JP7829213B2 - Mobile cart - Google Patents

Description

One aspect of this invention relates to a mobile cart for moving around a field.

Conventionally, a mobile trolley for lateral movement between rows (moving in a direction intersecting the direction in which the rows extend) is known, comprising two sets of main legs with wheels and two sets of auxiliary legs that grip rails (see, for example, Patent Document 1). Such a mobile trolley can move along rails provided between each row, and can also move between three adjacent rails within the rail system.

Japanese Patent Application Publication No. 9-107711

If a mobile cart has two legs with wheels, there is a risk of it losing balance and tipping over when lifting its legs. The mobile cart described in Patent Document 1 achieves lateral movement between rows by providing rails on each row and auxiliary legs capable of gripping the rails. However, the mobile cart described in Patent Document 1 requires the rails to be laid according to the field conditions, which can impair user convenience. For example, a user of the mobile cart described in Patent Document 1 would need to lay the rails according to the width and height of the rows in the field.

One embodiment of the present invention aims to provide a mobile trolley that can stably perform lateral movement between rows while maintaining user convenience.

A mobile cart according to one embodiment of the present invention is a mobile cart for moving through a field with multiple furrows, and comprises a running section having three running mechanisms grounded on the front side in the direction of travel of the mobile cart, and three running mechanisms grounded on the rear side; legs extending vertically from each running mechanism of the running section; a first beam extending along a lateral direction intersecting the direction of travel, connected to each of the three front legs; a second beam extending along a lateral direction, connected to each of the three rear legs; and a third beam extending along the direction of travel between the first and second beams, connected to the first and second beams, wherein the first beam and the second beam are configured to be extendable and retractable along the lateral direction.

In one aspect of the present invention, the mobile trolley is configured such that the first and second beams can extend and retract along the lateral direction. With this configuration, when the mobile trolley is traveling in the direction in which the furrows extend, the travel mechanism can be moved laterally (i.e., in the direction of adjacent furrows), allowing the wheels to move from furrow to furrow. Furthermore, since this mobile trolley has three legs each on the front and rear sides, tipping is suppressed even when the travel mechanism is lifted and moved laterally. Specifically, for example, when one travel mechanism at the front is lifted and moved laterally, the remaining two grounded travel mechanisms can support the mobile trolley, thus suppressing tipping. Moreover, since this mobile trolley does not require the installation of rails or the like, user convenience regarding lateral movement between furrows can be ensured. As described above, the mobile trolley according to one aspect of the present invention allows for stable lateral movement between furrows while maintaining user convenience.

The running mechanism may consist of wheels. With this configuration, the mobile cart can move with its running mechanism in contact with the ground. As a result, the mobile cart can move more efficiently along the direction in which the furrows extend.

The legs may be configured to be extendable and retractable along the vertical direction. With such a configuration, the legs, the first beam, and the second beam can be extended or retracted according to the condition of the field or the crops being cultivated in the field, thereby enabling appropriate lateral movement between rows. For example, by extending the legs according to the height of the crops planted in the rows, contact between the mobile cart and the crops can be suppressed when moving laterally between rows. As described above, according to one embodiment of the present invention, appropriate lateral movement between rows is possible regardless of the field conditions.

A mobile trolley according to one embodiment of the present invention further comprises a first support beam connected to a third beam, and a first weight provided on the first support beam, wherein the first support beam may support the first weight so that the first weight can move. With this configuration, for example, when the mobile trolley lifts its legs, the first weight can be moved in a direction that maintains the balance of the mobile trolley, thereby preventing the mobile trolley from tipping over. As a result, stable lateral movement becomes possible even without the installation of rails or the like.

A mobile trolley according to one embodiment of the present invention further comprises a second support beam connected to a third beam, and a second weight provided on the second support beam. The second support beam supports the second weight so that it is movable. The first and second support beams are continuously provided in the lateral direction, sandwiching the third beam, and the first and second support beams may be configured to be extendable and retractable in the lateral direction. With such a configuration, by extending and retracting the first and second support beams to control the torque of each weight on the third beam, the center of gravity of the mobile trolley can be controlled with greater precision. As a result, when the legs of the mobile trolley are lifted, it becomes possible to more reliably suppress the tipping of the mobile trolley.

The first support beam may be configured to rotate around the third beam as its central axis. This configuration allows for more precise control of the center of gravity of the mobile trolley by rotating the first support beam to control the torque of the first weight on the third beam. As a result, when the legs of the mobile trolley are lifted, the trolley's tipping over can be more reliably prevented.

The first weight may be a work implement or load mounted on the mobile cart. This configuration eliminates the need to add any further components to the mobile cart in addition to the work implement or load, thus enabling a mobile cart that can stably move between rows while maintaining user convenience, and can be realized with a simpler design.

A mobile trolley according to one embodiment of the present invention comprises a first actuator for extending and retracting a first beam, a second actuator for extending and retracting a second beam, a third actuator for extending and retracting legs, and a fourth actuator for extending and retracting a first support beam. With this configuration, the extension and retraction of the first beam, second beam, legs, and first support beam can be controlled by a control device or the like. As a result, the extension and retraction of each part can be synchronized, enabling stable lateral movement between rows.

A mobile trolley according to one embodiment of the present invention further comprises a control unit for controlling first to fourth actuators. The control unit may be configured to perform: a first control that controls a third actuator so that the legs corresponding to the wheels of a vehicle to be moved are retracted so that the wheels of the vehicle to be moved are lifted; a second control that controls a first or second actuator so that the first or second beam corresponding to the wheels of the vehicle to be moved is extended or retracted so that the wheels of the vehicle to be moved are moved laterally; and a third control that controls a fourth actuator so that a first support beam is extended or retracted so that a first weight is moved in the direction of the multiple wheels other than the wheel of the vehicle to be moved. With this configuration, the first weight approaches the wheels other than the lifted wheel, allowing the mobile trolley to lift the wheels stably. As a result, the mobile trolley can more reliably prevent itself from tipping over when moving laterally between rows.

In the third control, the control unit may control the fourth actuator so that the first support beam extends or retracts so that the first weight moves to a region surrounded by multiple wheels other than the wheel being moved, when viewed from the vertical direction. With this configuration, since the first weight is located in the region surrounded by the grounded wheels when viewed from the vertical direction, the mobile trolley can stably lift its wheels. As a result, the mobile trolley can more reliably prevent itself from tipping over when moving laterally between rows.

A mobile trolley according to one embodiment of the present invention further comprises a fifth actuator for extending and retracting a third beam. The control unit may be configured to perform a fourth control, which controls the third actuator so that the legs corresponding to the wheels of an object to be moved in the direction of travel are retracted so that the wheels of the object to be moved are lifted; and a fifth control, which controls the fifth actuator so that the third beam extends and retracts so that the wheels of the object to be moved in the direction of travel are moved in the direction of travel. With such a configuration, it becomes possible to lift and move the wheels not only in the lateral direction but also in the direction of travel. As a result, the influence of ground conditions between rows on the movement of the mobile trolley is reduced, thereby improving the running performance of the mobile trolley.

A mobile trolley according to one embodiment of the present invention further comprises a support section having a fourth beam extending laterally between a first beam and a second beam in the direction of travel, intersecting a third beam, a first support rod connected to one end of the fourth beam and extending toward the ground, and a second support rod connected to the other end of the fourth beam and extending toward the ground, wherein the fourth beam and the support section are configured to be extendable and retractable.
With this configuration, the load of the mobile cart is supported by the running section and the support section, while movement in the lateral and running directions is performed. As a result, it becomes possible to move laterally across the field more stably.

A mobile trolley according to one embodiment of the present invention further comprises a support section having: a fifth beam extending laterally so as to intersect the third beam in front of the first beam in the direction of travel; a sixth beam extending laterally so as to intersect the third beam in rear of the second beam in the direction of travel; a third support rod connected to one end of the fifth beam and extending toward the ground; a fourth support rod connected to the other end of the fifth beam and extending toward the ground; a fifth support rod connected to one end of the sixth beam and extending toward the ground; and a sixth support rod connected to the other end of the sixth beam and extending toward the ground. The fifth beam, the sixth beam, and the support section may be configured to be extendable and retractable. With such a configuration, the load of the mobile trolley is supported by the travel section and the support section, while movement in the lateral direction and the direction of travel is performed. Furthermore, since support structures are provided on the outside of the first and second beams, the tipping of the mobile trolley is more reliably suppressed when the wheels are lifted. As described above, this allows for more stable lateral movement between rows.

According to one embodiment of the present invention, lateral movement between rows can be performed stably while maintaining user convenience.

This is a perspective view showing a mobile trolley according to an embodiment of the present invention. Figure 1 is an exploded perspective view showing the mobile trolley. Figure 1 is a side view showing the wheels and legs included in the mobile trolley. Figure 1 is an exploded perspective view showing the first and second beams included in the mobile trolley. This is an exploded perspective view showing the beam sections included in the first and second beams of Figure 4. This figure shows the hardware configuration of the control unit included in the mobile trolley. This is a schematic diagram showing a mobile trolley according to an embodiment of the present invention. Figure 7 is a schematic diagram showing an example of the lateral movement of the mobile cart. Figure 7 is a schematic diagram showing an example of the lateral movement of the mobile cart. This diagram shows a mobile cart with four legs having wheels and a mobile cart with six legs having wheels, as shown in Figures 1 and 7. Figures 1 and 7 are diagrams illustrating the operation and effects of the mobile trolley. This is a schematic diagram showing a mobile cart according to the first modified example. This is a schematic diagram showing a mobile cart according to a second modified example. This is a schematic diagram showing a mobile cart according to the third modified example. This is a schematic diagram showing an example of movement of a mobile cart in the direction of travel according to the third modified example. This is a schematic diagram showing a mobile cart according to the fourth modified example. This is a schematic diagram showing an example of lateral movement of the mobile cart according to the fourth modified example. This is a schematic diagram showing an example of movement of the mobile cart in the direction of travel according to the fourth modified example. This is a schematic diagram showing a mobile cart according to the fifth modified example. This is a schematic diagram showing an example of lateral movement of the mobile cart according to the fifth modified example. This is a schematic diagram showing an example of movement of the mobile cart in the direction of travel according to the fifth modified example.

The embodiments of the present invention will be described in detail below with reference to the attached drawings. In the description of the drawings, identical or equivalent elements are denoted by the same reference numerals, and redundant descriptions are omitted.

(Explanation of the mobile cart)
Figure 1 is a perspective view of the mobile cart 1 according to the embodiment. Figure 2 is an exploded perspective view of the mobile cart 1 according to the embodiment. The mobile cart 1 is a cart that moves around a field and manages the field. Specifically, the mobile cart 1 is a mobile cart that moves around a field where multiple ridges are provided. For example, the mobile cart 1 moves along the ridge direction, which is the direction in which the ridges are provided, and also moves across the ridges in the lateral direction, which is the direction that intersects the ridge direction. In addition, the mobile cart 1 moves around the field and also performs spot spraying of pesticides, fertilizers and water, for example. The mobile cart 1 is remotely operated or automatically controlled. The mobile cart 1 comprises a vehicle body 9 and a control unit 90 (see Figure 2). The vehicle body 9 comprises a running section 10, leg sections 20, a first beam 30, a second beam 40, a third beam 50, and a work machine 60. In the following, as shown in Figures 1 and 2, the direction of travel of the mobile trolley 1 will be defined as the X direction. The vertical direction will be defined as the Z direction. The lateral direction, which intersects the direction of travel and the vertical direction, will be defined as the Y direction. In addition, in the X direction in Figures 1 and 2, one side will be defined as the front side and the other side as the rear side.

The running unit 10 has six running mechanisms that are in contact with the ground. The running unit 10 has three running mechanisms located on the front side in the X direction and three running mechanisms located on the rear side. In this embodiment, each running mechanism is a wheel. The running unit 10 has six wheels 11-16 that drive the mobile trolley 1. Three wheels 11, 12, and 13 are located on the front side of the mobile trolley 1 in the X direction. These three wheels 11, 12, and 13 are arranged in this order in the Y direction. The running unit 10 has three wheels 14, 15, and 16 on the rear side of the mobile trolley 1 in the X direction. These three wheels 14, 15, and 16 are arranged in this order in the Y direction.

The leg section 20 extends in the Z direction from each running mechanism of the running section 10 and connects the running section 10 to the first beam 30. Specifically, the leg section 20 has six legs 21 to 26. Three legs 21, 22, and 23 extend in the Z direction from the wheels 11, 12, and 13 on the front side. Three legs 24, 25, and 26 extend in the Z direction from the wheels 14, 15, and 16 on the rear side.

Figure 3(a) is a side view showing the wheel 11 and leg 21. Figure 3(b) is an exploded view showing the wheel 11 and leg 21. The leg 21 is configured to be extendable and retractable in the Z direction. The leg 21 is provided with an actuator (third actuator) 27 for extending and retracting the leg 21. Specifically, the leg 21 has a main body portion 21a and a linear motion portion 21b to which the wheel 11 is fixed and which is moved by the actuator 27.

The actuator 27 is, for example, a linear actuator. The actuator 27 has a motor 27a and a shaft 27b connected to the linear motion unit 21b. In the actuator 27, the motor 27a is rotated by the control unit 90, causing the shaft 27b to perform linear motion. This causes the linear motion unit 21b connected to the shaft 27b to move. In this way, the actuator 27 causes the leg 21 to extend and retract.

Furthermore, similar to leg 21, each of legs 22 to 26 is provided with an actuator 27 for extending and retracting. As shown in Figure 2, leg 22 has a main body 22a and a linear motion section 22b to which the wheel 12 is fixed. The linear motion section 22b is moved by the actuator 27. Leg 23 has a main body 23a and a linear motion section 23b to which the wheel 13 is fixed. The linear motion section 23b is moved by the actuator 27. Leg 24 has a main body 24a and a linear motion section 24b to which the wheel 14 is fixed. The linear motion section 24b is moved by the actuator 27. Leg 25 has a main body 25a and a linear motion section 25b to which the wheel 15 is fixed. The linear motion section 25b is moved by the actuator 27. Each leg 26 has a main body 26a and a linear motion section 26b to which the wheel 16 is fixed. The linear motion section 26b is moved by an actuator 27. In other words, legs 22-26 are configured to be extendable and retractable along the Z-direction.

Refer again to Figures 1 and 2. The first beam 30 is connected to each of the three legs 21, 22, and 23 located on the front side. The first beam 30 extends along the Y direction. For example, when each leg 21, 22, and 23 is extended to its maximum length, the first beam 30 is positioned opposite the wheels 11, 12, and 13 to the centers of the legs 21, 22, and 23 in the Z direction.

Figure 4 is an exploded perspective view showing the first beam 30 and the second beam 40. As shown in Figure 4, the first beam 30 has a first connecting portion 31, a second connecting portion 32, and a third connecting portion 33. The first connecting portion 31, the second connecting portion 32, and the third connecting portion 33 are arranged in this order along the Y direction. The main body portion 21a of the leg 21 is connected to the first connecting portion 31. The main body portion 22a of the leg 22 is connected to the second connecting portion 32. The main body portion 23a of the leg 23 is connected to the third connecting portion 33. The first beam 30 has a first beam portion 34 and a second beam portion 35 provided in front of each connecting portion 31, 32, and 33, and a third beam portion 36 and a fourth beam portion 37 provided behind each connecting portion 31, 32, and 33. In other words, each connecting section 31, 32, and 33 is sandwiched from the front and rear sides by the first beam section 34 and the second beam section 35, and the third beam section 36 and the fourth beam section 37.

The first beam section 34, the second beam section 35, the third beam section 36, and the fourth beam section 37 are configured to be expandable and contractible along the Y direction. For example, the first beam section 34, the second beam section 35, the third beam section 36, and the fourth beam section 37 have a rectangular shape when viewed from the X direction, and expand and contract in the Y direction so that the longer side of the rectangle expands and contracts. The first beam section 34 and the second beam section 35 are arranged to overlap in the Z direction. The second beam section 35 is positioned on top of the first beam section 34. The third beam section 36 and the fourth beam section 37 are arranged to overlap in the Z direction. The fourth beam section 37 is positioned on top of the third beam section 36. The first beam section 34 has a main body section 34a fixed to the second connecting section 32 and a linear motion section 34b fixed to the first connecting section 31. The linear motion section 34b moves in the Y direction when the first beam section 34 expands and contracts. The second beam section 35 has a main body section 35a fixed to the second connecting section 32 and a linear motion section 35b fixed to the third connecting section 33. The linear motion section 35b moves in the Y direction when the second beam section 35 expands or contracts. The third beam section 36 has a main body section 36a fixed to the second connecting section 32 and a linear motion section 36b fixed to the third connecting section 33. The linear motion section 36b moves in the Y direction when the third beam section 36 expands or contracts. The fourth beam section 37 has a main body section 37a fixed to the second connecting section 32 and a linear motion section 37b fixed to the first connecting section 31. The linear motion section 37b moves in the Y direction when the fourth beam section 37 expands or contracts.

Figure 5(a) is a perspective view showing the first beam section 34 and the fifth beam section 44 (described later). Figure 5(b) is an exploded perspective view showing the first beam section 34 and the fifth beam section 44. As shown in Figure 5, the first beam section 34 has an actuator 38 (first actuator). The actuator 38 is, for example, a linear actuator. The actuator 38 has a motor 38a and a shaft 38b connected to the linear section 34b. In the actuator 38, the motor 38a is rotated by the control unit 90, causing the shaft 38b to perform linear motion. As a result, the linear section 34b connected to the shaft 38b performs linear motion and moves. In this way, the actuator 38 causes the first beam section 34 to extend and retract. The second beam section 35, the third beam section 36, and the fourth beam section 37 are also provided with actuators 38 for extending and retracting each beam section 35, 36, and 37, similar to the first beam section 34. Furthermore, each beam section 33, 34, 35, and 36 is configured to be extendable and retractable so that the distance between wheel 11 and wheel 12, and the distance between wheel 12 and wheel 13, can be changed within a range of, for example, 50 cm to 100 cm.

As described above, as shown in Figure 4, the first connecting section 31 is moved along the Y-direction relative to the second connecting section 32 by the expansion and contraction of the first beam section 34 and the fourth beam section 37. Similarly, the third connecting section 33 is moved along the Y-direction relative to the second connecting section 32 by the expansion and contraction of the second beam section 35 and the third beam section 36. Thus, the first beam 30 is configured to be expandable and contractible along the Y-direction.

Refer again to Figures 1 and 2. The second beam 40 is connected to each of the three legs 24, 25, and 26 located on the rear side. The second beam 40 extends along the Y direction. For example, the second beam 40 is positioned so that, when each leg 24, 25, and 26 is extended to its maximum length, it is located on the opposite side of the wheels 14, 15, and 16 from the center of the legs 24, 25, and 26 in the Z direction.

As shown in Figure 4, the second beam 40 has a fourth connecting section 41, a fifth connecting section 42, and a sixth connecting section 43. The fourth connecting section 41, the fifth connecting section 42, and the sixth connecting section 43 are arranged in this order along the Y direction. The main body 24a of the leg 24 is connected to the fourth connecting section 41. The main body 25a of the leg 25 is connected to the fifth connecting section 42. The main body 26a of the leg 26 is connected to the sixth connecting section 43. The second beam 40 has a fifth beam section 44 and a sixth beam section 45 provided in front of each connecting section 41, 42, and 43, and a seventh beam section 46 and an eighth beam section 47 provided behind each connecting section 41, 42, and 43. In other words, each connecting section 41, 42, and 33 is sandwiched from the front and rear sides by the fifth beam section 44 and the sixth beam section 45, and the seventh beam section 46 and the eighth beam section 47.

The fifth beam section 44, the sixth beam section 45, the seventh beam section 46, and the eighth beam section 47 are configured to be expandable and contractible along the Y direction. For example, the fifth beam section 44, the sixth beam section 45, the seventh beam section 46, and the eighth beam section 47 have a rectangular shape when viewed from the X direction, and expand and contract in the Y direction so that the longer side of the rectangle expands and contracts. The fifth beam section 44 and the sixth beam section 45 are arranged to overlap in the Z direction. The sixth beam section 45 is positioned on top of the fifth beam section 44. The seventh beam section 46 and the eighth beam section 47 are arranged to overlap in the Z direction. The eighth beam section 47 is positioned on top of the seventh beam section 46. The fifth beam section 44 has a main body section 44a fixed to the fifth connecting section 42 and a linear motion section 44b fixed to the fourth connecting section 41. The linear motion section 44b moves in the Y direction when the fifth beam section 44 expands and contracts. The sixth beam section 45 has a main body section 45a fixed to the fifth connecting section 42 and a linear motion section 45b fixed to the sixth connecting section 43. The linear motion section 45b moves in the Y direction when the sixth beam section 45 expands or contracts. The seventh beam section 46 has a main body section 46a fixed to the fifth connecting section 42 and a linear motion section 46b fixed to the sixth connecting section 43. The linear motion section 46b moves in the Y direction when the seventh beam section 46 expands or contracts. The eighth beam section 47 has a main body section 47a fixed to the fifth connecting section 42 and a linear motion section 47b fixed to the fourth connecting section 41. The linear motion section 47b moves in the Y direction when the eighth beam section 47 expands or contracts.

As shown in Figure 5, the fifth beam section 44 has an actuator 48 (second actuator). The actuator 48 is, for example, a linear actuator. The actuator 48 has a motor 48a and a shaft 48b connected to the linear section 44b. In the actuator 48, the motor 48a is rotated by the control unit 90, causing the shaft 48b to move linearly. As a result, the linear section 44b connected to the shaft 48b moves linearly. In this way, the actuator 48 causes the fifth beam section 44 to extend and retract. The sixth beam section 45, the seventh beam section 46, and the eighth beam section 47 are also provided with actuators 48 for extending and retracting their respective beam sections 45, 46, and 47, similar to the fifth beam section 44. Furthermore, each beam section 44, 45, 46, and 47 is configured to be extendable and retractable so that the distance between wheel 14 and wheel 15, and the distance between wheel 15 and wheel 16, can be changed within a range of, for example, 50 cm to 100 cm.

From the above, as shown in Figure 4, the fourth connecting section 41 is moved along the Y-direction relative to the fifth connecting section 42 by the expansion and contraction of the fifth beam section 44 and the eighth beam section 47. Similarly, the sixth connecting section 43 is moved along the Y-direction relative to the fifth connecting section 42 by the expansion and contraction of the sixth beam section 45 and the seventh beam section 46. Thus, the second beam 40 is configured to be expandable and contractible along the Y-direction.

Refer again to Figures 1 and 2. The third beam 50 is connected to the first beam 30 and the second beam 40. The third beam 50 extends along the X direction between the first beam 30 and the second beam 40. In the example shown in Figures 1 and 2, the third beam 50 has five upper beam sections 51 and five lower beam sections 52. The upper beam sections 51 and lower beam sections 52 extend along the X direction. The five upper beam sections 51 are aligned along the Y direction and span between the fourth beam section 37 and the sixth beam section 45. The five lower beam sections 52 are aligned along the Y direction and span between the third beam section 36 and the fifth beam section 44.

The work machine 60 is installed between the first beam 30 and the second beam 40. The work machine 60 has a belt conveyor 61 (first support beam) installed on five lower beam sections 52, a housing 62 (first weight) installed on the belt conveyor 61, a hose 63 connected to the housing 62, and a linear motion sensor 64 connected to the housing 62. The belt conveyor 61 extends along the Y direction and is installed (connected) to the lower beam sections 52. The belt conveyor 61 supports the housing 62, and the housing 62 moves in the Y direction when the belt conveyor 61 is operated by the control unit 90. A battery, water, pesticides, and fertilizers are arranged inside the housing 62. The hose 63 is used to spray water, pesticides, fertilizers, etc. The linear motion sensor 64 is a sensor for detecting the condition of the soil. The weight of the housing 62 can be changed within a range of 20% to 40% of the total weight of the mobile trolley 1 excluding the housing 62. Furthermore, the height of the center of gravity of the mobile trolley 1 from the ground can be changed within a range of 50 cm to 120 cm.

The control unit 90 is located inside the housing 62. The control unit 90 controls the movement of the mobile trolley 1 in the X direction. The control unit 90 also controls the movement of the mobile trolley 1 in the Y direction (details will be described later). Specifically, the control unit 90 controls the extension and retraction of each part of the mobile trolley 1. For example, the control unit 90 is electrically connected to each actuator 27, 38, and 48. By controlling each actuator 27, 38, and 48, the control unit 90 extends and retracts the legs 20, the first beam 30, and the second beam 40. Furthermore, the control unit 90 controls the spot spraying of water, pesticides, fertilizers, etc., by the work machine 60.

The hardware of the control unit 90 is composed of, for example, one or more control computers. The control unit 90 has, for example, the circuit 900 shown in Figure 6 as a hardware configuration. The circuit 900 includes a processor 901, a memory 902, a storage 903, an input/output port 904, a driver 905, and a communication unit 906. The driver 905 is a circuit for driving the running section 10 and various actuators of the vehicle body 9. The input/output port 904 performs input/output of external signals, as well as input/output of signals to the driver 905. The processor 901 executes a program in consultation with at least one of the memory 902 and the storage 903, and performs input/output of signals via the input/output port 904, thereby configuring the above-described functional module. The communication unit 906 is configured to communicate with a device located outside the control unit 90. Note that another processor 901 may be located outside the control unit 90. In this case, the control unit 90 performs data transmission and reception between itself and the device equipped with the other processor 901 via the communication unit 906.

Furthermore, the hardware configuration of the control unit 90 is not necessarily limited to one in which the functional modules are configured by program execution. For example, the control unit 90 may configure these functional modules using dedicated logic circuits or an ASIC (Application Specific Integrated Circuit) that integrates them.

The control unit 90 controls the movement of the mobile trolley 1 in the Y direction. Specifically, the control unit 90 performs a first control to control the actuator 27 so that the legs corresponding to the wheels of the object to be moved are retracted so that the wheels of the object to be moved in the Y direction are lifted. Furthermore, the control unit 90 performs a second control to control the actuator 38 or actuator 48 so that the first beam 30 or the second beam 40 corresponding to the wheels of the object to be moved are extended or retracted so that the wheels of the object to be moved move in the Y direction. Furthermore, the control unit 90 performs a control to control the belt conveyor 61 so that the housing 62 moves in the direction in which the multiple wheels other than the wheels to be moved are located. Note that the first control is performed after the completion of the third control, but is not limited to this. For example, the first control may be performed before the completion of the third control, or may be performed simultaneously with the third control.

(Control of the lateral movement of the mobile cart)
The control of the lateral movement of the mobile trolley will be explained below with reference to Figure 7, etc. Figure 7 is a schematic diagram showing the mobile trolley 1000. Figure 7 is a schematic diagram for explaining the control of the lateral movement of the mobile trolley 1000. The mobile trolley 1000 has the same basic configuration as the mobile trolley 1 described above, but differs from the mobile trolley 1 in that the first beam 30 is composed of a first beam section 34A and a second beam section 35A, the second beam 40 is composed of a fifth beam section 44A and a sixth beam section 45A, the weight controller 70 is provided in place of the work machine 60, and the control unit 90 is provided at the front end of the third beam 50.

The first beam 30 intersects with the third beam 50, and is divided into a first beam section 34A and a second beam section 35A by the third beam 50. In other words, the first beam section 34A and the second beam section 35A are continuously provided in the Y direction, flanking the third beam 50. Specifically, the first beam section 34A extends from the third beam 50 in the Y direction. The second beam section 35A extends from the third beam 50 on the opposite side of the first beam section 34A in the Y direction. The first beam section 34A and the second beam section 35A are equipped with actuators 38. That is, the first beam 30 is configured to be expandable and contractible.

The second beam 40 intersects with the third beam 50, and is divided into a fifth beam section 44A and a sixth beam section 45A by the third beam 50. In other words, the fifth beam section 44A and the sixth beam section 45A are continuously provided in the Y direction, flanking the third beam 50. Specifically, the fifth beam section 44A extends from the third beam 50 in the Y direction. The sixth beam section 45A extends from the third beam 50 on the opposite side of the fifth beam section 44A in the Y direction. Actuators 48 are provided for both the fifth beam section 44A and the sixth beam section 45A. That is, the second beam 40 is configured to be expandable and contractible.

The weight controller 70 includes a first support beam 71 extending in the Y direction, with one end 71b connected to the third beam 50, and a first weight 71a provided at the other end 71c of the first support beam 71. The weight controller 70 also includes a second support beam 72 extending in the Y direction, with one end 71b connected to the third beam 50, and a second weight 72a provided at the other end of the second support beam 72. The first support beam 71 and the second support beam 72 are continuously provided in the Y direction, sandwiching the third beam 50. Actuators 73 (fourth actuators) are provided on both the first support beam 71 and the second support beam 72. The actuators 73 extend and retract the first support beam 71 and the second support beam 72 in the Y direction.

The control unit 90 is electrically connected to the actuator 73. The control unit 90 controls the actuator 73 to extend and retract the first support beam 71 and the second support beam 72 in the Y direction. The control unit 90 performs a third control to control the actuator 73 so that the first support beam 71 extends and retracts so that the first weight 71a moves in the direction of the multiple wheels other than the wheel being moved. The control unit 90 also performs a third control to control the actuator 73 so that the second support beam 72 extends and retracts so that the second weight 72a moves in the direction of the multiple wheels other than the wheel being moved.

Figure 8 is a schematic diagram illustrating the lateral movement of the mobile cart 1000 (hereinafter referred to as "lateral movement"). Figure 8 is a cross-sectional view of the mobile cart 1000 and the field along the Y and Z directions. Referring to the schematic diagram shown in Figure 8, the control of the lateral movement of the mobile cart 1000 when moving two wheels at a time will be explained. As shown in Figure 8, the processing procedure for lateral movement control includes steps S100 to S109. The lateral movement of the mobile cart 1 will be explained below by describing the movement of the mobile cart 1000 in the Y direction.

Step S100 shows the state before the control of lateral movement is initiated. In step S100, furrows V1, V2, V3, and V4 are formed between multiple furrows M extending along the X direction. Each furrow V1, V2, V3, and V4 is arranged along the Y direction in the order of furrow V4, furrow V1, furrow V2, and furrow V3. Wheels 11 and 14 are positioned in furrow V1. Wheels 12 and 15 are positioned in furrow V2. Wheels 13 and 16 are positioned in furrow V3.

In step S101, the control unit 90 designates wheels 11 and 14 as the wheels to be moved in the Y direction. Next, the control unit 90 performs a third control, controlling the actuator 73 so that the first support beam 71 retracts so that the first weight 71a moves in the direction of the wheels other than wheels 11 and 14, and the second support beam 72 extends so that the second weight 72a moves in the same direction. Finally, the control unit 90 performs a first control, controlling the actuator 27 so that the legs 21 and 24 retract so that the wheels 11 and 14 are lifted.

Next, in step S102, the control unit 90 performs a second control to control the actuators 38 and 48 so that the first beam section 34A and the fifth beam section 44A extend so that the wheels 11 and 14 move in the Y direction. At this time, the control unit 90 controls the actuators 38 and 48 so that the wheels 11 and 14 are positioned directly above the furrow V4.

Next, in step S103, the control unit 90 controls the actuators 27 so that the legs 21 and 24 extend so that the wheels 11 and 14 contact the furrows V4.

Next, in step S104, the control unit 90 controls the actuators 73 to extend or retract the first support beam 71 and the second support beam 72 to their lengths as determined in step S100. Then, the control unit 90 designates the wheels 12 and 15 as the wheels to be moved in the Y direction. Finally, the control unit 90 performs a first control, controlling the actuators 27 to retract the legs 22 and 25 so that the wheels 12 and 15 are lifted.

Next, in step S105, the control unit 90 performs a second control to control the actuators 38 and 48 so that the wheels 12 and 15 move in the Y direction. In this second control, the control unit 90 controls the actuators 38 and 48 so that the first beam section 34A and the fifth beam section 44A contract, while the second beam section 35A and the sixth beam section 45A extend. The control unit 90 also controls the actuators 38 and 48 so that the wheels 12 and 15 are positioned directly above the furrow space V1.

Next, in step S106, the control unit 90 controls the actuators 27 so that the legs 22 and 25 extend so that the wheels 12 and 15 contact the furrows V1.

Next, in step S107, the control unit 90 designates wheels 13 and 16 as the wheels to be moved in the Y direction. Then, the control unit 90 executes a third control, controlling the actuator 73 so that the first support beam 71 extends so that the first weight 71a moves in the direction of the wheels other than wheels 13 and 16, and the second support beam 72 retracts so that the second weight 72a moves in the same direction. Finally, the control unit 90 executes a first control, controlling the actuator 27 so that the legs 23 and 26 retract so that the wheels 13 and 16 are lifted.

Next, in step S108, the control unit 90 performs a second control to control the actuators 38 and 48 so that the second beam section 35A and the sixth beam section 45A retract so that the wheels 13 and 16 move in the Y direction. In this second control, the control unit 90 controls the actuators 38 and 48 so that the wheels 13 and 16 are positioned directly above the furrow V2.

Next, in step S109, the control unit 90 controls the actuators 27 so that the legs 23 and 26 extend so that the wheels 13 and 16 contact the furrows V2. The control unit 90 also controls the actuators 73 so that the first support beam 71 and the second support beam 72 extend or retract to their lengths as they were in step S100.

As described above, by performing the processing in steps S100 to S109, the mobile trolley 1000 can move laterally from a state where the traveling unit 10 is positioned between furrows V1, V2, and V3 (step S100) to a state where the traveling unit 10 is positioned between furrows V4, V1, and V2 (step S109).

Furthermore, the lateral movement control described above can also be applied to the mobile trolley 1. In this case, in step S100, the housing 62 shown in Figure 2 is located at the center of the belt conveyor 61 in the Y direction. In step S101, the control unit 90 controls the belt conveyor 61 so that the housing 62 moves in the direction of the wheels other than wheels 11 and 14. In steps S104 and S109, the control unit 90 controls the belt conveyor 61 so that the housing 62 is located at the center of the belt conveyor 61 in the Y direction. In step S107, the belt conveyor 61 is controlled so that the housing 62 moves in the direction of the wheels other than wheels 13 and 16. Also, the first beam section 34 and the fourth beam section 37 expand and contract in the same way as the first beam section 34A. The second beam section 35 and the third beam section 36 expand and contract in the same way as the second beam section 35A. The fifth beam section 44A and the eighth beam section 47 expand and contract in the same way as the fifth beam section 44A. The sixth beam section 45 and the seventh beam section 46 expand and contract in the same manner as the sixth beam section 45A.

Figure 9 is a schematic diagram illustrating the lateral movement of the mobile cart 1000. Figure 9 shows the mobile cart 1000 viewed from the Z direction. Referring to the schematic diagram shown in Figure 9, the control of the lateral movement of the mobile cart 1000 when moving the wheels one by one will be explained. As shown in Figure 9, the processing procedure for lateral movement control includes steps S200 to S205. Hereinafter, region R200 indicates the region surrounded by multiple wheels in contact with the furrows.

Step S200 is the same state as step S100 described above, and represents the state before the control of lateral movement is started. In step S200, the wheels 11-16 of the mobile trolley 1000 are positioned between the rows, etc. The center of gravity G indicates the position of the center of gravity of the mobile trolley 1000. Note that if there is only one weight, the center of gravity G may be the position of that weight, for example, the position of the first weight 71a or the housing 62.

In step S201, first, the control unit 90 designates the wheel 11 as the wheel to be moved in the Y direction. Next, the control unit 90 performs a third control, controlling the actuator 73 so that the first support beam 71 retracts so that the first weight 71a moves in the direction in which the other wheels are located, and the second support beam 72 extends so that the second weight 72a moves in the same direction. For example, the control unit 90 controls the actuator 73 so that the first support beam 71 retracts and the second support beam 72 extends so that the center of gravity G moves into a region R200 surrounded by the multiple wheels other than the wheel 11 when viewed from the Z direction. Subsequently, the control unit 90 performs a first control, controlling the actuator 27 so that the leg 21 retracts so that the wheel 11 is lifted. Subsequently, the control unit 90 performs a second control, controlling the actuator 38 so that the first beam 34A extends so that the wheel 11 moves in the Y direction. Finally, the control unit 90 controls the actuator 27 so that the legs 21 extend so that the wheels 11 touch the ground.

In step S202, first, the control unit 90 identifies the wheel 14 as the wheel to be moved in the Y direction. Next, the control unit 90 performs a first control, controlling the actuator 27 so that the leg 24 retracts so that the wheel 14 is lifted. Subsequently, the control unit 90 performs a second control, controlling the actuator 48 so that the fifth beam 44A extends so that the wheel 14 moves in the Y direction. Finally, the control unit 90 controls the actuator 27 so that the leg 24 extends so that the wheel 14 touches the ground.

In step S203, first, the control unit 90 designates the wheels 12 and 15 as the wheels to be moved in the Y direction. Next, the control unit 90 controls the actuators 73 to extend and retract the first support beam 71 and the second support beam 72 to their lengths in step S200. Subsequently, the control unit 90 performs a first control, controlling the actuators 27 to retract the legs 22 and 25 so that the wheels 12 and 15 are lifted. Next, the control unit 90 performs a second control, controlling the actuators 38 and 48 so that the first beam section 34A and the fifth beam section 44A retract and the second beam section 35A and the sixth beam section 45A extend so that the wheels 12 and 15 move in the Y direction. Finally, the control unit 90 controls the actuators 27 so that the legs 22 and 25 extend so that the wheels 12 and 15 touch the ground.

In step S204, first, the control unit 90 designates the wheel 13 as the wheel to be moved in the Y direction. Next, the control unit 90 performs a third control, controlling the actuator 73 so that the first support beam 71 extends so that the first weight 71a moves in the direction where the other wheels are located, and the second support beam 72 retracts so that the second weight 72a moves in the same direction. For example, the control unit 90 controls the actuator 73 so that the first support beam 71 extends and the second support beam 72 retracts so that the center of gravity G moves into a region R200 surrounded by the multiple wheels other than the wheel 13 when viewed from the Z direction. Subsequently, the control unit 90 performs a first control, controlling the actuator 27 so that the leg 23 retracts so that the wheel 13 is lifted. Subsequently, the control unit 90 performs a second control, controlling the actuator 38 so that the second beam 35A retracts so that the wheel 13 moves in the Y direction. Finally, the control unit 90 controls the actuator 27 so that the legs 23 extend so that the wheels 13 touch the ground.

In step S205, first, the control unit 90 identifies the wheel 16 as the wheel to be moved in the Y direction. The control unit 90 performs a first control, controlling the actuator 27 to retract the leg 26 so that the wheel 16 is lifted. Next, the control unit 90 performs a second control, controlling the actuator 48 to retract the sixth beam 45A so that the wheel 16 moves in the Y direction. Finally, the control unit 90 controls the actuator 27 so that the leg 26 extends so that the wheel 16 touches the ground. Alternatively, after the leg 26 has extended, the control unit 90 may control the actuator 73 to extend or retract the first support beam 71 and the second support beam 72 to their lengths as they were in step S200.

As described above, by performing the processing in steps S200 to S205, the control unit 90 enables the mobile trolley 1000 to move laterally across the furrows. Note that the wheels are not limited to the above; they only need to be moved in the order of wheels 11, 12, and 13, and then in the order of wheels 14, 15, and 16. For example, the order in which wheels 11 and 14 are moved may be reversed, as may the order of wheels 12 and 15, and as may the order of wheels 13 and 16. Also, for example, wheels 11, 12, and 13 may be moved first, followed by wheels 14, 15, and 16, or vice versa.

Furthermore, the lateral movement control described above can also be applied to the mobile trolley 1. In this case, in step S200, the housing 62 is located at the center of the belt conveyor 61 in the Y direction. In step S201, the control unit 90 controls the belt conveyor 61 so that the housing 62 moves in the direction of the wheels other than the wheel 11. In step S203, the control unit 90 controls the belt conveyor 61 so that the housing 62 is located at the center of the belt conveyor 61 in the Y direction. In step S204, the belt conveyor 61 is controlled so that the housing 62 moves in the direction of the wheels other than the wheel 13. Also, the first beam section 34 and the fourth beam section 37 expand and contract in the same way as the first beam section 34A. The second beam section 35 and the third beam section 36 expand and contract in the same way as the second beam section 35A. The fifth beam section 44A and the eighth beam section 47 expand and contract in the same way as the fifth beam section 44A. The sixth beam section 45 and the seventh beam section 46 expand and contract in the same way as the sixth beam section 45A.

In the mobile trolley 1,1000 according to this embodiment, the first beam 30 and the second beam 40 are configured to be extendable and retractable along the Y direction. With this configuration, when the mobile trolley 1,1000 is traveling in the direction in which the furrows extend, the wheels 11 to 16 can be moved in the Y direction (i.e., in the direction of adjacent furrows), allowing the wheels 11 to 16 to move from one furrow to the other. Furthermore, since the mobile trolley 1,1000 has three legs with wheels on both the front and rear sides, tipping over of the mobile trolley 1,1000 is suppressed even when the wheels are lifted and moved in the Y direction. Specifically, for example, when one wheel 11 at the front is lifted and moved in the Y direction, the remaining two wheels 12 and 13 that are in contact with the ground can support the mobile trolley 1,1000, thus suppressing tipping over of the mobile trolley 1,1000. Furthermore, since the mobile trolley 1,1000 does not require the installation of rails or the like, user convenience can be ensured regarding lateral movement between rows. As described above, the mobile trolley according to this embodiment allows for stable lateral movement between rows while maintaining user convenience.

Figure 10(a) is a schematic diagram of a mobile trolley 800, which has two wheels on the front side and two on the rear side, as viewed from the Z direction. Figure 10(b) is a schematic diagram of the mobile trolley 800 as viewed from the Z direction when the mobile trolley 800 has lifted its wheels 811 and 814. Figure 10(c) is a schematic diagram of the mobile trolley 1,1000 as viewed from the Z direction. Figure 10(d) is a schematic diagram of the mobile trolley 1,1000 as viewed from the Z direction when the mobile trolley 1,1000 has lifted its wheels 11 and 14. In the examples shown in Figures 10(a) and 10(b), when the mobile trolley 800 lifts its wheels 811 and 814, the number of points where the mobile trolley 800 touches the ground decreases from four to two. On the other hand, in the examples shown in Figures 10(c) and 10(d), when the mobile carts 1,1000 lift their wheels 11,14, the number of points where the mobile carts 1,1000 make contact with the ground decreases from six to four. In this case, for the mobile carts 1,1000 and 800, the center of gravity G must not be included in the convex hull formed by all the points where the ground contact occurs, otherwise the mobile cart will tip over. In Figure 10(b), since the convex hull R800 is formed by two points, it is difficult for the mobile cart 800 to position its center of gravity G within the convex hull R800. Therefore, it is difficult for the mobile cart 800 to stably maintain the raised leg position. On the other hand, in Figure 10(d), since the convex hull R1 is formed by four points, the mobile cart 1,1000 can stably position its center of gravity G within the convex hull R1. Therefore, the mobile trolley 1,1000 can maintain a more stable raised leg position compared to the mobile trolley 800. As a result, lateral movement between rows can be performed stably.

In the mobile trolley 1,1000 according to this embodiment, the legs 21-26 are configured to be extendable and retractable along the Z-direction. The first beam 30 and the second beam 40 are configured to be extendable and retractable along the Y-direction. With this configuration, the legs 21-26, the first beam 30, and the second beam 40 can be extended and retracted according to the condition of the field or the crops being cultivated in the field, thereby enabling appropriate movement in both the lateral and travel directions.

Figure 11 is a cross-sectional view along the Y and Z directions showing the field and the mobile cart 1,1000. As shown in Figures 11(a) and (b), the mobile cart 1,1000 can extend its legs 21-26 according to the height of the ridges M and the crops C planted in the ridges, thereby preventing contact with the crops C during movement and standby. Also, as shown in Figures 11(a) and (c), the mobile cart 1,1000 can extend its first beam 30 and second beam 40 according to the width of the ridges M, so it can operate in fields with different widths of ridges M. For example, each beam section 34-37, 44-47 of the mobile cart 1 is configured to be extendable and retractable so that the distance between adjacent wheels on the front and rear sides can be changed within a range of 50 cm to 100 cm. In this case, the mobile trolley 1 can operate in the field when the width of the furrow M is between 50 cm and 100 cm by adjusting the length of each beam according to the width of the furrow M. Furthermore, as shown in Figures 11(a) and (d), since the mobile trolley 11000 can adjust the extension of each leg 21-26 according to the slope of the field, the first beam 30 and the second beam 40 can be kept horizontal even when the field is sloped.

Furthermore, since the mobile trolley 11000 can lift its legs and move from furrow to furrow, it can perform lateral movement even if there is no space in the field to turn and move between furrows.

In the mobile trolley 1,1000 according to this embodiment, each running mechanism is a wheel 11-16. With this configuration, the mobile trolley 1,1000 can travel along the X direction with the wheels 11-16, which constitute the running mechanism, in contact with the ground. As a result, the mobile trolley 1,1000 can travel more efficiently along the direction in which the furrow M extends.

The mobile trolley 1 according to this embodiment comprises a belt conveyor 61 connected to a third beam 50 and a housing 62 provided on the belt conveyor 61, with the belt conveyor 61 supporting the housing 62 so that it can move. Furthermore, the mobile trolley 1000 according to this embodiment comprises a first support beam 71 and a first weight 71a provided on the first support beam 71, with the first support beam 71 supporting the first weight 71a so that it can move. With this configuration, for example, when the mobile trolley 11000 lifts its legs, the housing 62 or the first weight 71a can be moved in a direction that maintains the balance of the mobile trolley 11000, thereby preventing the mobile trolley 11000 from tipping over. As a result, stable lateral movement becomes possible even without the installation of rails or the like.

The mobile trolley 1000 according to this embodiment comprises a second support beam 72 connected to the third beam 50, and a second weight 72a provided on the second support beam 72. The second support beam 72 supports the second weight 72a so that it can move. The first support beam 71 and the second support beam 72 are continuously provided in the Y direction, sandwiching the third beam 50. The first support beam 71 and the second support beam 72 are configured to be extendable and retractable in the Y direction. With this configuration, by extending and retracting the first support beam 71 and the second support beam 72 to control the torque of each weight 71a and 72a relative to the third beam 50, it becomes possible to control the center of gravity of the mobile trolley 1000 with greater precision. As a result, when the legs of the mobile trolley 1000 are lifted, it becomes possible to more reliably prevent the mobile trolley 1000 from tipping over.

In this embodiment of the mobile trolley 1, the housing 62 serves as the first weight 71a of the mobile trolley 1000. This configuration eliminates the need to add any further components to the mobile trolley 1 in addition to the housing 62. Therefore, a mobile trolley 1 that can stably move between rows while maintaining user convenience can be realized with a simpler configuration.

In this embodiment, the mobile trolley 1000 includes an actuator 38 for extending and retracting the first beam 30, an actuator 48 for extending and retracting the second beam 40, an actuator 27 for extending and retracting the legs 21-26, and an actuator 73 for extending and retracting the first support beam 71 and the second support beam 72. With this configuration, the control unit 90 can control the extension and retraction of the first beam 30, the second beam 40, the legs 21-26, the first support beam 71, and the second support beam 72. As a result, the extension and retraction of each part of the mobile trolley 1000 can be synchronized, enabling stable lateral movement between rows.

The mobile trolley 1000 according to this embodiment includes a control unit 90 that controls the actuators 27, 38, 48, and 73. The control unit 90 is configured to perform the following: a first control that controls actuator 27 so that the legs corresponding to the wheels of the object to be moved are retracted so that the wheels of the object to be moved in the Y direction are lifted; a second control that controls actuator 38 or actuator 48 so that the first beam 30 or second beam 40 corresponding to the wheels of the object to be moved are extended or retracted so that the wheels of the object to be moved move in the Y direction; and a third control that controls actuator 73 so that the first support beam 71 is extended or retracted so that the first weight 71a moves in the direction of the multiple wheels other than the wheel to be moved. With this configuration, the first weight 71a approaches the wheels other than the lifted wheel, allowing the mobile trolley 1000 to stably lift the wheels. This makes it more reliable to prevent the mobile trolley 1000 from tipping over when moving laterally between rows.

In the mobile trolley 1000 according to this embodiment, the control unit 90 controls the actuator 73 in the third control so that the center of gravity G of the mobile trolley 1000 is located in a region R200 surrounded by multiple wheels other than the wheel being moved, when viewed from the Z direction. Specifically, in the third control, the control unit 90 controls the actuator 73 so that the first support beam 71 extends and retracts so that the first weight 71a moves toward the region R200 surrounded by multiple wheels other than the wheel being moved, when viewed from the Z direction, and the second support beam 72 extends and retracts so that the second weight 72a moves toward the same region R200. With this configuration, since the center of gravity G of the mobile trolley 1000 is located in the region R200 surrounded by the wheels that are in contact with the ground, when viewed from the Z direction, the mobile trolley 1000 can stably lift its wheels. As a result, it is possible to more reliably suppress the mobile trolley 1000 from tipping over when it moves laterally between rows of rice. Furthermore, if the only weight is the first weight 71a, the control unit 90 may, in the third control, control the actuator 73 so that, when viewed from the Z direction, the first weight 71a is located in the region surrounded by the multiple wheels other than the wheel being moved.

The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments. Hereinafter, the first to fourth modifications will be described as embodiments different from those described above.

(First variation)
Figure 12 is a schematic diagram showing a mobile trolley 100 according to the first modified example. The mobile trolley 100 differs from the mobile trolley 1000 in that it has a weight controller 170 instead of a weight controller 70. The weight controller 170 has a first support beam 171 with one end 171b connected to the third beam 50, and a first weight 171a provided on the other end 171c of the first support beam 171. The first support beam 171 is configured to be rotatable about the third beam 50 as its central axis. Specifically, the first support beam 171 has one end 171b fixed to the third beam 50, and the control unit 90 is configured to rotate the other end 171c about the third beam 50 as its central axis.

In the first modified example of the mobile trolley 100, the first support beam 171 may be configured to rotate around the third beam 50 as its central axis. With this configuration, by rotating the first support beam 171 and controlling the torque of the first weight 171a on the third beam 50, the center of gravity of the mobile trolley 100 can be controlled with greater precision. As a result, when the legs of the mobile trolley 100 are lifted, the overturning of the mobile trolley 100 can be more reliably suppressed. Furthermore, the same effects and advantages as those of the above-described embodiment are achieved in the first modified example, and the problem is solved.

(Second variation)
Figure 13 is a schematic diagram showing a mobile carriage 200 according to a second modified example. The mobile carriage 200 differs from the mobile carriage 1000 in that it has a weight controller 270 instead of a weight controller 70, a third beam 250 instead of a third beam 50, and a control unit 290 instead of a control unit 90. The third beam 250 is provided with an actuator 53 (a fifth actuator) that extends and retracts the third beam 250. The actuator 53 has a configuration similar to, for example, actuators 38 and 48.

The weight controller 270 comprises a first support beam 271, one end 271b of which is connected to the third beam 250, and a first weight 271a provided at the other end 271c of the first support beam 271. The first support beam 271 is configured to rotate around the third beam 250 and the Y-direction as its central axis, and to be displaceable in the Y-direction and X-direction. Specifically, one end 271b of the first support beam 271 is fixed to the third beam 250, and the control unit 290 is configured to rotate the other end 271c around the central axis of the one end 271b.

The control unit 290 performs the first, second, and third controls, similar to the control unit 90. Unlike the control unit 90, the control unit 290 is configured to perform a fourth control, controlling the actuator 27 so that the legs corresponding to the wheels of the object to be moved in the X direction are retracted, thereby lifting the wheels of the object to be moved in the X direction. Also unlike the control unit 90, the control unit 290 is configured to perform a fifth control, controlling the actuator 53 so that the third beam 250 extends or retracts so that the wheels of the object to be moved in the X direction move in the X direction.

In the second modified mobile cart 200, an actuator 53 is provided to extend and retract the third beam 250. The control unit 290 is configured to perform a fourth control, which controls the actuator 27 so that the legs corresponding to the wheels of the object to be moved are retracted so that the wheels of the object to be moved in the X direction are lifted; and a fifth control, which controls the actuator 53 so that the third beam 250 extends and retracts so that the wheels of the object to be moved in the X direction move in the X direction. With this configuration, it becomes possible to lift and move the wheels not only in the Y direction but also in the X direction. As a result, the influence of the ground conditions between the rows on the movement of the mobile cart 200 is reduced, improving the running performance of the mobile cart. For example, even if there are obstacles such as stones and holes between the rows that hinder the movement of the mobile cart 200, the mobile cart 200 can lift its wheels in the direction of travel to avoid the obstacles and then continue moving. The second modified version also achieves the same effects and advantages as the above-described embodiment and the first modified version, thus solving the problem.

(Third variation)
Figure 14 is a schematic diagram showing a mobile trolley 300 according to a third modified example. The mobile trolley 300 differs from the mobile trolley 1000 in the following respects.

The mobile trolley 300 is provided with a third beam 350 in place of the third beam 50. The third beam 350 extends along the X-direction to connect the first beam 30 and the second beam 40. The third beam 350 has a front beam section 351 connected to the first beam 30 and a rear beam section 352 connecting the second beam 40 and the front beam section 351. Actuators 53 are provided on the front beam section 351 and the rear beam section 352.

The mobile trolley 300 is equipped with a control unit 390 in place of the control unit 90. The control unit 390 performs the first, second, third, fourth, and fifth controls, similar to the control unit 290.

The mobile trolley 300 is equipped with a weight controller 370 instead of the weight controller 70. The weight controller 370 comprises a first support beam 371, one end 371b of which is connected to the third beam 350, and a first weight 371a provided at the other end 371c of the first support beam 371. The first support beam 371 is configured to rotate around the third beam 350 and the Y-direction as its central axis, and to be displaceable in the Y-direction and X-direction. Specifically, one end 371b of the first support beam 371 is fixed to the third beam 350, and the control unit 390 is configured to rotate the other end 371c around the one end 371b as its central axis.

The mobile trolley 300 is provided with a fourth beam 380. The fourth beam 380 extends along the Y direction between the first beam 30 and the second beam 40 in the X direction. In other words, the fourth beam 380 intersects with the third beam 350 and is divided by the third beam 350 into a ninth beam section 381 and a tenth beam section 382. The ninth beam section 381 extends from the third beam 350 in the Y direction. The tenth beam section 382 extends from the third beam 350 on the opposite side of the ninth beam section 381 in the Y direction. Actuators 383 are provided for both the ninth beam section 381 and the tenth beam section 382. That is, the fourth beam 380 is configured to be extendable and retractable. The actuator 383 has a similar configuration to, for example, actuators 38 and 48.

The mobile trolley 300 is provided with a support section 384 connected to the fourth beam 380. The support section 384 has a first support rod 385 connected to the end 380a of the fourth beam 380 on the ninth beam section 381 side, and a second support rod 386 connected to the end 380b of the fourth beam 380 on the tenth beam section 382 side. The first and second support rods 385 and 386 extend toward the ground. The first and second support rods 385 and 386 are provided with actuators 27 that extend and retract the respective support rods 385 and 386. In other words, the support section 384 is configured to be extendable and retractable.

Figure 15 is a schematic diagram illustrating the movement of the mobile cart 300 in the direction of travel according to a third modified example. Figure 15 shows the mobile cart 300 viewed from the Z direction. Referring to the schematic diagram shown in Figure 15, the control of the movement of the mobile cart 300 in the direction of travel when the wheels are lifted and moved in the X direction will be explained. As shown in Figure 15, the processing procedure for controlling movement in the direction of travel includes steps S400 to S403.

Step S400 represents the state before movement in the direction of travel begins. In step S400, each wheel 11-16, the first support rod 385, and the second support rod 386 are positioned, for example, between the rows in a field.

In step S401, first, the control unit 390 designates wheels 11, 12, and 13 as moving targets, meaning they are the wheels to be moved in the X direction. Next, the control unit 390 performs control to rotate the other end 371c of the first support beam 371 so that the first weight 371a moves in the direction where the other wheels 14, 15, and 16 are located. Subsequently, the control unit 390 performs a fourth control to control the actuators 27 so that the legs 21, 22, and 23 retract so that each wheel 11, 12, and 13 is lifted. Next, the control unit 390 performs a fifth control to control the actuator 53 so that the front beam 351 extends so that the wheels 11, 12, and 13 move in the X direction. Finally, the control unit 390 controls the actuators 27 so that the legs 21, 22, and 23 extend so that the wheels 11, 12, and 13 touch the ground.

In step S402, first, the control unit 390 sets the first support rod 385 and the second support rod 386 as targets for movement. Next, the control unit 390 controls the actuator 27 so that the first support rod 385 and the second support rod 386 retract. The control unit 390 controls the actuator 53 so that the front beam portion 351 retracts and the rear beam portion 352 extends, so that the first support rod 385 and the second support rod 386 move in the X direction. Finally, the control unit 390 controls the actuator 27 so that the first support rod 385 and the second support rod 386 extend and touch the ground. The control unit 390 also performs control to rotate the other end 371c of the first support beam 371 so that the first support beam 371 is aligned with the Z direction.

In step S403, first, the control unit 390 designates wheels 14, 15, and 16 as the wheels to be moved in the X direction. Next, the control unit 390 performs control to rotate the other end 371c of the first support beam 371 so that the first weight 371a moves in the direction where the wheels 11, 12, and 13 (other than the wheels to be moved) are located. Subsequently, the control unit 390 performs a fourth control to control the actuators 27 so that the legs 24, 25, and 26 retract so that each wheel 14, 15, and 16 is lifted. The control unit 390 performs a fifth control to control the actuator 53 so that the rear beam 352 retracts so that the wheels 14, 15, and 16 move in the X direction. The control unit 390 controls the actuators 27 so that the legs 24, 25, and 26 extend so that the wheels 14, 15, and 16 touch the ground.

The third modified mobile cart 300 includes a support section 384 having a fourth beam 380 extending along the Y direction so as to intersect the third beam 350 between the first beam 30 and the second beam 40 in the direction of travel, a first support rod 385 connected to one end 380a of the fourth beam 380 and extending toward the ground, and a second support rod 386 connected to the other end 380b of the fourth beam 380 and extending toward the ground. The ninth beam section 381, the tenth beam section 382, the first support rod 385, and the second support rod 386 are configured to be extendable and retractable. With this configuration, the load of the mobile cart 300 is supported by the travel section 10 and the support section 384, while movement in the lateral direction and in the direction of travel is performed. As a result, it becomes possible to move laterally across the field more stably. Furthermore, the third modification also achieves the same effects and benefits as the embodiments, the first modification, and the second modification described above, thereby solving the problem.

(Fourth variation)
Figure 16 is a schematic diagram showing a mobile trolley 400 according to a fourth modified example. The mobile trolley 400 differs from the mobile trolley 1000 in the following respects.

The mobile trolley 400 is equipped with a control unit 490 instead of the control unit 90. The control unit 490 performs the first, second, third, fourth, and fifth controls, similar to the control unit 290. Furthermore, the mobile trolley 400 is not equipped with a weight controller 70.

The mobile trolley 400 is provided with a third beam 450 in place of the third beam 50. The third beam 450 extends along the X direction, connecting to the first beam 30 and the second beam 40. Specifically, the third beam 450 has a front beam section 451 located in front of the first beam 30, a middle beam section 452 located between the first beam 30 and the second beam 40, and a rear beam section 453 located behind the second beam 40. Each of the beam sections 451, 452, and 453 is provided with an actuator 53 for extending and retracting them.

The mobile trolley 400 is provided with a fifth beam 480. The fifth beam 480 extends along the Y-direction, intersecting the third beam 450, forward of the first beam 30. Specifically, the fifth beam 480 intersects the front beam section 451, which divides it into an eleventh beam section 481 and a twelfth beam section 482. The eleventh beam section 481 extends from the front beam section 451 in the Y-direction. The twelfth beam section 482 extends from the front beam section 451 on the opposite side of the eleventh beam section 481 in the Y-direction. The eleventh beam section 481 and the twelfth beam section 482 are provided with actuators 483 that extend and retract each beam section 481 and 482. In other words, the fifth beam 480 is configured to be extendable and retractable. The actuator 483 has a configuration similar to, for example, actuators 38 and 48.

The mobile trolley 400 is provided with a first support section (support section) 484 connected to the fifth beam 480. The first support section 484 has a third support rod 485 connected to the end 480a of the fifth beam 480 on the eleventh beam section 481 side, and a fourth support rod 486 connected to the end 480b of the fifth beam 480 on the twelfth beam section 482 side. The third support rod 485 and the fourth support rod 486 extend toward the ground. The third support rod 485 and the fourth support rod 486 are provided with actuators 27 that extend and retract each support rod 485 and 486. In other words, the first support section 484 is configured to be extendable and retractable.

The mobile trolley 400 is provided with a sixth beam 580. The sixth beam 580 extends along the Y-direction, intersecting the third beam 450, and is located behind the second beam 40. Specifically, the sixth beam 580 intersects the rear beam section 453, which divides it into a thirteenth beam section 581 and a fourteenth beam section 582. The thirteenth beam section 581 extends from the rear beam section 453 in the Y-direction. The fourteenth beam section 582 extends from the rear beam section 453 on the opposite side of the thirteenth beam section 581 in the Y-direction. The thirteenth beam section 581 and the fourteenth beam section 582 are provided with actuators 583 that extend and retract each beam section 581 and 582. In other words, the sixth beam 580 is configured to be extendable and retractable. The actuator 583 has a configuration similar to, for example, actuators 38 and 48.

The mobile trolley 400 is provided with a second support section (support section) 584 connected to the sixth beam 580. The second support section 584 has a fifth support rod 585 connected to the end 580a of the sixth beam 580 on the thirteenth beam section 581 side, and a sixth support rod 586 connected to the end 580b of the sixth beam 580 on the fourteenth beam section 582 side. The fifth support rod 585 and the sixth support rod 586 extend toward the ground. The fifth support rod 585 and the sixth support rod 586 are provided with actuators 27 that extend and retract each support rod 585 and 586. In other words, the second support section 584 is configured to be extendable and retractable.

Figure 17 is a schematic diagram illustrating the lateral movement of the mobile trolley 400 according to the fourth modified example. Figure 17 shows the mobile trolley 400 viewed from the Z direction. Referring to the schematic diagram shown in Figure 17, the control of the movement of the mobile trolley 400 in the direction of travel when the wheels are lifted and moved in the X direction will be explained. As shown in Figure 17, the processing procedure for controlling movement in the direction of travel includes steps S500 to S505.

Step 500 shows the state before lateral movement begins. In step S500, each wheel 11-16, the third support rod 485, the fourth support rod 486, the fifth support rod 585, and the sixth support rod 586 are positioned, for example, between the rows in a field.

In step S501, first, the control unit 490 targets the third support rod 485 and the fifth support rod 585 for movement. Next, the control unit 490 controls the actuators 27 so that the third support rod 485 and the fifth support rod 585 retract. Subsequently, the control unit 490 controls the actuators 483 and 583 so that the eleventh beam section 481 and the thirteenth beam section 581 extend so that the third support rod 485 and the fifth support rod 585 move in the Y direction. Finally, the control unit 490 controls the actuators 27 so that the third support rod 485 and the fifth support rod 585 extend and touch the ground.

In step S502, the control unit 490 designates wheels 11 and 14 as the wheels to be moved in the Y direction. The control unit 490 performs a first control, controlling the actuators 27 so that the legs 21 and 24 retract so that wheels 11 and 14 are lifted. The control unit 490 then performs a second control, controlling the actuators 38 and 48 so that the first beam section 34A and the fifth beam section 44A extend so that wheels 11 and 14 move in the Y direction. The control unit 90 controls the actuators 27 so that the legs 21 and 24 extend so that wheels 11 and 14 touch the ground.

In step S503, the control unit 490 designates the wheels 12 and 15 as the wheels to be moved in the Y direction. The control unit 490 performs a first control, controlling the actuators 27 so that the legs 22 and 25 retract so that the wheels 12 and 15 are lifted. The control unit 490 then performs a second control, controlling the actuators 38, 48, 483, and 583 so that the wheels 12 and 15 move in the Y direction. In this second control, the control unit 490 controls the actuators 38, 48, 483, and 583 so that the first beam section 34A, the fifth beam section 44A, the eleventh beam section 481, and the thirteenth beam section 581 retract, while the second beam section 35A, the sixth beam section 45A, the twelfth beam section 482, and the fourteenth beam section 582 extend.

In step S504, the control unit 490 designates wheels 13 and 16 as the wheels to be moved in the Y direction. The control unit 490 performs a first control, controlling the actuators 27 so that the legs 23 and 26 retract so that wheels 13 and 16 are lifted. The control unit 490 then performs a second control, controlling the actuators 38 and 48 so that the second beam section 35A and the sixth beam section 45A retract so that wheels 13 and 16 move in the Y direction. Finally, the control unit 490 controls the actuators 27 so that the legs 23 and 26 extend so that wheels 13 and 16 touch the ground.

In step S505, first, the control unit 490 targets the fourth support rod 486 and the sixth support rod 586 for movement. Next, the control unit 490 controls the actuators 27 so that the fourth support rod 486 and the sixth support rod 586 retract. Subsequently, the control unit 490 controls the actuators 483 and 583 so that the twelfth beam section 482 and the fourteenth beam section 582 retract, so that the fourth support rod 486 and the sixth support rod 586 move in the Y direction. Finally, the control unit 490 controls the actuators 27 so that the fourth support rod 486 and the sixth support rod 586 extend and touch the ground.

Figure 18 is a schematic diagram illustrating the movement of the mobile cart 400 in the direction of travel according to the fourth modified example. Figure 18 shows the mobile cart 400 viewed from the Z direction. Referring to the schematic diagram shown in Figure 18, the control of the movement of the mobile cart 400 in the X direction when the wheels are lifted and moved will be explained. As shown in Figure 18, the processing procedure for controlling movement in the direction of travel includes steps S600 to S604.

Step S600 represents the state before movement in the direction of travel begins. In step S600, each wheel 11-16, the third support rod 485, the fourth support rod 486, the fifth support rod 585, and the sixth support rod 586 are positioned, for example, between the rows in a field.

In step S601, first, the control unit 490 identifies the third support rod 485 and the fourth support rod 486 as targets for movement in the X direction. Next, the control unit 490 controls the actuator 27 so that the third support rod 485 and the fourth support rod 486 retract. Subsequently, the control unit 490 performs a fifth control, controlling the actuator 53 so that the front beam portion 451 extends so that the third support rod 485 and the fourth support rod 486 move in the X direction. Finally, the control unit 490 controls the actuator 27 so that the third support rod 485 and the fourth support rod 486 extend and touch the ground.

In step S602, first, the control unit 490 designates the wheels 11, 12, and 13 as moving objects, meaning they are wheels to be moved in the X direction. Next, the control unit 490 performs a fourth control, controlling the actuators 27 so that the legs 21, 22, and 23 retract so that each wheel 11, 12, and 13 is lifted. Subsequently, the control unit 490 performs a fifth control, controlling the actuator 53 so that the front beam 451 retracts and the middle beam 452 extends so that the wheels 11, 12, and 13 move in the X direction. Finally, the control unit 490 controls the actuators 27 so that the legs 21, 22, and 23 extend so that the wheels 11, 12, and 13 touch the ground.

In step S603, first, the control unit 490 designates the wheels 14, 15, and 16 as moving objects, meaning they are wheels to be moved in the X direction. Next, the control unit 490 executes a fourth control, controlling the actuators 27 so that the legs 24, 25, and 26 retract so that each wheel 14, 15, and 16 is lifted. Subsequently, the control unit 490 executes a fifth control, controlling the actuator 53 so that the central beam 452 retracts and the rear beam 453 extends so that the wheels 14, 15, and 16 move in the X direction. Finally, the control unit 490 controls the actuators 27 so that the legs 24, 25, and 26 extend so that the wheels 14, 15, and 16 touch the ground.

In step S604, first, the control unit 490 identifies the fifth support rod 585 and the sixth support rod 586 as targets for movement in the X direction. Next, the control unit 490 controls the actuator 27 so that the fifth support rod 585 and the sixth support rod 586 retract. Subsequently, the control unit 490 performs a fifth control, controlling the actuator 53 so that the rear beam section 453 retracts so that the fifth support rod 585 and the sixth support rod 586 move in the X direction. Finally, the control unit 490 controls the actuator 27 so that the fifth support rod 585 and the sixth support rod 586 extend and touch the ground.

The mobile trolley 400 according to the fourth modified example has a fifth beam 480 extending laterally so as to intersect the third beam 450 on the side in front of the first beam 30 in the X direction, and a sixth beam 580 extending laterally so as to intersect the third beam 450 on the side in the travel direction behind the second beam 40. The mobile trolley 400 includes a first support section 484 having a third support rod 485 connected to one end 480a of the fifth beam 480 and extending toward the ground, and a fourth support rod 486 connected to the other end 480b of the fifth beam 480 and extending toward the ground. The mobile trolley 400 includes a second support section 584 having a fifth support rod 585 connected to one end 580a of the sixth beam 580 and extending toward the ground, and a sixth support rod 586 connected to the other end 580b of the sixth beam 580 and extending toward the ground. The fifth beam 480, the sixth beam 580, the first support section 484, and the second support section 584 are configured to be extendable and retractable. With this configuration, the load of the mobile trolley 400 is supported by the running section 10, the first support section 484, and the second support section 584, while movement in the lateral and running directions is performed. Furthermore, since the first support section 484 and the second support section 584 are provided on the outside of the first beam 30 and the second beam 40, tipping of the mobile trolley 400 is more reliably suppressed when one or two of the wheels 11 to 16 are lifted. In other words, the mobile trolley 400 can be prevented from tipping over during lateral and forward movement, even without a weight controller 70 or the like. As described above, it becomes possible to move more stably between rows. Furthermore, the fourth modification achieves the same effects and advantages as the above-described embodiment, the first modification, and the second modification, thus solving the problem.

(Fifth variation)
Figure 19 is a schematic diagram showing a mobile trolley 2000 according to a fifth modified example. The mobile trolley 2000 is similar to the mobile trolley 1000 in that it has a running section 10 and leg sections 20, but the mobile trolley 2000 differs from the mobile trolley 1000 in that it has a body 2009 and a control unit 2090. The body 2009 has a seventh beam 2030, an eighth beam 2050, and a weight controller 2070.

The seventh beam 2030 has multiple beam sections extending along the X direction to connect one of each leg 21-23 and one of each leg 24-26. Specifically, the seventh beam 2030 has a 15th beam section 2031 connected to leg 21 and a 16th beam section 2032 connected to leg 22. The 15th beam section 2031 and the 16th beam section 2032 extend along the X direction between leg 21 and leg 24 when viewed from the Z direction. The 15th beam section 2031 and the 16th beam section 2032 are connected to each other at their ends 2033. The 15th beam section 2031 and the 16th beam section 2032 have actuators 2034 that extend and retract each beam section 2031 and 2032. The actuator 2034 has a configuration similar to, for example, actuators 38 and 48.

The seventh beam 2030 has a seventeenth beam section 2035 and an eighteenth beam section 2036. The seventeenth beam section 2035 and the eighteenth beam section 2036 extend along the X direction, similar to the fifteenth beam section 2031 and the sixteenth beam section 2032, and are connected to their respective legs 22 and 25, and connected to each other at their ends 2037. The seventeenth beam section 2035 and the eighteenth beam section 2036 have actuators 2034 that extend and retract their respective beam sections 2035 and 2036.

The seventh beam 2030 has a 19th beam section 2038 and a 20th beam section 2039. The 19th beam section 2038 and the 20th beam section 2039, like the 15th beam section 2031 and the 16th beam section 2032, extend along the X direction, are connected to their respective legs 23 and 26, and are connected to each other at their ends 2040. The 19th beam section 2038 and the 20th beam section 2039 have actuators 2034 that extend and retract their respective beam sections 2038 and 2039.

The eighth beam 2050 extends along the Y-direction to connect multiple beam sections constituting the seventh beam 2030. Specifically, it has a 21st beam section 2051 extending along the Y-direction to connect end 2033 and end 2037, and a 22nd beam section 2052 extending along the Y-direction to connect end 2037 and end 2040. The 21st beam section 2051 and the 22nd beam section 2052 each have an actuator 2053 that extends and retracts each beam section 2051 and 2052. The actuator 2053 has a configuration similar to, for example, actuators 38 and 48.

The weight controller 2070 comprises a first support beam 2071 extending in the Y direction, with one end 2071b connected to end 2037, and a first weight 2071a provided at the other end 2071c of the first support beam 2071. The first support beam 2071 is configured to rotate around the 17th beam section 2035 and the 18th beam section 2036 as its central axes. Specifically, the first support beam 2071 has one end 2071b fixed to end 2037, and the control unit 2090 is configured to rotate the other end 2071c around the 17th beam section 2035 and the 18th beam section 2036 as its central axes.

The control unit 2090 controls the running section 10 and various actuators of the vehicle body 2009 so that the vehicle body 2009 moves in the lateral and travel directions. The control unit 2090 performs, for example, the first control described above. In the example shown in Figure 19, the control unit 2090 is located on the 17th beam section 2035 of the 7th beam 2030.

Figure 20 is a schematic diagram illustrating the lateral movement of the mobile trolley 2000 according to the fifth modified example. Figure 20 shows the mobile trolley 2000 viewed from the Z direction. Referring to the schematic diagram shown in Figure 20, the control of the lateral movement of the mobile trolley 200 when the wheels are lifted and moved in the Y direction will be explained. As shown in Figure 20, the processing procedure for controlling movement in the direction of travel includes steps S700 to S703.

Step S700 shows the state before the control of lateral movement is initiated. In step S700, the wheels 11-16 of the mobile trolley 2000 are positioned between the rows, etc. The center of gravity G indicates the position of the center of gravity of the mobile trolley 2000. Note that if there is only one weight, the center of gravity G may be the position of that weight, or for example, the position of the first weight 2071a.

In step S701, first, the control unit 2090 designates wheels 11 and 14 as the wheels to be moved in the Y direction. Next, the control unit 2090 executes control to rotate the other end 2071c of the first support beam 2071 so that the first weight 2071a moves in the direction where the wheels other than wheels 11 and 14 are located. Subsequently, the control unit 2090 executes first control to control the actuators 27 so that the legs 21 and 24 retract so that the wheels 11 and 14 are lifted. The control unit 2090 executes control of the actuator 2053 so that the 21st beam section 2051 extends so that the wheels 11 and 14 move in the Y direction. Finally, the control unit 2090 executes control of the actuators 27 so that the legs 21 and 24 extend so that the wheels 11 and 14 touch the ground.

In step S702, first, the control unit 2090 designates the wheels 12 and 15 as the wheels to be moved in the Y direction. Next, the control unit 2090 executes control to rotate the other end 2071c of the first support beam 2071 so that the first weight 2071a is in the same state as in step S700. Subsequently, the control unit 2090 executes a first control to control the actuator 27 so that the legs 22 and 25 retract so that the wheels 12 and 15 are lifted. The control unit 2090 executes control of the actuator 2053 so that the 21st beam section 2051 retracts and the 22nd beam section 2052 extends so that the wheels 12 and 15 move in the Y direction. Finally, the control unit 2090 executes control of the actuator 27 so that the legs 22 and 25 extend so that the wheels 12 and 15 touch the ground.

In step S703, first, the control unit 2090 designates wheels 13 and 16 as the wheels to be moved in the Y direction. Next, the control unit 2090 executes control to rotate the other end 2071c of the first support beam 2071 so that the first weight 2071a is in the same state as in step S700. Subsequently, the control unit 2090 executes first control to control the actuator 27 so that the legs 23 and 26 retract so that the wheels 13 and 16 are lifted. The control unit 2090 executes control of the actuator 2053 so that the 22nd beam section 2052 retracts so that the wheels 13 and 16 move in the Y direction. Finally, the control unit 2090 executes control of the actuator 27 so that the legs 23 and 26 extend so that the wheels 13 and 16 touch the ground.

Figure 21 is a schematic diagram illustrating the movement of the mobile cart 2000 in the direction of travel according to the fifth modified example. Figure 21 shows the mobile cart 2000 viewed from the Z direction. Referring to the schematic diagram shown in Figure 21, the control of the movement of the mobile cart 2000 in the direction of travel when the wheels are lifted and moved in the X direction will be explained. As shown in Figure 21, the processing procedure for controlling movement in the direction of travel includes steps S800 to S807.

Step S800 shows the state before the control of movement is initiated. In step S700, the wheels 11-16 of the mobile trolley 2000 are positioned between the furrows, etc., as in step S700. The center of gravity G indicates the position of the center of gravity of the mobile trolley 2000.

In step S801, first, the control unit 2090 identifies wheel 11 as the moving target, a wheel to be moved in the X direction. Next, the control unit 2090 executes control to rotate the other end 2071c of the first support beam 2071 so that the center of gravity G moves in the direction of the multiple wheels other than the moving target wheel 11. Specifically, the control unit 2090 executes control to rotate the other end 2071c of the first support beam 2071 so that the center of gravity G moves into the region R2000 surrounded by the multiple wheels other than the moving target wheel 11. Subsequently, the control unit 2090 executes first control to control the actuator 27 so that the leg 21 retracts so that the wheel 11 is lifted. Subsequently, the control unit 2090 executes second control to control the actuator 2034 so that the 15th beam section 2031 extends so that the wheel 11 moves in the Y direction. Finally, the control unit 2090 controls the actuator 27 so that the leg 21 extends so that the wheel 11 touches the ground.

In step S802, first, the control unit 2090 identifies wheel 12 as the wheel to be moved in the X direction. Next, the control unit 2090 executes control to rotate the other end 2071c of the first support beam 2071 so that the center of gravity G moves in the direction of the multiple wheels other than the wheel to be moved 12. Specifically, the control unit 2090 executes control to rotate the other end 2071c of the first support beam 2071 so that the center of gravity G moves within the region R2000 surrounded by the multiple wheels other than the wheel to be moved 12. Subsequently, the control unit 2090 executes first control to control the actuator 27 so that the leg 22 retracts so that wheel 12 is lifted. Next, the control unit 2090 executes control of the actuator 2034 so that the 17th beam section 2035 extends so that wheel 12 moves in the Y direction. Finally, the control unit 2090 controls the actuator 27 so that the leg 22 extends so that wheel 12 touches the ground.

In step S803, first, the control unit 2090 identifies wheel 13 as the target of movement, moving in the X direction. Next, the control unit 2090 performs a first control, controlling the actuator 27 so that the leg 23 retracts to lift wheel 13. Subsequently, the control unit 2090 controls the actuator 2034 so that the 19th beam 2038 extends to move wheel 13 in the Y direction. Finally, the control unit 2090 controls the actuator 27 so that the leg 23 extends to bring wheel 13 to the ground. The center of gravity G is located within the region R2000 surrounded by the multiple wheels other than the target of movement wheel 13.

In step S804, the control unit 2090 controls the actuator 2034 so that the 15th beam section 2031, the 17th beam section 2035, and the 19th beam section 2038 contract, while the 16th beam section 2032, the 18th beam section 2036, and the 20th beam section 2039 extend, so that the 8th beam 2050 moves in the X direction.

In step S805, first, the control unit 2090 identifies wheel 14 as the wheel to be moved in the X direction. Next, the control unit 2090 executes control to rotate the other end 2071c of the first support beam 2071 so that the center of gravity G moves in the direction of the multiple wheels other than the wheel to be moved 14. Specifically, the control unit 2090 executes control to rotate the other end 2071c of the first support beam 2071 so that the center of gravity G moves within the region R2000 surrounded by the multiple wheels other than the wheel to be moved 14. Subsequently, the control unit 2090 executes first control to control the actuator 27 so that the leg 24 retracts so that wheel 14 is lifted. Next, the control unit 2090 executes control of the actuator 2034 so that the 16th beam section 2032 retracts so that wheel 14 moves in the Y direction. Finally, the control unit 2090 controls the actuator 27 so that the leg 24 extends so that wheel 14 touches the ground.

In step S806, first, the control unit 2090 identifies the wheel 15 as the moving object, which is to be moved in the X direction. Next, the control unit 2090 performs a first control to control the actuator 27 so that the leg 25 retracts so that the wheel 15 is lifted. Subsequently, the control unit 2090 performs control of the actuator 2034 so that the 18th beam 2036 retracts so that the wheel 15 moves in the Y direction. Finally, the control unit 2090 controls the actuator 27 so that the leg 25 extends so that the wheel 15 touches the ground.

In step S807, first, the control unit 2090 identifies wheel 16 as the target of movement, moving in the X direction. Next, the control unit 2090 executes control to rotate the other end 2071c of the first support beam 2071 so that the center of gravity G moves in the direction of the multiple wheels other than the target of movement wheel 16. Specifically, the control unit 2090 executes control to rotate the other end 2071c of the first support beam 2071 so that the center of gravity G moves within the region R2000 surrounded by the multiple wheels other than the target of movement wheel 16. Subsequently, the control unit 2090 executes first control to control the actuator 27 so that the leg 26 retracts so that wheel 16 is lifted. Next, the control unit 2090 executes control of actuator 2034 so that the 20th beam section 2039 retracts so that wheel 16 moves in the Y direction. Finally, the control unit 2090 controls the actuator 27 so that the leg 26 extends so that wheel 16 touches the ground.

In the explanation so far, the first weights 71a, 171a, 271a, 371a, and 2071a only need to be able to move the center of gravity of the mobile trolleys 1, 100, 200, and 300 when the first weights are moved. Therefore, they could be, for example, work machines mounted on the mobile trolleys 1, 100, 200, 300, and 2000, or cargo, or any other heavy object not mentioned above.

In the description so far, the leg portion 20 has wheeled legs 21-23 on the front side and wheeled legs 24-26 on the rear side. However, the leg portion 20 only needs to have three or more legs with a running mechanism on both the front and rear sides. For example, the leg portion 20 may have four or more wheeled legs on the front side, four or more wheeled legs on the rear side, or both.

In the explanation so far, the mobile trolley 1's center of gravity has been shifted by the operation of the belt conveyor 61 by the control unit 90, but this is not the only way. For example, the mobile trolley 1's housing 62 may contain a water tank, and the mobile trolley 1's center of gravity may be shifted by the movement of the water inside the tank using a pump. In this case, the pump may be operated, for example, by the control unit 90.

In the explanation so far, the running mechanism of the running section 10 of the mobile trolleys 1, 100, 200, 300, 400, and 1000 consisted of wheels 11 to 16. However, the running mechanism only needs to be capable of supporting the vehicle body 9. For example, the running mechanism may be caterpillar tracks or flat feet.

In the explanation so far, the mobile carts 1, 100, 200, 300, 400, and 1000 can be any type of equipment used in the field, such as agricultural machinery, or more specifically, a tractor or combine harvester.

In the description above, the mobile trolleys 1, 100, 200, 300, 400, and 1000 may have pressure sensors on each wheel or leg. In this case, the control units 90, 290, 390, 490, and 2090 may measure the center of gravity position based on the information obtained from the pressure sensors and control the center of gravity position based on the measurement results.

In the description so far, the mobile trolleys 1, 100, 200, 300, 400, and 1000, and the vehicle bodies 9 and 2009, may have an inertial measurement unit (IMU) that includes an acceleration sensor or gyro sensor and a sensor that calculates the tilt angle based on the said sensor. In this case, the control units 90, 290, 390, 490, and 2090 may measure the tilt of the ground based on the information acquired from the inertial measurement unit (IMU) and control each actuator to extend or retract the legs to correct the resulting tilt.

1, 100, 200, 300, 400, 1000... Mobile cart, 10... Running section, 11, 12, 13, 14, 15, 16... Wheels (running mechanism), 21, 22, 23, 24, 25, 26... Legs, 27... Actuator (third actuator), 30... First beam, 38... Actuator (first actuator), 40... Second beam, 48... Actuator (second actuator), 50, 250, 350, 450... Third beam, 53... Actuator (fifth actuator), 61... Belt conveyor (first support beam), 62... Housing (first weight), 71, 171, 271, 371, 2071... First support beam, 71a, 171a, 271a, 371a, 207 1a...First weight, 72...Second support beam, 72a...Second weight, 73...Actuator (Fourth actuator), 90, 290, 390, 490, 2090...Control unit, 380...Fourth beam, 380a...One end, 380b...Other end, 384...Support part, 385...First support rod, 386...Second support rod, 480...Fifth beam, 480a...one end, 480b...the other end, 484...first support (support), 485...third support rod, 486...fourth support rod, 580...sixth beam, 580a...one end, 580b...the other end, 584...second support (support), 585...fifth support rod, 586...sixth support rod, M...ridge, V1, V2, V3, V4...space between ridges.

Claims (13)

A mobile cart for moving around a field with multiple furrows,
The aforementioned mobile trolley has a running section having three running mechanisms grounded on the front side in the direction of travel, and three running mechanisms grounded on the rear side,
Each of the aforementioned running mechanisms of the running section has a leg extending vertically,
A first beam extending along the lateral direction, which is a direction intersecting the direction of travel, is connected to each of the three legs on the front side,
A second beam extending along the lateral direction is connected to each of the three rear legs,
A third beam extending between the first beam and the second beam along the direction of travel so as to be connected to the first beam and the second beam,
A control unit for controlling the center of gravity position of the mobile trolley,
Equipped with,
The first beam and the second beam are configured to be expandable and contractible along the lateral direction.
The control unit controls the position of the center of gravity of the mobile trolley so that, when viewed from the vertical direction, the center of gravity of the mobile trolley is located in the region surrounded by all of the travel mechanisms except for the travel mechanism that is to be moved in the lateral direction . Each of the aforementioned travel mechanisms is a wheel, as described in claim 1. The mobile trolley according to claim 2, wherein the legs are configured to be extendable and retractable along the vertical direction. The first support beam connected to the third beam,
The first support beam is provided with a first weight, and the system further comprises
The mobile trolley according to claim 2 or 3, wherein the first support beam supports the first weight so that the first weight can be moved. The second support beam connected to the third beam,
The present invention further comprises a second weight provided on the second support beam,
The second support beam supports the second weight so that the second weight can move.
The first support beam and the second support beam are provided continuously in the lateral direction, sandwiching the third beam.
The mobile trolley according to claim 4, wherein the first support beam and the second support beam are configured to be extendable and retractable in the lateral direction. The mobile trolley according to claim 4, wherein the first support beam is configured to be rotatable about the third beam as its central axis. The mobile cart according to any one of claims 4 to 6, wherein the first weight is a work machine or load mounted on the mobile cart. A first actuator for extending and retracting the first beam,
A second actuator for extending and retracting the second beam,
A third actuator for extending and retracting the aforementioned leg,
A mobile trolley according to any one of claims 4 to 7, further comprising a fourth actuator for extending and retracting the first support beam. The control unit controls the first to fourth actuators ,
The control unit,
A first control that controls the third actuator such that the legs corresponding to the wheels of the object to be moved are retracted so that the wheels of the object to be moved in the lateral direction are lifted,
A second control that controls the first actuator or the second actuator so that the first or second beam corresponding to the wheel of the object to be moved expands or contracts so that the wheel of the object to be moved moves in the lateral direction,
The mobile trolley according to claim 8, further configured to perform a third control that controls the fourth actuator so that the first support beam extends or retracts so that the first weight moves in the direction of the multiple wheels other than the wheel to be moved. The control unit,
The mobile trolley according to claim 9, wherein in the third control, the fourth actuator is controlled so that the first support beam extends or retracts so that the first weight moves into an area surrounded by a plurality of wheels other than the wheel to be moved, when viewed from the vertical direction. The system further comprises a fifth actuator for extending and retracting the third beam,
The control unit,
A fourth control that controls the third actuator such that the legs corresponding to the wheels of the object to be moved are retracted so that the wheels of the object to be moved in the aforementioned direction are lifted,
A fifth control that controls the fifth actuator so that the third beam expands or contracts so that the wheels of the object to be moved in the aforementioned direction move in the aforementioned direction,
A mobile cart according to claim 9 or 10, configured to perform the following: Between the first beam and the second beam in the aforementioned direction of travel, a fourth beam extends along the lateral direction so as to intersect the third beam,
A first support rod is connected to one end of the fourth beam and extends toward the ground,
The support further comprises a support section having a second support rod connected to the other end of the fourth beam and extending toward the ground,
The mobile trolley according to any one of claims 2 to 11, wherein the fourth beam and the support portion are configured to be extendable and retractable. A fifth beam extends along the lateral direction so as to intersect the third beam, located forward of the first beam in the aforementioned direction of travel,
A sixth beam extends along the lateral direction so as to intersect the third beam, located behind the second beam in the aforementioned direction of travel,
A third support rod is connected to one end of the fifth beam and extends toward the ground,
A fourth support rod is connected to the other end of the fifth beam and extends toward the ground,
A fifth support rod is connected to one end of the sixth beam and extends toward the ground,
The support further comprises a support section having a sixth support rod connected to the other end of the sixth beam and extending toward the ground,
The mobile trolley according to any one of claims 2 to 12, wherein the fifth beam, the sixth beam, and the support portion are configured to be extendable and retractable.