is performed. Then, when reaching the work end X of the second work sequence G2, the fully automatic control unit 53b automatically switches the U-turn control means 55.
To perform a U-turn control in the left turning direction opposite to the direction of the U-turn from the first work column G1 to the second work column G2. In this way, each time the aircraft reaches the end X of each work line, the machine changes from the work line processed by the U turn control of the U turn control means 55 based on the command from the fully automatic control unit 53b to the work line adjacent thereto. The U-turn is automatically performed, and the application processing is performed on the number of work rows equal to the set number of rows NR. When the machine reaches the end XE of the final work row GE determined by the setting of the set row number NR, the set number of application times NK =
When it is 1, the traveling is automatically stopped and the work is stopped by the automatic control by the fully automatic control unit 53b. If the set application frequency NK is 2 or more, the fully automatic control unit 53
b outputs an operation signal to the base turning control means 56 to perform base turning control. As a result, the aircraft was moved to the final work row GE
Automatically turns on the base, and the end XE of the last work row GE
Is set as a set turning point, and from the turning point XE, all the work rows of the set number of rows NR are automatically run in the running direction opposite to the previous one, and the coating process is repeated. At the time of the pivot turn, the aircraft automatically sets the pivot direction in the U-turn immediately before the pivot turn, that is, the last work row GE, by the setting of the pivot turn direction by the fully automatic control unit 53b. From the work line, and turns so as not to hit the wall K even if the final work line GE is approaching the wall K. When the machine that repeats the coating process reaches the coating start point X1 of the first work column G1, if the set number of coating times NK = 2, the machine is automatically controlled by the fully automatic control unit 53b. Stop running and stop work. Set application frequency NK is 3
In the case described above, the automatic control by the fully automatic control unit 53b allows the U-turn from the second work column G2 to the first work column G1 in the same manner as the case of first turning in the final work column GE. The base turns in the same turning direction as the turning direction, the application start position X1 of the first work line G1 is set as a set turning point, and all the work lines of the number of set lines NR from the turning point X1 run the same as the last two times. It automatically runs in the direction and repeats the coating process. Then, the machine performs the coating process for all the work rows of the set number of rows NR by the set number of application times NK, and the end XE of the final work row GE at the end of the final work row by the set number of application times NK or When the application start position X1 of the first work column G1 is reached, the running is automatically stopped and the work is stopped by the automatic control by the fully automatic control unit 53b.

When the receiving device 32 receives the start command and the aircraft starts operating under the control of the semi-automatic control unit 53a, the control means 36 automatically operates based on the control flow shown in FIG.

That is, when the aircraft starts the starting operation,
A timer is set to measure the elapsed time from the start of semi-automatic operation. Then, it is determined whether or not there has been a command to extend the semi-automatic driving time based on the information from the receiving device 32 and whether or not there has been a control command to correct the traveling course, to make a U-turn, or to make a pivot turn. In any of the cases where there is a control command, the timer is reset so that the time when this command is issued is changed to the measurement start time and the elapsed time is measured again. If it is determined that neither the extension command nor the control command is present, it is determined whether the measurement time from the start of the semi-automatic operation has reached the set limit time, and if it is determined that the set limit time has been reached, After activating the alarm buzzer 41 provided for the self-propelled body for 10 seconds, the traveling motor M2 is stopped when two minutes have elapsed from the start of the semi-automatic operation.

Thus, if the start command is transmitted from the remote controller 31 and the semi-automatic operation is started, and if two minutes have elapsed without performing any control of the extension of the semi-automatic operation time, the correction of the traveling course, and the turning, the aircraft travels. Stop automatically. 10 seconds before the stop, the alarm buzzer 41 is activated to warn that the running of the aircraft is stopped. However, when the semi-automatic operation is extended for 2 minutes after the start of the semi-automatic operation, the timer is reset, and the semi-automatic operation time is extended so that the automatic stop does not occur for 2 minutes after the extension operation is performed. be able to. In addition, even if a correction operation of the traveling course is performed or a turning operation is performed without performing the extension operation, the semi-automatic driving time is extended as in the case where the extension operation is performed. Therefore, if the control associated with the work such as correcting the course or turning within 2 minutes from the start of the semi-automatic operation is performed, the time during which the semi-automatic operation can be performed automatically without special extension operation is automatically performed. It is extended and the work can be continued. In addition, since the automatic stop function is provided, even when the airframe moves out of a range where the remote controller 31 can be operated, the stop function operates to stop automatically, thereby avoiding runaway.

The contact sensor 42 shown in FIG. 6 detects when the bumper 43 located on the peripheral portion on the front end side of the fuselage contacts an obstacle such as a wall surface, and controls the control means 36 to stop the travel of the fuselage. It is something to make. The emergency switch 44 is provided on the operation panel 5 and controls the control means 36 to perform emergency stop control so that the machine running and the waxing device 10 instantaneously stops. Cleaning switch 46 is pump P
And used for cleaning the wax supply nozzle 11 and the like. That is, the suction hose 11b is detached from the wax tank T1, connected to the washing water tank T2, and the washing switch 46 is operated. Then, by the control operation of the control means 36 based on the information from the cleaning switch 46, the pump P operates for 60 seconds from the time of operating the switch, takes out the cleaning water from the cleaning water tank T2, and supplies it to the wax supply nozzle 11. The indicator light 6 is turned on when the aircraft is in a state in which automatic operation can be performed by operating the home return switch 35, and remains lit during the automatic operation of the aircraft to indicate the state. is there.

[0055]

As shown in FIG. 10, the distance between the front wheel 1 and the rear wheel 2 is W, the distance between the right and left rear wheels 2 and 2 is T, and the distance between the wax supply nozzle 11 and the applicator 12 at the lower use position. Assuming that the interval is D and the width of the applicator 12 is F, the values of W, T, D, and F, and the values of the second set distance L2, the set turning travel distance L3, and the set steering angle A are set as follows. By setting as follows, the overlap width H of the coating width Ca after turning and the coating width Cb before turning is about 5 cm.
Front and rear wheel spacing W = 77cm, rear wheel spacing T = 66cm, nozzle applicator spacing D = 8cm, applicator width F = 60c
m, second set distance L2 = 80 cm, set turning steering distance L3 = 252 cm, set steering angle A = 67 degrees

[Alternative Embodiment] In addition to a waxing machine, a work machine equipped with a cleaning device for cleaning the floor surface by suction, a cleaning device for cleaning the floor surface, or a polishing device for polishing the floor surface may be used. The present invention is applicable. In addition, the present invention can be applied to a working machine that targets a floor surface made of various materials, such as a floor surface made of wood, stone, or resin, and a floor surface made of concrete. Therefore, the waxing device, the cleaning device, the cleaning device, and the polishing device are collectively referred to as working devices acting on the floor surface, and the working devices including these working devices are collectively referred to as floor working devices. .

[Brief description of the drawings]

FIG. 1 is a schematic side view of the entire waxing machine in a non-working state of the waxing device.

FIG. 2 is a schematic side view of the entire waxing machine in a working state of the waxing device.

FIG. 3 is a schematic plan view of the entire waxing machine.

FIG. 4 is a sectional view of a front wheel mounting portion.

FIG. 5 is a plan view of a remote control device.

FIG. 6 is a block diagram of a control system.

FIG. 7 is an explanatory diagram of an operation mode selection mechanism, a speed switching mechanism, and a turning setting mechanism.

FIG. 8 is an explanatory diagram of a distance setting mechanism, a number-of-rows setting mechanism, and a number-of-applications setting mechanism.

FIG. 9 is an explanatory view of a work procedure.

FIG. 10 is an explanatory diagram of a machine specification.

FIG. 11 is an explanatory diagram of start and U-turn control.

FIG. 12 is an explanatory diagram of pivot turn control.

FIG. 13 is an explanatory diagram of a waxing state after the U-turn.

FIG. 14 is an explanatory view of a waxing state after a pivot turn.

FIG. 15 is a flowchart of semi-automatic control.

FIG. 16 is a flowchart of fully automatic control.

FIG. 17 is a flowchart of start control.

FIG. 18 is a flowchart of U-turn control.

FIG. 19 is a flowchart of U-turn control.

FIG. 20 is a flowchart of pivot turn control;

FIG. 21 is a flowchart of pivot turn control;

FIG. 22 is a flowchart of a course correction control.

FIG. 23 is a flowchart of semi-automatic operation extension control.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Front wheel 2 Rear wheel 10 Work device 31 Control device 53 Travel control means 53a Semi-automatic control part 53b Fully automatic control part 55 U turn control means 56 Bicycle turn control means X1, XE Set return point

Claims (5)

[Claims] 1. A work machine for a floor provided with a working device acting on a floor surface in a self-propelled body, wherein the self-propelled body is automatically turned in a U-shape to perform work before turning. U-turn control means for positioning the work line adjacent to the row, U-turn control means for automatically turning the self-propelled body to the pivot, and aligning the working device with the work row before the turn, Traveling control for automatically operating the U-turn control means and the pivot turn control means based on the U-turn control by the U-turn control means and the pivot turn by the pivot turn control means of the self-propelled body. Floor work machine comprising: 2. The self-propelled body is configured to run by one steerable and drivable front wheel and a pair of left and right idle free non-steerable rear wheels, and 2. The floor working machine according to claim 1, wherein the control means is configured to drive the front wheel while turning the front wheel sideways so as to cause the self-propelled body to make a pivot turn around an intermediate point between the left and right rear wheels. . 3. The traveling control means includes a semi-automatic control unit, and the semi-automatic control unit operates the U-turn control means in response to input of a U-turn command from a control device to control the self-propelled body to generate a U-turn. 3. The self-propelled body is configured to perform a pivot turn by operating a pivot turn control means in response to input of a pivot turn command from the control device. 4. Work machine for floor. 4. The traveling control means includes a fully automatic control section, and the fully automatic control section automatically operates the U-turn control section and the pivot turn control section based on a set traveling program. The self-propelled body is configured to allow the self-propelled body to perform a work traveling in which the self-propelled body travels while making a U-turn at the end of the work area, and the self-propelled body is transmitted at the set return point depending on a set traveling program. The floor working machine according to any one of claims 1 to 3, wherein the self-propelled body is configured to perform the work traveling in reverse of the ground turning. 5. The base turning control according to claim 1, wherein when the self-propelled body makes a base turning, the base turning control is performed so as to make a base turning in the same turning direction as a turning direction immediately before the base turning. 5. The floor working machine according to claim 4, wherein the operating means is configured to be operated.