JP7005828B2 - Self-propelled work equipment - Google Patents

Description

The present invention relates to a self-propelled working apparatus.

A mower is known in which a mower is placed in close contact with the side of a body with a hanging strap and the mower is mowed while swinging a cutting blade around the body (see, for example, Patent Document 1). This mower is also used, for example, to mow the ridges. The ridge is made by piling mud in the paddy field at the boundary between the paddy fields to prevent water from leaking to the outside, and the sides are formed in a slanted shape.

Japanese Unexamined Patent Publication No. 2016-82914

By the way, the side surface of the ridge is formed in an inclined shape. For this reason, it is a heavy burden for the worker to stand on the inclined side surface and mow the grass while swinging the mower around the worker's body. In particular, with the aging of farmers in recent years, it is desired to put into practical use a technology that can reduce the burden of mowing work and other transportation work on the running surface.

Therefore, the present invention provides a self-propelled work device that can reduce the work load of a worker on a running surface.

In order to solve the above problems, the invention according to claim 1 has a moving body provided with a working portion and an inclination angle (camera angle) supported by the moving body and viewed from the front of the moving body, respectively. The moving body includes a traveling wheel having at least left and right front wheels and left and right rear wheels that can be individually adjusted, and a variable operation unit that individually adjusts the inclination angle of the traveling wheel. When moving in a direction intersecting the inclination direction of the surface, the inclination angle of the traveling wheel is adjusted by the variable operation unit so as to suppress the sideslip of the moving body in the inclination direction, and the inclination direction is adjusted. The posture of the moving body is detected when the model of the moving body when the moving body moves is used as a posture model in a state where skidding to the moving body is suppressed. The control includes a posture detection unit and a control unit for determining whether the side slip amount, which is a posture change of the moving body, is larger or smaller than the side slip amount of the posture model based on the information from the posture detection unit. When the amount of sideslip, which is the change in posture of the moving body, is larger than the amount of sideslip of the posture model, the left and right front wheels are provided so that the amount of sideslip, which is the change in posture of the moving body, is smaller than the amount of sideslip of the posture model. A signal for adjusting the inclination angle of the left and right rear wheels is sent to the variable operation unit .

In this way, the tilt angle of the traveling wheel of the moving body can be adjusted, and the tilt angle of the traveling wheel is adjusted by the variable operation unit. Therefore, when the moving body moves in a direction intersecting the inclination direction of the inclined traveling surface, the inclination angle of the traveling wheel can be adjusted by the variable operation unit. As a result, it is possible to prevent the moving body from skidding in the inclined direction of the traveling surface.
Therefore, by providing the working body with the working body, the working body can work while the moving body normally travels along the traveling surface. As a result, the work load on the running surface can be reduced.

Here, when the posture change of the moving body is smaller than the posture model, the moving body is in a state where it can normally run along the running surface. On the other hand, when the posture change of the moving body exceeds the posture model, the moving body is in a state where it is difficult to normally run along the running surface.
Therefore, when the posture change of the moving body is larger than the posture model, a signal is sent from the control unit to the variable operation unit so that the posture change of the moving body is smaller than that of the posture model. The variable operation unit operates based on the transmitted signal to adjust the inclination angle of the wheel selected from the left and right front wheels and the left and right rear wheels. As a result, the posture change of the moving body becomes smaller than that of the posture model, and the moving body can run normally along the running surface.

The invention according to claim 2 is characterized in that the posture detecting unit includes at least one of a gyro, an acceleration sensor, and an imaging unit.

Therefore, the gyro (angular velocity sensor) can detect the angular velocity of the rotational motion of the moving body, and the acceleration sensor can detect the speed change of the linear motion of the moving body. In addition, the posture of the moving body and the state of the traveling surface can be detected by photographing the front of the moving body with the imaging unit.
This makes it possible to detect the posture of the moving body and the state of the traveling surface based on the upper part detected by the gyro, the acceleration sensor, and the image pickup unit. Therefore, the inclination angles of the left and right front wheels and the left and right rear wheels can be adjusted so that the posture change of the moving body is smaller than that of the posture model based on the detected posture of the moving body and the state of the traveling surface.

The invention according to claim 3 includes a work unit posture variable unit that adjusts the posture of the work unit, and the control unit is a work unit posture change of the work unit based on information from the attitude detection unit. It is determined whether the angle of the working portion with respect to the traveling surface is larger or smaller than the angle of the working portion with respect to the traveling surface of the working portion posture model, and the angle of the working portion with respect to the traveling surface, which is a change in the posture of the working portion, is determined. When the angle of the working part with respect to the running surface of the working part posture model is larger than the angle of the working part with respect to the running surface of the working part posture model, the angle of the working part with respect to the running surface which is the change in the posture of the working part of the working part with respect to the running surface of the working part posture model. It is characterized in that a signal for adjusting the angle of the working portion with respect to the traveling surface, which is a change in the posture of the working portion, is sent to the variable posture portion of the working portion so as to be smaller than the angle .

In this way, it is determined whether the work unit posture change is larger or smaller than the work unit attitude model based on the signal from the attitude detection unit of the moving body. If the work part posture change is smaller than the work part posture model, work is continued in the work part. On the other hand, when the change in the posture of the work unit is smaller than the posture model of the work unit, a signal for adjusting the posture of the work unit is sent to the variable posture unit of the work unit. Based on the transmitted signal, the work part posture variable part adjusts the work part posture so that the work part posture change is smaller than that of the work part posture model. As a result, the posture of the working unit can be maintained properly.

The invention according to claim 4 is characterized in that the working unit is a mower.
Therefore, it is possible to mow the grass on the traveling surface with a mower while the moving body is traveling along the traveling surface. As a result, it is possible to reduce the burden on the operator in mowing the grass on the running surface.

According to the fifth aspect of the present invention, the traveling wheel has a protrusion protruding outward at the intersection of the outer peripheral surface and the inner surface surface and the intersection portion of the outer peripheral surface and the outer surface surface. It is a feature.
In this way, at least in the left and right front wheels and the left and right rear wheels, the intersection between the outer peripheral surface and the inner surface surface and the intersection portion between the outer peripheral surface and the outer surface surface are formed as protrusions protruding outward. Therefore, by inclining the left and right front wheels and the left and right rear wheels at an inclination angle, the protrusions can be made to bite into the traveling surface. As a result, slippage of the left and right front wheels and left and right rear wheels with respect to the traveling surface can be suppressed, and the moving body can be normally traveled along the traveling surface.

According to a sixth aspect of the present invention, the traveling wheels are provided at intervals in the circumferential direction of the outer peripheral surface, and are projected outward from the outer peripheral surface and extend in the width direction of the traveling wheels. It is characterized by having a ridge portion of.

In this way, at least in the left and right front wheels and the left and right rear wheels, a plurality of ridges (gross) are provided at intervals in the circumferential direction of the outer peripheral surface, and the plurality of ridges project outward from the outer peripheral surface. I let you. That is, a plurality of ridges can be brought into contact with the traveling surface. Therefore, the plurality of ridges can be made to bite into the traveling surface, or the contact pressure of the plurality of ridges can be increased. As a result, slippage of the left and right front wheels and left and right rear wheels with respect to the traveling surface can be suppressed, and the moving body can be normally traveled along the traveling surface.

The invention according to claim 7 is characterized in that the traveling wheel is formed so that the outer peripheral surface is elastically deformable.
In this way, at least the outer peripheral surfaces of the left and right front wheels and the left and right rear wheels are formed so as to be elastically deformable. That is, the outer peripheral surface can be elastically deformed along the traveling surface. Therefore, the outer peripheral surface can be satisfactorily grounded along the traveling surface. As a result, slippage of the left and right front wheels and left and right rear wheels with respect to the traveling surface can be suppressed, and the moving body can be normally traveled along the traveling surface.

The invention according to claim 8 is characterized in that the traveling wheel is formed in an S shape in a side view.
Therefore, at least on each of the left and right front wheels and the left and right rear wheels, the ground contact portions of the wheels can be formed at two locations with an interval of 180 ° in the circumferential direction. As a result, the traveling surface can be satisfactorily climbed along the inclination direction of the traveling surface. That is, the traveling of the self-propelled work device on the traveling surface can be further ensured.

According to the present invention, the inclination angle of the traveling wheel of the moving body can be adjusted, and the inclination angle of the traveling wheel is adjusted by the variable operation unit. Therefore, by adjusting the tilt angle of the traveling wheel with the variable operation unit, it is possible to prevent the moving body from skidding in the tilting direction of the traveling surface.
By providing the moving body with a working unit, it is possible to work on the working unit while the moving body normally travels along the traveling surface. As a result, the work load on the running surface can be reduced.

It is a top view which shows the self-propelled work apparatus in 1st Embodiment of this invention. It is a side view which shows the self-propelled work apparatus in 1st Embodiment of this invention. It is a perspective view which shows the self-propelled work apparatus in 1st Embodiment of this invention. It is a perspective view which shows the left front drive part and the left front wheel of the self-propelled work apparatus in 1st Embodiment of this invention. FIG. 3 is a perspective view showing a state in which the left front wheel of FIG. 4 in the first embodiment of the present invention is viewed from the moving body side. It is a graph explaining the relationship between the side slip amount of the self-propelled work apparatus and the inclination angle of a traveling wheel in the 1st Embodiment of this invention. It is a perspective view which shows the mower of the self-propelled work apparatus in 1st Embodiment of this invention. It is a sequence diagram which shows the operation procedure of the self-propelled work apparatus in 1st Embodiment of this invention. It is a flowchart explaining the operation of the moving body of the self-propelled work apparatus in 1st Embodiment of this invention. It is a flowchart explaining the operation of the mower of the self-propelled work apparatus in 1st Embodiment of this invention. It is a flowchart explaining the operation of the self-propelled work apparatus in 1st Embodiment of this invention. (A) is a front view explaining an example in which a self-propelled work apparatus slides on a traveling surface in the first embodiment of the present invention, and (b) is a front view explaining an example of suppressing slipping of a self-propelled work apparatus. .. It is a perspective view which shows the moving body of the self-propelled work apparatus in the 2nd Embodiment of this invention. It is a perspective view which shows the moving body of the self-propelled work apparatus in 3rd Embodiment of this invention. It is a front view which shows the moving body of the self-propelled work apparatus in 4th Embodiment of this invention. It is a perspective view which shows the left front wheel of the self-propelled work apparatus in 5th Embodiment of this invention. It is a perspective view which shows the left front wheel of the self-propelled work apparatus in the 6th Embodiment of this invention. It is a perspective view which shows the left front wheel of the self-propelled work apparatus in 7th Embodiment of this invention. It is a perspective view which shows the self-propelled work apparatus in 8th Embodiment of this invention.

Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, the arrow FR points to the front of the self-propelled work device, the arrow UP points to the upper side of the self-propelled work device, and the arrow LH points to the left side of the self-propelled work device.

[First Embodiment]
As shown in FIGS. 1 and 2, the self-propelled work device 10 includes a moving body 11, a traveling wheel 12, a traveling drive unit 14, a variable operation unit 15, a posture detection unit 17, and a movement amount detection unit. 18. The work unit 20, the work unit posture detection unit 22, the work unit posture variable unit 23, and the control unit 25 are provided.

As shown in FIG. 3, the moving body 11 of the self-propelled work device 10 can move in a direction (direction indicated by an arrow) intersecting the inclination direction of the traveling surface 30. The moving body 11 is formed in a rectangular shape in a plan view, and the traveling wheel 12 and the traveling drive unit 14 are supported via the variable operation unit 15. The traveling surface 30 is, for example, an inclined traveling surface on a ridge with an inclination angle θ1.
The variable operation unit 15 includes a left front variable operation unit 32, a right front variable operation unit 33, a right rear variable operation unit 34, and a right rear variable operation unit 35.

The left front variable operation unit 32 includes a left front bracket 37 and a left front variable motor 38. The base end portion of the left front bracket 37 is fixed to the rotation shaft of the left front variable motor 38. By driving the left front variable motor 38 to rotate the rotation axis, the left front bracket 37 swings in the vertical direction (that is, in the arrow A direction) about the rotation axis of the left front variable motor 38.

The right front variable operation unit 33 is formed symmetrically with the left front variable operation unit 32. That is, the right front variable operation unit 33 includes a right front bracket 41 and a right front variable motor 42. The base end portion of the right front bracket 41 is fixed to the rotation shaft of the right front variable motor 42. By driving the right front variable motor 42 to rotate the rotation axis, the right front bracket 41 swings in the vertical direction (that is, in the arrow B direction) about the rotation axis of the right front variable motor 42.

The right rear variable operation unit 34 is formed in the same manner as the left front variable operation unit 32. That is, the right rear variable operation unit 34 includes a left rear bracket 44 and a left rear variable motor 45. The base end portion of the left rear bracket 44 is fixed to the rotation shaft of the left rear variable motor 45. By driving the left rear variable motor 45 to rotate the rotation axis, the left rear bracket 44 swings in the vertical direction (that is, in the arrow C direction) about the rotation axis of the left rear variable motor 45.

The right rear variable operation unit 35 is formed in the same manner as the right front variable operation unit 33. That is, the right rear variable operation unit 35 includes a right rear bracket 46 and a right rear variable motor 47. The base end portion of the right rear bracket 46 is fixed to the rotation shaft of the right rear variable motor 47. By driving the right rear variable motor 47 to rotate the rotation axis, the right rear bracket 46 swings in the vertical direction (that is, in the arrow D direction) about the rotation axis of the right rear variable motor 47.
As a result, the variable operation unit 15 can individually operate the left front variable operation unit 32, the right front variable operation unit 33, the right rear variable operation unit 34, and the right rear variable operation unit 35, respectively.

As shown in FIG. 4, the left front wheel 51 and the left front drive unit 56 are supported by the left front bracket 37. Specifically, the rotating shaft 61 is rotatably supported by the lower tip portion 37a of the left front bracket 37. A flange 62 is formed at the tip of the rotating shaft 61, and the left front wheel 51 is fixed to the flange 62. A driven pulley 63 is coaxially fixed to the rotating shaft 61.
Further, the left front drive motor 64 is attached to the left front bracket 37, and the drive shaft 64a of the left front drive motor 64 extends from the left front bracket 37 toward the left front wheel 51. The drive pulley 65 is coaxially fixed to the drive shaft 64a. An endless belt 66 is stretched on the drive pulley 65 and the driven pulley 63.

The left front drive unit 56 includes a left front drive motor 64, a drive pulley 65, a rotary shaft 61, a driven pulley 63, and a belt 66.
By driving the left front drive motor 64, the drive shaft 64a of the left front drive motor 64 rotates. The rotation of the drive shaft 64a is transmitted to the rotation shaft 61 via the drive pulley 65, the belt 66 and the driven pulley 63. The left front wheel 51 rotates as the rotation shaft 61 rotates.

As shown in FIGS. 3 and 4, the right front wheel 52 and the right front drive portion 57 are supported by the right front bracket 41. The right front drive unit 57 is provided with a right front drive motor 57a. The left rear wheel 53 and the left rear drive unit 58 are supported by the left rear bracket 44. The left rear drive unit 58 is provided with a left rear drive motor 58a. The right rear wheel 54 and the right rear drive unit 59 are supported by the right rear bracket 46. The right rear drive unit 59 is provided with a right rear drive motor 59a.
The right front wheel 52 and the right rear wheel 54 are symmetrical members with the left front wheel 51. The left rear wheel 53 is a member similar to the left front wheel 51. Therefore, detailed description of the right front wheel 52, the right rear wheel 54, and the left rear wheel 53 will be omitted.
The traveling wheel 12 is composed of the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54.

Further, the right front drive unit 57 and the right rear drive unit 59 are symmetrical constituent members with the left front drive unit 56. The left rear drive unit 58 is a component similar to the left front drive unit 56. Therefore, detailed description of the right front drive unit 57, the right rear drive unit 59, and the left rear drive unit 58 will be omitted.
The traveling drive unit 14 is composed of a left front drive unit 56, a right front drive unit 57, a left rear drive unit 58, and a right rear drive unit 59.

The variable operation unit 15 is configured such that the left front variable operation unit 32, the right front variable operation unit 33, the right rear variable operation unit 34, and the right rear variable operation unit 35 can be individually operated, that is, the left front variable operation unit 32. When the left front bracket 37 swings in the vertical direction as shown by the arrow A, the left front wheel 51 is inclined in the moving body width direction as shown by the arrow E. The left front variable motor 38 has a built-in potentiometer. The tilt angle of the left front wheel 51 can be detected by the potentiometer.

By tilting the left front wheel 51, the tilt angle (camber angle) θ2 of the left front wheel 51 as seen from the front of the moving body 11 can be adjusted. As an example, the lower end of the left front wheel 51 can be tilted up to 45 ° inward in the width direction of the moving body, and the lower end of the wheel can be tilted up to 45 ° outward in the width direction of the moving body. Is set to. The inward inclination in the width direction of the moving body is indicated by-, and the inward inclination in the width direction of the moving body is indicated by +.
Therefore, the inclination angle θ2 of the left front wheel 51 is set in the range of −45 ° ≦ θ2 ≦ + 45 ° as an example. By setting the inclination angle θ2 so as not to exceed −45 ° and + 45 °, it is possible to suppress the interference between the inclined left front wheel 51 and the moving body 11.

Further, the right front bracket 41 of the right front variable operation unit 33 swings in the vertical direction as shown by the arrow B, so that the right front wheel 52 is inclined in the moving body width direction as shown by the arrow F. By tilting the right front wheel 52, the tilt angle (camber angle) of the right front wheel 52 seen from the front of the moving body 11 can be adjusted in the same manner as the left front wheel 51.
Further, the left rear bracket 44 of the right rear variable operation unit 34 swings in the vertical direction as shown by the arrow C, so that the left rear wheel 53 is inclined in the moving body width direction as shown by the arrow G. By tilting the left rear wheel 53, the tilt angle (camber angle) of the left rear wheel 53 seen from the front of the moving body 11 can be adjusted in the same manner as the left front wheel 51.
In addition, the right rear bracket 46 of the right rear variable operation unit 35 swings in the vertical direction as shown by the arrow D, so that the right rear wheel 54 is inclined in the moving body width direction as shown by the arrow H. By tilting the right rear wheel 54, the tilt angle (camber angle) of the right rear wheel 54 as seen from the front of the moving body 11 can be adjusted in the same manner as the left front wheel 51.

That is, the variable operation unit 15 has a function of individually adjusting the inclination angle θ2 of the left front wheel 51, the inclination angle of the right front wheel 52, the inclination angle of the left rear wheel 53, and the inclination angle of the right rear wheel 54, respectively.
Further, the traveling wheel 12 is configured so that the inclination angle θ2 of the left front wheel 51, the inclination angle of the right front wheel 52, the inclination angle of the left rear wheel 53, and the inclination angle of the right rear wheel 54 can be individually adjusted.

As shown in FIGS. 4 and 5, the left front wheel 51 has a disk-shaped outer wall 71 and an outer peripheral portion 72 formed in a cylindrical shape along the peripheral edge portion of the outer wall 71. The flange 62 of the rotating shaft 61 is fixed to the center of the outer side wall 71 with bolts 74.
Further, the left front wheel 51 has an outer protrusion (protrusion) 75 at the intersection of the outer surface of the outer wall 71 and the outer peripheral surface of the outer peripheral portion 72. Further, an inner protrusion (protrusion) 76 is provided at the intersection of the inner side surface 72a of the outer peripheral portion 72 and the outer peripheral surface of the outer peripheral portion 72. The outer protrusion 75 and the inner protrusion 76 project outward in a V-shaped cross section toward the outside of the left front wheel 51.

As shown in FIG. 3, the left front wheel 51 has an outer protrusion 75 and an inner protrusion 76. Like the left front wheel 51, the right front wheel 52 has an outer protrusion (protrusion) 77 and an inner protrusion (protrusion) 78. The left rear wheel 53 has an outer protrusion (protrusion) 81 and an inner protrusion (protrusion) 82, similarly to the left front wheel 51. Like the left front wheel 51, the right rear wheel 54 has an outer protrusion (protrusion) 83 and an inner protrusion (protrusion) 84.
Therefore, by inclining the left and right front wheels 51, 52 and the left and right rear wheels 53, 54 in the width direction of the moving body, the vehicle travels on the outer protrusions 75, 77, 81, 83 and the inner protrusions 76, 78, 82, 84. It can be made to bite into the surface 30. As a result, the left and right front wheels 51 and 52 and the left and right rear wheels 53 and 54 can be prevented from slipping with respect to the traveling surface 30.

In the graph of FIG. 6, the relationship between the amount of sideslip of the self-propelled work device 10 and the inclination angle of the traveling wheel 12 will be described. In the graph of FIG. 6, the vertical axis shows the amount of skidding of the self-propelled work device 10, and the horizontal axis shows the inclination angle of the traveling wheel 12. In addition, black □ indicates the measured value, and white ○ indicates the average value of the measured values. As shown in FIG. 6, when the inclination angle of the traveling wheel 12 becomes large, the amount of skidding of the self-propelled working device 10 is suppressed.
By adjusting the inclination angle of the traveling wheel 12 in this way, the moving body 11 normally travels along the direction intersecting (specifically, orthogonal to) the inclination direction of the traveling surface 30 as shown by the arrow. Can be made to.

In the first embodiment, the outer protrusion 75 of the left front wheel 51 is formed at the intersection of the outer wall 71 and the outer peripheral portion 72, and the inner protrusion 76 of the left front wheel 51 is formed by the inner side surface 72a and the outer peripheral portion 72. The example formed at the intersection has been described, but the present invention is not limited to this. As another example, the annular outer ridge portion is projected outward from the entire circumference of the outer peripheral portion 72 in the radial direction of the left front wheel 51, and the radial outer side of the left front wheel 51 is projected from the entire circumference of the inner end portion of the outer peripheral portion 72. It is also possible to project the annular inner protrusion. Similar to the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54 are also formed with an outer protrusion portion and an inner protrusion portion.

As shown in FIGS. 1 and 7, the front portion 11a of the moving body 11 is provided with a mower as a working portion 20. Hereinafter, the working unit 20 will be described as a mower 20.
The mower 20 includes a base 87 in which a driving engine 86 is horizontally rotatably supported by a front portion 11a of a moving body 11, and an engine 86 and a mowing blade 88 attached to the base 87. When the engine 86 is driven, the mowing blade 88 moves in the longitudinal direction (that is, arrow I), so that the grass can be mowed by the protruding mowing blade 88a. The mowing blade 88 is a known so-called hair clipper type that is generally used.

A driven gear 91 is provided on the base 87. The drive gear 92 is meshed with the driven gear 91, and the rotation shaft of the swing motor 93 is coaxially fixed to the drive gear 92. By driving the swing motor 93, the mowing blade 88 swings around the center of the driven gear 91 as shown by the arrow J. That is, the grass in the range exceeding the total width dimension W1 of the self-propelled work device 10 can be mowed with the mowing blade 88. Therefore, the traveling wheel 12 (that is, the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54) can travel on the mowed portion. As a result, there is no risk that the traveling of the traveling wheel 12 will be obstructed by grass.
A guide roller 94 is attached to the tip 88b of the mowing blade 88. The guide roller 94 is formed so as to follow the movement of the self-propelled work device 10 in the forward traveling direction and the direction of the arrow J of the mowing blade 88.

Further, the mower 20 is provided with a work unit posture detection unit 22. The work unit posture detection unit 22 includes a gyro (angular velocity sensor) and an acceleration sensor.
It is also possible to include at least one of a gyro and an acceleration sensor as the work unit posture detection unit 22. The gyro can detect the angular velocity of the rotary motion of the mowing machine 20, and the accelerometer can detect the change in the speed of the linear motion of the mowing machine 20.

Further, the mowing blade 88 is configured so that the posture of the working portion can be adjusted by the variable posture portion 23 of the working portion. That is, the mowing blade 88 is rotatably supported by the base 87 about the axis 95 in the longitudinal direction as shown by the arrow K. The base end portion 88a of the mowing blade 88 is connected to the working portion posture variable portion 23. The work unit posture variable unit 23 includes a work unit variable motor 97. When the working unit variable motor 97 is driven, the mowing blade 88 rotates about the axis 95 as shown by the arrow K. As a result, the posture of the working portion of the mowing blade 88 can be adjusted by the working portion posture variable portion 23. The work unit posture variable unit 23 operates based on a signal transmitted from the control unit 25.

For example, it is conceivable that the left front wheel 51 and the left rear wheel 53 of the self-propelled work device 10 ride on the raised portion of the traveling surface 30, and the moving body 11 tilts with respect to the traveling surface 30. In this case, the mowing blade 88 is also inclined with respect to the traveling surface 30. At this time, by adjusting the posture of the working portion of the mowing blade 88 by the working portion posture variable portion 23, the mowing blade 88 can be aligned with the traveling surface 30. As a result, the grass on the traveling surface 30 can be satisfactorily cut with the grass cutting blade 88.
Further, the moving body 11 is provided with a posture detecting unit 17 and a control unit 25.

Next, the operation procedure of the self-propelled work apparatus 10 will be described with reference to FIGS. 1 and 8.
As shown in FIGS. 1 and 8, the posture detection unit 17 detects the posture of the moving body 11. Specifically, the attitude detection unit 17 includes a gyro (angular velocity sensor), an acceleration sensor, and an image pickup unit (camera).
The attitude detection unit 17 may include at least one of a gyro (angular velocity sensor), an acceleration sensor, and an image pickup unit (camera).
The gyro can detect the angular velocity of the rotary motion of the moving body 11, and the accelerometer can detect the speed change of the linear motion of the moving body 11. Further, the posture of the moving body 11 and the state of the traveling surface 30 can be detected by photographing the front of the moving body 11 with the imaging unit.

As a result, the posture of the moving body 11 and the state of the traveling surface 30 can be detected based on the information detected by the gyro, the acceleration sensor, and the image pickup unit. The information detected by the attitude detection unit 17 is sent to the control unit 25. Therefore, based on the detected posture of the moving body 11 and the inclination angle θ1 of the traveling surface 30 (see FIG. 3), the left and right front wheels 51, 52 and the left and right so that the posture change of the moving body 11 is smaller than that of the posture model. The inclination angles of the rear wheels 53 and 54 can be adjusted.
The posture model of the moving body 11 is stored in advance in the control unit 25.

The movement amount detection unit 18 detects the movement amount of the moving body 11. Specifically, the movement amount detection unit 18 includes a GPS (Global Positioning System) and a rotary encoder. Rotary encoders are provided on the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54, respectively.
The position of the moving body 11 is detected by GPS. The rotary encoder detects the rotation speed and the rotation angle of the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54, respectively.
The information detected by the movement amount detection unit 18 is sent to the control unit 25.

The posture model of the moving body 11 and the posture model of the working unit of the mower 20 are stored in the control unit 25 as information in advance. As a posture model, the posture information of a preferable traveling state of the moving body 11 is stored in the control unit 25. As a working unit posture model, the posture information of a preferable mowing state of the mowing machine 20 is stored in the control unit 25.

A voltage is applied to the left front drive motor 64, the right front drive motor 57a, the left rear drive motor 58a, and the right rear drive motor 59a of the traveling drive unit 14 to drive the self-propelled work device 10.
The control unit 25 determines whether the posture change of the moving body 11 is larger or smaller than the posture model based on the information from the posture detection unit 17 by fuzzy control.
When the posture change of the moving body 11 is larger than that of the posture model, the inclination angles of the left and right front wheels 51 and 52 and the left and right rear wheels 53 and 54 are set so that the posture change of the moving body 11 is smaller than that of the posture model. The signal to be adjusted is output from the control unit 25 to the variable operation unit 15.
The posture in which the posture change is smaller than that in the posture model means the posture in which the self-propelled work device 10 can normally travel. A posture in which the posture change is larger than that of the posture model means a posture in which it is difficult for the self-propelled work device 10 to normally run.

When the posture change of the self-propelled work apparatus 10 is smaller than that of the posture model, a voltage is applied to the swing motor 93 of the mower 20. The mowing blade 88 of the mowing machine 20 swings in the direction of arrow J. The grass is mowed with the mowing blade 88 in a state where the self-propelled working device 10 is normally traveled.
On the other hand, when the posture change of the self-propelled work device 10 is larger than that of the posture model, among the left front variable motor 38, the right front variable motor 42, the left rear variable motor 45, and the right rear variable motor 47 of the variable operation unit 15. , Apply voltage to the selected variable motor. The tilt angle of the wheels is adjusted by driving the selected variable motor, and the posture change of the self-propelled work device 10 becomes smaller than that of the posture model.
A voltage is applied to the swing motor 93 of the mower 20. The mowing blade 88 of the mowing machine 20 swings in the direction of arrow J. The grass is mowed with the mowing blade 88 in a state where the self-propelled working device 10 is normally traveled.

In a state where the grass cutting blade 88 cuts grass in the normal running of the self-propelled work device 10, the movement amount detecting unit 18 detects the movement amount of the self-propelled work device 10. Based on the information obtained by detecting the movement amount of the self-propelled work device 10 by the movement amount detection unit 18, the control unit 25 determines whether the movement amount of the self-propelled work device 10 is large or small.
If the amount of movement of the self-propelled work device 10 is small, for example, the mowing work by the mowing machine 20 may not be performed well. Therefore, the self-propelled work device 10 is stopped by braking the drive motors 64, 57a, 58a, 59a that drive the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54.

On the other hand, when the amount of movement of the self-propelled work device 10 is large, the voltage is continuously applied to the left front drive motor 64, the right front drive motor 57a, the left rear drive motor 58a, and the right rear drive motor 59a of the traveling drive unit 14. .. The self-propelled work device 10 can be continuously mowed with the mowing blade 88 in a state where the self-propelled work device 10 is normally traveled.

Next, an example of suppressing skidding of the self-propelled work device 10 will be described with reference to FIG.
As shown in FIG. 9, when skidding occurs in the self-propelled work device 10 running while mowing the grass on the running surface 30 (see FIG. 3), the self-propelled work is performed in step 01 with reference to the posture model. The attitude change of the device 10 is fuzzy controlled.
In step 02, a voltage is applied to a variable motor selected from the left front variable motor 38, the right front variable motor 42, the left rear variable motor 45, and the right rear variable motor 47 of the variable operation unit 15. The tilt angle of the wheels is adjusted by driving the selected variable motor, and the posture change of the self-propelled work device 10 becomes smaller than that of the posture model.
In step 03, a voltage is applied to the left front drive motor 64, the right front drive motor 57a, the left rear drive motor 58a, and the right rear drive motor 59a of the traveling drive unit 14.
In step 04, the posture and position of the self-propelled work device 10 are detected.

Next, an example of adjusting the posture of the working portion of the mower 20 will be described with reference to FIG.
As shown in FIG. 10, in step 10, while the self-propelled work device 10 is normally running and the grass is mowed by the mowing blade 88, the movement amount detection unit 18 determines the movement amount of the self-propelled work device 10. Detect. In step 11, based on the amount of movement of the self-propelled work device 10, the work part posture change of the mower 20 is fuzzy controlled with reference to the work part posture model.
In step 12, a voltage is applied to the work unit variable motor 97 of the work unit attitude variable unit 23. In step 13, the posture information of the self-propelled work device 10 is acquired. The movement amount in step 10 is detected based on the acquired posture information.

Next, an example of mowing grass with a mower 20 while self-propelling the self-propelled work device 10 will be described with reference to FIGS. 1, 11 and 12.
In step 20, a voltage is applied to the left front drive motor 64, the right front drive motor 57a, the left rear drive motor 58a, and the right rear drive motor 59a of the traveling drive unit 14. As shown in FIG. 12A, the self-propelled work device 10 is driven forward in a direction intersecting the inclination direction of the traveling surface 30.
In step 21, the posture and position of the moving body 11 of the self-propelled work device 10 are detected. In step 22, it is determined whether the posture change or the position change of the self-propelled work apparatus 10 is larger or smaller than the posture model. When the posture change or position change of the self-propelled work apparatus 10 is larger than the posture model, in step 23, the left front variable motor 38, the right front variable motor 42, the left rear variable motor 45, and the right rear variable motor 47 of the variable operation unit 15 are used. A voltage is applied to the selected variable motor.

For convenience, the selected variable motors are the left front variable motor 38 and the right front variable motor 42. As shown in FIG. 12B, the inclination angle θ2 of the left front wheel 51 of the traveling wheel 12 and the inclination angle θ3 of the right front wheel 52 are adjusted. Therefore, the inner protrusion 76 of the left front wheel 51 bites into the running surface 30, and the outer protrusion 77 of the right front wheel 52 bites into the running surface 30. As a result, slippage between the left front wheel 51 and the right front wheel 52 is suppressed.
If it is determined in step 24 that the posture change of the self-propelled work apparatus 10 is larger than the posture model, the process returns to step 23.
On the other hand, if it is determined in step 24 that the posture change or the position change of the self-propelled work device 10 is smaller than the posture model, the process proceeds to step 25. In step 25, a voltage is applied to the swing motor 93 of the mower 20.
The mowing blade 88 of the mowing machine 20 swings in the direction of arrow J (see FIG. 1). The grass can be mowed with the mowing blade 88 in a state where the moving body 11 of the self-propelled working apparatus 10 normally travels.

In this state, in step 26, the control unit 25 determines whether the movement amount of the self-propelled work device 10 is large or small based on the information that the movement amount detection unit 18 detects the movement amount of the self-propelled work device 10. to decide. If the amount of movement of the self-propelled work device 10 is small, there is a possibility that the mowing work by the mowing machine 20 is not performed well. Therefore, the self-propelled work device 10 is stopped by braking the drive motors 64, 57a, 58a, 59a that drive the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54.

In step 27, a voltage is applied to the working unit variable motor 97 based on the posture information and position information of the moving body 11 and the posture model of the moving body 11.
In step 28, the work part posture change of the mower 20 is fuzzy controlled with reference to the work part posture model. If the work part posture change is large with respect to the work part posture model, the process returns to step 27. If the work part posture change is small and the position change is small with respect to the work part posture model, the process proceeds to step 29.
In this way, the work unit posture variable unit 97 adjusts the work unit posture so that the change in the work unit posture is smaller than that of the work unit attitude model. As a result, the posture of the working portion of the mower 20 can be properly maintained with respect to the traveling surface 30.

In step 29, the brakes of the drive motors 64, 57a, 58a, 59a for driving the left and right front wheels 51, 52 and the left and right rear wheels 53, 54 are released. On the other hand, if it is determined in step 26 that the amount of movement of the self-propelled work device 10 is large, the process returns to step 21.
Therefore, the grass on the traveling surface 30 can be mowed by the mower 20 while the moving body 11 is traveling along the traveling surface 30. As a result, it is possible to reduce the burden on the operator in the mowing work of the traveling surface 30.

In the first embodiment, an example in which the self-propelled work device 10 travels in a direction intersecting (specifically, orthogonally) with respect to the inclination direction of the traveling surface 30 on the ridge has been described, but the present invention is not limited to this. As another example, it is also possible to run the self-propelled work device 10 in a state of straddling the running surface 30 on the ridge and the top (that is, the ridge). In other words, the intersection between the traveling surface 30 and the ridge is formed in a protruding shape, and it is possible to travel at the portion formed by this protrusion.
In this case, for example, the inclination angles of the left front wheel 51 and the left rear wheel 53 of the self-propelled work device 10 are adjusted according to the traveling surface 30, and the inclination angles of the right front wheel 52 and the right rear wheel 54 are adjusted according to the ridge. By doing so, it is possible to mow the grass with the mower 20 while the self-propelled work device 10 is running well.

It is also possible to run the self-propelled work device 10 along the V-shaped depression. In this case, for example, the inclination angles of the left front wheel 51 and the left rear wheel 53 of the self-propelled work device 10 are adjusted according to one of the traveling surfaces of the V-shaped recess, and the inclination angles of the right front wheel 52 and the right rear wheel 54 are adjusted. It can be adjusted according to the other running surface of the V-shaped recess. As a result, the self-propelled work device 10 can be driven satisfactorily.

Further, in the first embodiment, an example including a gyro, an acceleration sensor, and an image pickup unit as the posture detection unit 17 for detecting the posture of the moving body 11 has been described, but the present invention is not limited thereto. As another example, a load sensor (pressure sensor) is attached to each axle of the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54, and the load input to each axle is detected to detect the left front wheel. It is also possible to adjust the inclination angles of the 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54.
Further, in the first embodiment, an example in which the working portion is provided with the hair clipper type mower 20 in the moving body 11 has been described, but the present invention is not limited to this. For example, it is possible to equip the moving body 11 with a rotary blade attached to the tip of the mower. It is also possible to attach a rotary blade to the bottom of the moving body 11.

Further, in the first embodiment, the mower 20 is exemplified as a working machine, but the present invention is not limited to this. For example, instead of the mower 20, the moving body 11 can be used to carry luggage. In particular, when transporting fruits harvested in apple gardens, peach gardens, vineyards, etc., it is conceivable to move the running surface. In this case, by using the moving body 11, the traveling surface can be satisfactorily transported. Therefore, the burden on the transport vehicle can be reduced.

Further, in the first embodiment, an example in which four wheels of the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54 are provided as the traveling wheel 12 has been described, but the present invention is not limited thereto. For example, it is possible to have a configuration in which three or more wheels are provided on each of the left and right wheels.

Next, the second embodiment to the eighth embodiment will be described with reference to FIGS. 13 to 19. In the second to eighth embodiments, the same and similar components as the self-propelled working apparatus 10 of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

[Second Embodiment]
As shown in FIG. 13, in the self-propelled work device 100, the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54 are the same as the self-propelled work device 10 of the first embodiment. The tilt angle in the width direction of the moving body can be adjusted individually for each.
Specifically, the base end portion of the left front bracket 37 is attached to the tip end portion of the rotation shaft 38a of the left front variable motor 38. The left front drive motor 64 is attached to the left front bracket 37. The drive shaft of the left front drive motor 64 projects outward from the tip of the left front bracket 37 in the width direction of the moving body, and the left front wheel 51 is attached to the drive shaft.
Therefore, by driving the left front variable motor 38, the left front bracket 102 can be swung in the vertical direction with the rotation shaft 38a as the axis. As a result, the left front wheel 51 is tilted in the width direction of the moving body.

The drive pulley 103 is coaxially attached to the rotation shaft 38a of the left front variable motor 38. An endless belt 105 is stretched between the drive pulley 103 and the driven pulley 104. The driven pulley 104 is coaxially attached to the rotating shaft 106. A potentiometer 107 is attached to the rotating shaft 106.
The potentiometer 107 detects an angular displacement of the rotation shaft 106 (that is, the rotation shaft 38a of the left front variable motor 38). Thereby, the inclination angle of the left front wheel 51 can be detected.
Further, the left front wheel 51 can be rotated by driving the left front drive motor 64.

Like the left front wheel 51, the self-propelled work device 100 has a right front wheel 52, a right rear wheel 54, and a left rear wheel 53 that can be inclined in the width direction of the moving body and is configured to be rotatable.

[Third Embodiment]
As shown in FIG. 14, in the self-propelled work device 110, the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54 (not shown) are the self-propelled work devices of the first embodiment. Similar to No. 10, the inclination angle in the width direction of the moving body can be adjusted individually.
That is, the left front wheel 51 can adjust the inclination angle in the width direction of the moving body with the axis 112 as the axis. The right front wheel 52 can adjust the inclination angle in the width direction of the moving body about the axis 113. The left rear wheel 53 can adjust the inclination angle in the width direction of the moving body with the axis 114 as the axis. The right rear wheel 54 (not shown) has an adjustable inclination angle in the width direction of the moving body with the axis 112 as the axis.

Further, the self-propelled working device 110 is provided with a left front gas spring 117, a right front gas spring 118, a left rear gas spring 119, and a right rear gas spring.
The left front gas spring 117 absorbs the vertical movement of the left front wheel 51 about the front axis 122. The right front gas spring 118 absorbs the vertical movement of the right front wheel 52 about the front axis 122. The left rear gas spring 119 absorbs the vertical movement of the left rear wheel 53 about the rear axis 123. The right rear gas spring absorbs the vertical movement of the right rear wheel 54 (not shown) about the rear axis 123.
That is, the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54 (not shown) are supported by the moving body 11 so as to be movable in the vertical direction.

Further, the self-propelled work device 110 has a moving body width direction displacement amount absorbing unit 125 provided on the front side of the bottom of the moving body 11 and a rear moving body width provided on the rear side of the bottom of the moving body 11. It is provided with a directional displacement amount absorbing unit 126.
The front side moving body width direction displacement amount absorbing unit 125 absorbs the displacement amount of the left front wheel 51 and the right front wheel 52 in the moving body width direction. The rear moving body width direction displacement amount absorbing unit 126 absorbs the displacement amount of the left front wheel 51 and the right front wheel 52 in the moving body width direction.
That is, the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54 (not shown) are supported by the moving body 11 so as to be movable in the moving body width direction.

In this way, the left front wheel 51, the right front wheel 52, the left rear wheel 53, and the right rear wheel 54 (not shown) can move in the vertical direction and can move in the width direction of the moving body, thereby being self-propelled. It is possible to suppress the posture change of the work device 110 to be smaller than that of the posture model. As a result, the self-propelled work device 110 can be run in a more stable state along the running surface 30 (see FIG. 3).

[Fourth Embodiment]
As shown in FIG. 15, in the self-propelled work device 130, the left front wheel 131 is configured so that the inclination angle in the width direction of the moving body can be adjusted, similarly to the self-propelled work device 10 of the first embodiment.
Specifically, the bracket 133 is rotatably supported in the vertical direction by the moving body 11 via the support shaft 132. The case 134 is attached to the bracket 133, and the driven pulley 135 is rotatably supported at the lower end of the case 134. The axle of the front wheel 131 is coaxially attached to the driven pulley 135.

Further, the drive pulley 136 is rotatably supported on the upper end portion of the case 134. The drive shaft 64a of the left front drive motor 64 is coaxially attached to the drive pulley 136. Further, an endless belt 137 is stretched on the drive pulley 136 and the driven pulley 135.
Therefore, by driving the left front drive motor 64, the left front wheel 131 rotates via the drive pulley 136, the driven pulley 135, and the belt 137.
Further, by swinging the bracket 133 in the vertical direction around the support shaft 132 of the moving body 11, the left front wheel 131 can be tilted in the moving body width direction at an inclination angle θ4.

The left front wheel 131 includes an elastically deformable wheel moving body 131a, an outer plate portion 131b provided on the outer side of the wheel moving body 131a in the moving body width direction, and an inner side provided on the inner side of the wheel moving body 131a in the moving body width direction. It is provided with a plate portion 131c. The outer plate portion 131b and the inner plate portion 131c are made of a hard resin or metal.
Therefore, in a state where the lower end portion of the left front wheel 131 moves outward in the width direction of the moving body and the left front wheel 131 is tilted to the inclination angle θ4 (state shown in FIG. 15), the outer peripheral portion 131d of the inner plate portion 131c is a traveling surface. It can be made to bite into 30. On the other hand, in a state where the lower end portion of the left front wheel 131 moves inward in the width direction of the moving body and the left front wheel 131 is tilted to the inclination angle θ4, the outer peripheral portion 131e of the outer plate portion 131b can be made to bite into the traveling surface 30. ..

[Fifth Embodiment]
As shown in FIG. 16, in the self-propelled work apparatus 140, the width dimension W1 of the left front wheel 142 is smaller than the width dimension of the left front wheel 51 of the first embodiment.
By forming the width dimension W1 of the left front wheel 142 to be small, the contact pressure of the left front wheel 142 with respect to the traveling surface 30 can be increased. Therefore, the left front wheel 142 can be suitably bitten into the traveling surface 30. The right front wheel, the left rear wheel, and the right rear wheel are also formed to have a small width dimension like the left front wheel 142.
As a result, the self-propelled work device 140 can be run in a state of being more stable along the running surface 30.

[Sixth Embodiment]
As shown in FIG. 17, the self-propelled work apparatus 150 is provided with a glosser (protrusion portion) 154 from the outer peripheral portion 153 of the left front wheel 152 and protrudes from the outer peripheral portion 153.
Specifically, in the left front wheel 152, a plurality of glossers 154 are radially projected toward the outside of the left front wheel 152 at intervals in the circumferential direction of the outer peripheral portion 153, and extend in the width direction of the left front wheel 152. There is. Therefore, the Grocer 154 can be suitably bitten into the traveling surface 30. Similar to the left front wheel 152, the right front wheel, the left rear wheel, and the right rear wheel also have a plurality of grocers 154 formed.
Therefore, the plurality of Grocers 154 can be made to bite into the traveling surface 30, or the contact pressure of the plurality of Grocers 154 can be increased. As a result, slippage of the left and right front wheels 152 and the left and right rear wheels with respect to the traveling surface 30 can be suppressed, and the self-propelled working device 150 can be more preferably traveled along the traveling surface 30.

[7th Embodiment]
As shown in FIG. 18, in the self-propelled work apparatus 160, the outer peripheral portion (outer peripheral surface) 163 of the left front wheel 162 is formed so as to be elastically deformable, and the grosa (protruding portion) 164 is projected from the outer peripheral portion 163. , Extends in the width direction of the left front wheel 162.
Specifically, in the left front wheel 162, the axle 166 is coaxially arranged in the center of the outer wall, and a plurality of cylinders 167 are attached around the axle 166 in the circumferential direction of the axle 166. Further, an outer peripheral portion 163 is attached to the outside of the plurality of tubular bodies 167. The outer peripheral side of the outer peripheral portion 163 is connected to the outer side of the outer wall. The outer peripheral portion (outer peripheral surface) 163 is formed so as to be elastically deformable. The right front wheel, the left rear wheel, and the right rear wheel are also formed in the same manner as the left front wheel 162.
The outer peripheral portion 163 of the left front wheel 162 is made of an elastically deformable rubber material as an example.

That is, the outer peripheral portion 163 can be elastically deformed along the traveling surface 30. Therefore, the outer peripheral portion 163 can be satisfactorily grounded along the traveling surface 30. As a result, slippage of the left front wheel 162, the right front wheel, the left rear wheel, and the right rear wheel can be suppressed, and the self-propelled work device 160 can be run in a more stable state along the running surface 30. ..

[8th Embodiment]
As shown in FIG. 19, the self-propelled work device 170 includes a left front wheel 171 provided on the left side of the moving body 11, a left center wheel 172 and a left rear wheel 173, and a right front wheel provided on the right side of the moving body 11. It is equipped with 174, a right center wheel 175 and a right rear wheel 176.
The left front wheel 171 and the left center wheel 172 and the left rear wheel 173 are wheels similarly formed. The right front wheel 174, the right center wheel 175 and the right rear wheel 176 are wheels symmetrical with the left front wheel 171 and the left center wheel 172 and the left rear wheel 173. Therefore, the left front wheel 171 will be described in detail, and the detailed description of the left center wheel 172, the left rear wheel 173, the right front wheel 174, the right center wheel 175, and the right rear wheel 176 will be omitted.

Like the left front wheel 51 of the first embodiment, the left front wheel 171 is configured so that the inclination angle can be adjusted with respect to the width direction of the moving body. As a result, the slip of the left front wheel 171 with respect to the traveling surface 30 can be suppressed, and the moving body 11 can be normally traveled along the traveling surface 30.
Further, the left front wheel 171 is formed in an S shape in a side view. Specifically, the left front wheel 171 is arranged on the front left side portion 11b side of the moving body 11, and the central portion 171a is attached to the drive shaft 178 of the drive motor. The left front wheel 171 has a first curved portion 171b extending in a curved shape from the central portion 171a, and a second curved portion 171c extending in a curved shape from the central portion 171a to the opposite side of the first curved portion 171b.

The left front wheel 171 is formed by the first curved portion 171b and the second curved portion 171c in an S-shape in a side view, so that the ground contact portion 171d of the left front wheel 171 is provided at two locations with an interval of 180 ° in the circumferential direction. Can be formed. Therefore, the traveling surface 30 can be satisfactorily climbed along the inclination direction of the traveling surface 30. As a result, the traveling of the self-propelled work device 170 on the traveling surface 30 can be further ensured.

The technical scope of the present invention is not limited to the above-described embodiment, and various adjustments can be made without departing from the spirit of the present invention.

10,100,110,130,140,150,160,170 ... Self-propelled work device 11 ... Moving body 12 ... Running wheel 15 ... Variable operation unit 17 ... Posture detection unit 20 ... Mower (working unit) )
22 …… Working unit posture detection unit 23 …… Working unit posture variable unit 25 …… Control unit 30 …… Running surface 51, 131, 171 …… Left front wheel 52, 174 …… Right front wheel 53, 173 …… Left rear wheel 54 , 176 ... Right rear wheel 75, 77, 81, 83 ... External protrusion (protrusion)
76, 78, 82, 84 ... Internal protrusion (protrusion)
154, 164 ... Grossa (protruding part)
163 ... Outer peripheral part (outer peripheral surface)
172 ... Left center wheel 175 ... Right center wheel

Claims (8)

A mobile body with a working part and
A traveling wheel having at least left and right front wheels and left and right rear wheels supported by the moving body and having an individually adjustable tilt angle (camber angle) when viewed from the front of the moving body.
A variable operation unit that individually adjusts the inclination angle of the traveling wheel is included.
When the moving body moves in a direction intersecting the inclined direction of the inclined traveling surface, the inclination angle of the traveling wheel is variablely operated so as to suppress the sideslip of the moving body in the inclined direction. Adjust in the department,
When the model of the moving body when the moving body moves along the direction intersecting the tilting direction is used as a posture model in a state where skidding in the tilting direction is suppressed.
A posture detection unit that detects the posture of the moving body, and
It includes a control unit for determining whether the amount of skidding, which is a change in the posture of the moving body, is larger or smaller than the amount of skidding of the posture model based on the information from the posture detecting unit.
The control unit
When the amount of skidding, which is the change in posture of the moving body, is larger than the amount of skidding in the posture model, the left and right front wheels and the left and right so that the amount of skidding, which is the change in posture of the moving body, is smaller than the amount of skidding in the posture model. A signal for adjusting the inclination angle of the rear wheel is sent to the variable operation unit.
A self-propelled work device characterized by that. The posture detection unit includes at least one of a gyro, an acceleration sensor, and an image pickup unit.
The self-propelled work apparatus according to claim 1 . A work part posture variable part for adjusting the posture of the work part is provided.
The control unit
Based on the information from the posture detection unit, whether the angle of the work unit with respect to the running surface, which is the change in the posture of the work unit of the work unit, is larger or smaller than the angle of the work unit with respect to the travel surface of the work unit attitude model. Judgment,
When the angle of the working part with respect to the running surface which is the change in the posture of the working part is larger than the angle of the working part with respect to the running surface of the working part posture model, the working part with respect to the running surface which is the change in the posture of the working part. A signal for adjusting the angle of the working part with respect to the running surface, which is a change in the posture of the working part, so that the angle of the working part is smaller than the angle of the working part with respect to the running surface of the working part posture model. Send to,
The self-propelled work apparatus according to claim 2 . The working part is a mower,
The self-propelled work apparatus according to any one of claims 1 to 3 . The traveling wheel has a protrusion protruding outward at the intersection of the outer peripheral surface and the inner surface surface and the intersection portion of the outer peripheral surface and the outer surface surface.
The self-propelled work apparatus according to any one of claims 1 to 4 . The traveling wheel is provided at intervals in the circumferential direction of the outer peripheral surface, and has a plurality of ridges extending outward from the outer peripheral surface and extending in the width direction of the traveling wheel.
The self-propelled work apparatus according to any one of claims 1 to 4 . The outer peripheral surface of the traveling wheel is formed so as to be elastically deformable.
The self-propelled work apparatus according to any one of claims 1 to 4 . The traveling wheel is formed in an S shape in a side view.
The self-propelled work apparatus according to any one of claims 1 to 4 .

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