Work machine

Abstract

To provide a work machine that enables removal of vegetation and stumps in a wasteland without requiring preparation of a plurality of types of devices.SOLUTION: The present invention includes: a machine body including a travel device; a mowing device that is connected to the machine body and mows in a wasteland with the traveling of the machine body; an excavation device that is connected to the machine body and excavates the wasteland; and a collection device that is connected to the machine body and collects at least one of grass and tree with the traveling of the machine body.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a work machine for leveling wasteland such as derelict farmland and abandoned farmland. [Background technology]

[0002] When leveling wasteland such as abandoned farmland or farmland, the vegetation growing on the wasteland is cut (weeding) using a lawnmower. A lawnmower generally comprises a rotary blade, a drive source for rotating the rotary blade, a drive transmission mechanism for transmitting the drive of the drive source to the rotary blade, and a handle for operating the position of the rotary blade, etc. (see, for example, Patent Documents 1 and 2). The drive source for a lawnmower is an engine or an electric motor, but because work on wasteland takes long hours and is carried out in poor conditions, a lawnmower using an engine as its drive source is used.

[0003] Furthermore, trees and stumps may be scattered in wasteland. In such cases, the trees (standing trees) and stumps are removed using heavy machinery or uprooting machines (see, for example, Patent Document 3). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-101126 A [Patent Document 2] JP 2014-147355 A [Patent Document 3] JP 2018-139571 A Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, when leveling wasteland as described above, workers must prepare a number of pieces of equipment, such as grass cutters and heavy machinery, and use different pieces of equipment for each task.

[0006] Therefore, the present invention provides a work machine that can remove vegetation and stumps from wasteland without having to prepare multiple types of equipment. [Means for solving the problem]

[0007] The working machine of the present invention comprises a body including a traveling device, a grass cutting device connected to the body and cutting grass on wasteland as the body travels, an excavation device connected to the body and digging up the wasteland, and a collection device connected to the body and collecting at least one of grass and trees as the body travels.

[0008] The mowing apparatus may be located on one side of the vehicle and the collecting apparatus may be located on the other side of the vehicle.

[0009] The grass-cutting device may be arranged on one side of the traveling direction of the traveling device relative to the machine body, and configured to be able to mow the wasteland in conjunction with the movement of the traveling device to one side in the traveling direction, and the collection device may be arranged on the other side of the traveling direction of the traveling device relative to the machine body, and configured to be able to collect at least one of the mowed grass and uprooted stumps in conjunction with the movement of the traveling device to one side or the other side in the traveling direction.

[0010] The excavation device may be disposed between the mowing device and the collection device.

[0011] The drilling device has one end connected to the vehicle body and another end opposite the one end. The working tool may include an arm mechanism having at least one bendable joint between the one end and the other end, and a work tool connected to the other end of the arm mechanism, the work tool being capable of digging up the wasteland.

[0012] The arm mechanism may be configured to position a work tool on the machine body by bending at the joint portion.

[0013] The body may include a base portion supported by the running device, and a swivel base rotatably connected to the base portion about an axis extending in an upward and downward direction, the swivel base to which the one end of the arm mechanism is connected.

[0014] The swivel base may be disposed on one side of the base portion, and the arm mechanism may be bent at the joint portion to enable the working tool to be disposed on the other side of the base portion.

[0015] The implement may be a bucket capable of digging up stumps from the wasteland.

[0016] The grass cutting device may include a rotating shaft and a plurality of hammer knives attached to the rotating shaft at intervals in an axial direction of the rotating shaft.

[0017] The collection device includes a blade having a surface facing the traveling direction of the traveling device, and the width of the blade in the same direction as the extension of the rotation axis may be set wider than the range in which the multiple hammer knives are arranged in the grass cutting device.

[0018] A work machine according to one embodiment of the present invention further includes an image sensor capable of capturing images of the wasteland, and a control unit that recognizes images of vegetation and stumps from image data acquired by the image sensor, and the control unit recognizes the condition of the wasteland and may perform one of the tasks of mowing, digging up, or collecting based on the recognized condition. Effect of the Invention

[0019] According to the present invention, vegetation and stumps can be removed from wasteland without the need for multiple types of equipment. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a perspective view of a working machine according to one embodiment of the present invention, seen from diagonally above one side. [Diagram 2]FIG. 2 is a perspective view of the working machine according to the embodiment, seen from diagonally above on the other side. [Diagram 3] FIG. 3 is a view of the work machine according to the embodiment as viewed from one side. [Figure 4] FIG. 4 is a view of the work machine according to the same embodiment as seen from the other side. [Diagram 5] FIG. 5 is a side view of the work machine according to the embodiment. [Figure 6] FIG. 6 is a view of the work machine according to the embodiment as viewed from above. [Figure 7] FIG. 7 is a schematic block diagram of an electrical system and a hydraulic system of the work machine according to the embodiment. [Figure 8] FIG. 8 is a diagram showing a state in which the work machine according to the embodiment is transported. [Figure 9] FIG. 9 is a diagram showing a state in which the arm mechanism of the working machine according to the embodiment is raised in a state where it is bent at a joint portion. [Figure 10] FIG. 10 is a diagram showing a state in which the arm mechanism of the working machine according to the embodiment is raised in a state in which it is extended at the joint portion. [Figure 11] FIG. 11 is a diagram showing a state in which the working machine according to the embodiment is digging up wasteland (pulling out stumps). [Figure 12] FIG. 12 is a diagram showing a state in which the working machine according to the embodiment is transporting a stump whose roots have been removed. [Figure 13] FIG. 13 is a diagram showing the working machine according to the same embodiment as seen from the side, and is an overall diagram including a cross-sectional view of the grass cutting device. [Figure 14] FIG. 14 is a diagram showing a state in which the grass-cutting device of the work machine according to the embodiment is cutting grass on wasteland. [Figure 15] FIG. 15 is a side view of a work machine according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0022] The working machine according to this embodiment is a self-propelled traveling type working machine for the purpose of leveling wasteland. Specifically, as shown in Figs. 1 to 6, the working machine 1 includes a machine body 2 including a traveling device 21, a mowing device 3 connected to the machine body 2 and mowing the wasteland as the machine body 2 travels, an excavation device 4 connected to the machine body 2 and digging up the wasteland, and a collection device 5 connected to the machine body 2 and collecting at least one of grass and trees as the machine body 2 travels. Furthermore, in this embodiment, as shown in Fig. 7, the working machine 1 further includes an image sensor 6 capable of capturing images of wasteland, and a control unit 7 that recognizes images of grass and stumps from the image data acquired by the image sensor 6. Here, the term "wasteland" refers to wasteland overgrown with vegetation, and is a concept that includes devastated farmland and abandoned farmland.

[0023] To explain the machine body 2 in detail, as shown in FIGS. 1 to 6, the machine body 2 includes a base 20 and a traveling device 21 attached to the base 20.

[0024] The base 20 includes a base unit 200 and a swivel base 201 that is connected to the base unit 200 so as to be rotatable about an axis extending in the vertical direction, and to which one end of an arm mechanism 40 (described later) is connected. In this embodiment, a connection support part 202 for connecting and supporting the arm mechanism 40 is protruded from the upper surface of the swivel base 201. The swivel base 201 is disposed on one side of the base unit 200. In other words, the rotation center position of the swivel base 201 is set at a position shifted to one side from the center position of the base unit 200.

[0025] More specifically, the base 20 includes a swivel table 22 interposed between a base portion 200 and a swivel base 201 .

[0026] As shown in FIG. 3, the swivel base 22 is a swivel bearing having an inner ring 220 and an outer ring 221, and a base portion 200 is connected to either the inner ring 220 or the outer ring 221 (in this embodiment, the outer ring 221), and a swivel base 201 is connected to the other of the inner ring 220 or the outer ring 221 (in this embodiment, the inner ring 220).

[0027] The swivel base 22 has a pinion attached to the output shaft of a swivel motor 222 fixed to the base unit 200 meshed with an annular gear provided on the inner circumference of the inner ring 220 or the outer circumference of the outer ring 221 (in this embodiment, the inner circumference of the inner ring 220). As a result, the swivel base 22 rotates the inner ring 220 and the outer ring 221 relatively around an axis extending in the vertical direction by driving the swivel motor 222, and rotates the swivel base 201 connected to the other of the inner ring 220 or the outer ring 221 around an axis extending in the vertical direction. In this embodiment, a hydraulic motor is used for the swivel motor 222.

[0028] As shown in FIG. 6, the center of rotation of the swivel base 201 (swivel base 22) is set at a position shifted to one side of the traveling direction of the traveling device 21 with respect to the center of the base part 200 in a plan view. That is, the swivel base 22 is arranged in a half area of ​​the base part 200 on one side of the traveling direction of the traveling device 21. As a result, a space for arranging a working tool 42 of the excavation device 4, which will be described later, is secured in a half area of ​​the base part 200 on the other side of the traveling direction of the traveling device 21. Note that the working machine 1 according to this embodiment may move forward to one side of the traveling direction or to the other side of the traveling direction. The working machine 1 is assumed to be unmanned and does not have a driver's seat, so there is no regulation of front and rear. Therefore, the working machine 1 according to this embodiment moves forward even if the traveling direction is switched between one side and the other side.

[0029] 1 to 4, the traveling devices 21 are provided on the left and right sides of the base 20. That is, the traveling devices 21 are arranged in pairs in the left-right width direction perpendicular to the traveling direction (straight forward direction).

[0030] 1 and 2, the traveling device 21 is a crawler type traveling device. Specifically, the traveling device 21 includes an idler 210, a driving wheel 211, a plurality of rollers 212, an endless annular crawler belt 213, and a traveling motor 214 (see FIG. 7).

[0031] The idler 210 is disposed at a leading position on one side in the traveling direction. The drive wheel 211 is disposed at a leading position on the other side in the traveling direction. A plurality of rollers 212 are provided between the idler 210 and the drive wheel 211. The crawler belt 213 is wound around the idler 210, the drive wheel 211, and the roller 212.

[0032] The traveling motor 214 rotates and drives the drive wheels 211. In this embodiment, a hydraulic motor is adopted as the traveling motor 214. Each of the pair of left and right traveling devices 21 rotates the crawler belt 213 by the rotational drive of the drive wheels 211.

[0033] 1 and 3, the grass cutting device 3 is disposed on one side of the machine body 2. That is, the grass cutting device 3 is disposed on one side in the traveling direction of the traveling device 21 with respect to the machine body 2. The grass cutting device 3 is configured to be able to cut grass on wasteland in accordance with the movement of the traveling device 21 to one side in the traveling direction.

[0034] In this embodiment, the grass cutting device 3 includes a rotating shaft 30 and a plurality of hammer knives 31... attached to the rotating shaft 30 at intervals in the axial direction of the rotating shaft 30. Accordingly, in the work machine 1, the grass cutting device 3 includes a motor 32 as a drive source that rotates and drives the rotating shaft 30, as shown in FIG.

[0035] In this embodiment, the motor 32 (drive source) of the grass cutting device 3 is a hydraulic motor. The grass cutting device 3 is configured to be capable of directly or indirectly transmitting the output from the output shaft of the motor 32 to the rotating shaft 30. That is, the output shaft of the motor 32 is directly connected to the rotating shaft 30 to transmit the output of the motor 32, or the output of the motor 32 is transmitted via output transmission means (e.g., a chain). In this embodiment, the output of the motor 32 is transmitted to the rotating shaft 30 via a chain serving as the output transmission means.

[0036] In this embodiment, the grass cutting device 3 is configured such that, as the rotating shaft 30 rotates, multiple hammer knives 31 rotate at high speed around the rotating shaft 30, and the hammer knives 31 cut and crush vegetation (weeds) in the wasteland by impact. In this way, the multiple hammer knives 31 impact the vegetation, causing it to scatter, so this type of grass cutting device 3 has a cover 33 that covers the rotating shaft 30 and the multiple hammer knives 31. This cover 33 is formed so as to open on one side in the traveling direction and to receive vegetation (to allow vegetation to enter the area in which the hammer knives 31 rotate) when the traveling device 21 advances (moves forward) in one direction.

[0037] 5, the excavation device 4 is connected to the machine body 2 and disposed between the grass cutting device 3 and the collection device 5. In this embodiment, the excavation device 4 is connected to the rotating base 201 of the machine body 2.

[0038] The excavation device 4 includes an arm mechanism 40 having one end connected to the body 2 and another end opposite the one end, the arm mechanism 40 having at least one bendable joint 400 between the one end and the other end, and a work tool 42 connected to the other end of the arm mechanism 40, the work tool 42 being capable of digging up wasteland.

[0039] The arm mechanism 40 positions the working tool 42 on the machine body 2 by bending at the joint portion 400. As described above, the swivel base 201 is disposed on one side of the base portion 200, so that the arm mechanism 40 can be bent at the joint portion 400 to position the working tool 42 on the other side of the base portion 200.

[0040] More specifically, the arm mechanism 40 includes a first arm 401 connected to the machine body 2 (the rotating base 201 ) and a second arm 402 connected to the first arm 401 .

[0041] The first arm 401 has a base end and a tip end. The base end of the first arm 401 constitutes one end of the arm mechanism 40, and is connected to the swivel base 201 via a first axis S1 extending in a direction perpendicular to the up-down direction. The first axis S1 is inserted between the connection support part 202 of the swivel base 201 and the base end of the first arm 401, and serves as the rotation center of the first arm 401. The first arm 401 rotates (pivots) about the first axis S1, allowing the tip side to swing (tilt) in the up-down direction.

[0042] The second arm 402 has a base end connected to the first arm 401 and a tip end opposite the base end to which the working tool 42 is connected. The tip end of the second arm 402 constitutes the other end of the arm mechanism 40. The base end of the second arm 402 is connected to the tip end of the first arm 401 via a joint portion 400.

[0043] In this embodiment, the joint unit 400 includes an axis (hereinafter referred to as joint axis S) extending in a direction perpendicular to the up-down direction, which is inserted between a tip end of the first arm 401 and a base end of the second arm 402 and serves as the rotation center of the second arm 402. As a result, the tip end side of the second arm 402 can swing (tilt) in the up-down direction by rotating (pivoting) about the joint axis S.

[0044] The arm mechanism 40 is configured to be folded in two (folded state) by rotating (pivoting) the first arm 401 and the second arm 402 about the joint axis S. The second arm 402 is set to a length such that the working tool 42 connected to the tip end of the second arm 402 is located above the machine body 2 when the first arm 401 is tilted and the entire arm mechanism 40 is folded in two (folded state).

[0045] The working tool 42 includes a functional part 420 that performs a predetermined work function, and a connecting bracket 421 that is connected to the functional part 420 and is for connecting to the second arm 402.

[0046] In this embodiment, the working tool 42 is a bucket for performing soil excavation work. That is, the working tool 42 is a bucket capable of digging up stumps from wasteland. Accordingly, the functional unit 420 in this embodiment is configured to be capable of storing work objects such as excavated soil and stumps.

[0047] Specifically, the working tool 42 (bucket) has a bucket body capable of scooping up and storing a work object as a functional part 420. The bucket body 420 has a bottom part 420a having a tip end and a base end in one direction, and a pair of side wall parts 420b, 420b erected on both side ends of the bottom part 420a in a direction perpendicular to the one direction.

[0048] Furthermore, the bucket body 420 includes a bucket frame portion 420c that is continuous with the base end of the bottom portion 420a, and has both side ends in a direction perpendicular to the one direction connected to a pair of side wall portions 420b, 420b, and has the connecting bracket 421 protruding from its outer surface. As a result, in the bucket body 420, the bottom portion 420a, the pair of side wall portions 420b, 420b, and the bucket frame portion 420c define an accommodation space that accommodates a work object, and edges of the bottom portion 420a, the pair of side wall portions 420b, 420b, and the bucket frame portion 420c define an entrance (opening) to the accommodation space.

[0049] The tip of bottom portion 420a constitutes a scooping portion for scooping up work objects such as soil, etc. The thickness of the scooping portion (tip portion) of bottom portion 420a becomes thinner from the base end side toward the tip.

[0050] The working tool 42 (bucket) is connected to the second arm 402 via an axis (referred to as the second axis) S2 extending in a direction perpendicular to the up-down direction. Specifically, as described above, the connecting bracket 421 is provided to protrude from the outer surface of the bucket frame. The second axis S2 is inserted between the tip of the second arm 402 and the connecting bracket 421, and serves as the rotation center of the working tool 42 (bucket). This allows the working tool 42 (bucket) to rotate (pivot) about the second axis S2, thereby allowing it to swing (tilt) in the up-down direction. That is, the working tool 42 is configured to be swingable.

[0051] Accordingly, the excavation device 4 is equipped with a first arm cylinder 43 that tilts the first arm 401, a second arm cylinder 44 that tilts the second arm 402 relative to the first arm 401, and a work tool cylinder 45 that tilts the work tool 42 relative to the second arm 402.

[0052] The first arm cylinder 43 has one end pivotally connected to the swivel base 201 and the other end pivotally connected to the first arm 401. The first arm cylinder 43 tilts the first arm 401 about the first axis S1 by extending and retracting. The second arm cylinder 44 has one end pivotally connected to the first arm 401 and the other end pivotally connected to the second arm 402. The second arm cylinder 44 tilts the second arm 402 about the joint portion 400 (about the joint axis S) by extending and retracting. The work tool cylinder 45 has one end pivotally connected to the second arm 402 and the other end pivotally connected to the work tool 42 (the connecting bracket 421). The work tool cylinder 45 swings the work tool 42 about the second axis S2 by extending and retracting. That is, the bucket performs a scooping operation and a dumping operation by extending and retracting the work tool cylinder 45.

[0053] Each of the first arm cylinder 43, the second arm cylinder 44, and the work tool cylinder 45 is a hydraulic cylinder.

[0054] 7, the work machine 1 is provided with a plurality of hydraulic actuators, such as the hydraulic cylinders 43, 44, 45, 53 and the hydraulic motors 32, 214, 222, and is therefore provided with a hydraulic pump 80 that supplies hydraulic oil to the plurality of hydraulic actuators. In this embodiment, a multiple hydraulic pump 80 is used as the hydraulic pump 80 in order to supply hydraulic oil to the plurality of hydraulic actuators. The hydraulic pump 80 (multiple hydraulic pump 80) is of an electric type. That is, the work machine 1 is provided with an electric motor 81 that drives the hydraulic pump 80.

[0055] The work machine 1 also includes a battery 82 for supplying power to the electric motor 81. Although not shown, the work machine 1 is provided with a charging inlet for connection to an external charging device (for example, a quick charger), so that the battery 82 can be quickly charged from the outside.

[0056] 2 and 4, the collection device 5 is disposed on the other side of the machine body 2. The collection device 5 is disposed on the other side in the traveling direction of the traveling device 21 relative to the machine body 2. Accordingly, the collection device 5 according to this embodiment is configured to be able to collect at least one of the mowed grass and the uprooted stumps in conjunction with the movement (forward movement) of the traveling device 21 to the other side in the traveling direction.

[0057] The collecting device 5 includes a blade 51 having a surface facing the traveling direction of the traveling device 21. Specifically, the collecting device 5 includes the blade 51, a lifting arm 52 having the blade 51 connected to its tip, the lifting arm 52 being connected to the base 20 via a shaft (not shown) extending in the horizontal direction and capable of swinging up and down about the shaft, and a hydraulic cylinder 53 (see FIG. 7) that swings the lifting arm 52.

[0058] The width of the blade 51 in the same direction as the direction in which the rotation shaft 30 extends is set to be wider than the range in which the multiple hammer knives 31 in the grass cutting device 3 are arranged.

[0059] The blade 51 has a scooping portion 51a at its lower end that runs along the ground of the barren land, with the scooping portion 51a sloping downward from the rear side to the front side in the direction of travel of the traveling device 21, and a return portion 51b connected to the upper end opposite the lower end of the scooping portion, with the return portion 51b sloping downward from the front side to the rear side in the direction of travel of the traveling device 21.

[0060] The blade 51 is movable between a lower position for collecting at least one of the cut grass, trees, and uprooted stumps, and an upper position that is higher than the lower position.

[0061] The image sensor 6 acquires images at least in the traveling direction of the traveling device 21. In this embodiment, the image sensor 6 is capable of acquiring images in all directions (360°). That is, the image sensor 6 according to this embodiment is an omnidirectional camera. In this embodiment, the mounting portion of the swivel base 22 of the base unit 200 bulges upward. Accordingly, the image sensor 6 is disposed on the outer periphery of the mounting portion (bulging portion) of the swivel base 22 of the base unit 200.

[0062] The control unit 7 recognizes the state of the wasteland, and executes one of the tasks of mowing, digging, and collecting based on the recognized state. In this embodiment, the control unit 7 executes the mowing device 3 and the excavation device 4 with the task content according to the state of the wasteland based on the task content extracted by comparing the task data in which the state of the wasteland and the task content according to the state of the wasteland are associated with each other and the image data.

[0063] Now, the work data will be explained. For example, as shown in Table 1, the presence or absence of grass and trees (stumps) are set as the condition of the wasteland. As the work content, the presence of grass is associated with mowing work, and the presence of trees (stumps) is associated with digging (uproot removal) work. Furthermore, when trees (stumps) are present, the excavation range and excavation depth are set as the excavation (uproot removal) work conditions for each thickness of the trunk of the tree (stump) in the wasteland.

[0064] The working tool 42 is available in various sizes. When the working tool 42 is a bucket as in this embodiment, the range that can be excavated in one go by the bucket varies depending on the size of the bucket. For example, there are cases where one go is below the minimum value of the excavation conditions and cases where one go exceeds the minimum value of the excavation conditions (for example, the excavation conditions for a trunk diameter of 200 mm or more in Table 1). In this case, the minimum conditions for excavation set in the work data are included in the larger (more) excavation conditions.

[0065] In addition to the above conditions, the work data also includes the presence or absence of mowed vegetation lying around and uprooted trees (stumps) as the condition of the wasteland. When mowed vegetation and uprooted trees (stumps) are present, the work content is associated with collection (transport) of vegetation and trees (stumps). Basically, collection is set as work linked to mowing and digging (root removal), but when mowing and digging (root removal) are not being performed, collection is treated as a separate work when the condition of the wasteland includes mowed vegetation and uprooted trees (stumps). To repeat, the control unit 7 analyzes the image data (images) acquired by the image sensor 6 to determine the presence or absence of grass, trees (stumps), undergrowth-cut vegetation lying around, and uprooted trees (stumps), and determines the work content based on the analysis results.

[0066] [Table 1] As described above, the control unit 7 determines (extracts) the work content as described above based on the image data acquired by the image sensor 6, and also grasps the situation based on the image data even during work on the wasteland. That is, the control unit 7 recognizes the driving conditions and the positions of trees (stumps) within the wasteland, and performs the necessary work.

[0067] The above is the working machine 1 according to this embodiment. As described above, in the working machine 1 according to this embodiment, the arm mechanism 40 is foldable, and when the arm mechanism 40 is folded, the working tool 42 is disposed on the machine body 2, so that the working machine 1 is compact when not in use.

[0068] As a result, when an operator transports the work machine 1 to wasteland, it can be loaded onto the bed of a flatbed truck T as shown in FIG.

[0069] Then, when the worker arrives at the wasteland and begins leveling the wasteland, he or she unloads the work machine 1 from the truck T onto the wasteland and starts up the work machine 1.

[0070] In the started work machine 1, the image sensor 6 captures an image of the wasteland in response to an instruction from the control unit 7. The control unit 7 has an operation mode in which the image sensor 6 captures a partial image of the wasteland, and a startup mode in which the image sensor 6 captures an image of a wider area (angle of view) than in the operation mode in which the image of the wasteland is captured partially. When the work machine 1 is started, the control unit 7 executes the startup mode and causes the image sensor 6 to capture an image of a wider area of ​​the wasteland. At this time, the control unit 7 analyzes the image captured by the image sensor 6 and acquires information about the wasteland. For example, the control unit 7 analyzes the image to grasp the shape (topography) of the wasteland and the condition of the vegetation.

[0071] In this embodiment, the control unit 7 detects the image captured by the image sensor 6 in the start-up mode. If there is grass or trees in the image (image data), the control unit 7 causes the grass-cutting device 3 to cut the grass. Also, in the startup mode, if there is a tree (stump) in the image (image data) acquired by the image sensor 6, the control unit 7 causes the excavation device 4 to uproot it. Note that if there is grass or trees (stumps) in wasteland, the control unit 7 gives priority to uprooting the stumps, and performs grass-cutting after uprooting the stumps.

[0072] That is, if mowing is performed while a stump is still present, mowing will have to be done around the stump, so when the control unit 7 recognizes a stump, it gives priority to uprooting the stump.

[0073] When uprooting a tree (stump), after the start-up mode (after grasping the state of the wasteland), the mode is switched to the driving mode, and the control unit 7 moves the traveling device 21 to the location where the stump is located.

[0074] At this time, the control unit 7 causes the image sensor 6 to capture the traveling conditions, and drives the working machine 1 to the destination (where the stump is) based on the image data. Then, when the working machine 1 arrives at a position adjacent to the stump, the control unit 7 appropriately adjusts the bending state of the arm mechanism 40, rotates the swivel base 201, extends the arm mechanism 40 to the direction of the tree (stump), and excavates the wasteland with the working tool 42, as shown in Figs. 9 to 11. The control unit 7 extracts (determines) the work content (digging range and digging depth) corresponding to the size (outer diameter) of the recognized tree (stump) based on the image data (image) acquired in advance by the image sensor 6, and operates the excavation device 4 (a bucket which is the working tool 42) according to the extracted work content, as shown in Fig. 11.

[0075] Then, when the excavation device 4 has completed uprooting, the control unit 7 instructs the arm mechanism 40 to be folded, and places the work tool (bucket) 42 on the base 20. In other words, after the work by the excavation device 4 has been completed, the control unit 7 places the arm mechanism 40 (excavation device 4) in the most compact stored state.

[0076] Thereafter, the control unit 7 determines the position of the uprooted stump based on the image data of the image sensor 6, and causes the collection device 5 to travel so as to be positioned at the front of the traveling direction. During normal traveling, the control unit 7 positions the blade 51 in the raised position by the lifting arm 52, and during traveling to collect vegetation, as shown in Fig. 12, operates the hydraulic cylinder 53 to lower the lifting arm 52 and position the blade 51 in the lowered position. As a result, as the traveling device 21 travels, the collection device 5 (blade 51) pushes the vegetation and trees (stumps), and they are collected in one place.

[0077] Then, as shown in FIG. 13, when the vegetation and trees (stumps) are gathered in one place, the control unit 7 operates the hydraulic cylinder 53 to raise the lifting arm 52, and positions the blade 51 at the raised position.

[0078] When there is no stump in the wasteland or when the stump has been removed, the control unit 7 determines a travel route for mowing the wasteland. Then, as shown in Fig. 14, the work machine 1 (control unit 7) drives the grass cutting device 3 and advances the traveling device 21 with the grass cutting device 3 at the front. That is, the grass cutting device 3 rotates the hammer knife 31 around the rotating shaft 30 and advances while cutting vegetation in the wasteland.

[0079] Then, when the mowing device 3 has completed traveling along the planned travel route during mowing, the control unit 7 actuates the hydraulic cylinder 53 to lower the lifting arm 52 and position the blade 51 in the lowered position. Then, based on the image data from the image sensor 6, the control unit 7 drives the collecting device 5 so that it is positioned at the front of the traveling direction. As a result, as the traveling device 21 travels, the collecting device 5 (blade 51) pushes the grass and plants, which are collected in one place. Also, In this embodiment, the work machine 1 collects vegetation with the lower end (scooping portion 51a) of the blade 51 brought close to the ground, so that unevenness in the barren land is also flattened.

[0080] As described above, the work machine 1 according to the above embodiment comprises a body 2 including a traveling device 21, a grass cutting device 3 connected to the body 2 and cutting grass on the wasteland as the body 2 travels, an excavation device 4 connected to the body 2 and digging up the wasteland, and a collection device 5 connected to the body 2 and collecting at least one of grass and trees as the body 2 travels.

[0081] According to the working machine 1 having the above configuration, vegetation on wasteland can be removed and then collected. That is, for vegetation that can be mowed (weeding), the mowing device 3 mows (weeding), and for trees and stumps that cannot be handled by the mowing device 3, the excavation device 4 digs them up and uproots them. In addition, the mowed vegetation (weeding) and the uprooted trees and stumps can be collected in a specified location by the collection device 5. Therefore, according to the working machine 1 having the above configuration, vegetation and stumps on wasteland can be removed without preparing multiple types of equipment. Furthermore, the working machine 1 having the above configuration can remove vegetation and stumps from wasteland while reducing the workload of the worker.

[0082] In the above embodiment, the grass cutting device 3 is disposed on one side of the machine body 2, and the collection device 5 is disposed on the other side of the machine body 2. In this way, the grass cutting device 3 and the collection device 5 are disposed apart from each other, so that it is possible to prevent the functions of each device from being hindered.

[0083] In the above embodiment, the grass-cutting device 3 is arranged on one side of the traveling direction of the traveling device 21 relative to the machine body 2 and is configured to be able to mow grass on wasteland in conjunction with movement of the traveling device 21 to one side in the traveling direction, and the collection device 5 is arranged on the other side of the traveling direction of the traveling device 21 relative to the machine body 2 and is configured to be able to collect at least one of the mowed grass and uprooted stumps in conjunction with movement of the traveling device 21 to one side or the other in the traveling direction.

[0084] In this way, since the grass cutting device 3 and the collecting device 5 function in different directions, the division of tasks becomes clear and the occurrence of operational errors can be prevented.

[0085] In the above embodiment, the excavation device 4 is disposed between the grass cutting device 3 and the collection device 5. In this manner, excavation work can be performed by the excavation device 4 without impairing the functions of the grass cutting device 3 and the collection device 5.

[0086] In the above embodiment, the excavation device 4 includes an arm mechanism 40 having one end connected to the machine body 2 and the other end opposite to the one end, the arm mechanism 40 having at least one bendable joint 400 between the one end and the other end, and a working tool 42 connected to the other end of the arm mechanism 40 and capable of digging up wasteland. In this way, it is possible to provide more room for maneuvering and access to wasteland.

[0087] In the above embodiment, the arm mechanism 40 is bent at the joint portion 400 to position the working tool 42 on the machine body 2. In this way, the entire device becomes compact, and transportation can be easily performed.

[0088] In the above embodiment, the machine body 2 includes a base unit 200 supported by the traveling device 21, and a swivel base 201 connected to the base unit 200 so as to be rotatable about an axis extending in the vertical direction, the swivel base 201 being connected to one end of the arm mechanism 40. This provides more flexibility in the arrangement of the working tool 42 and the movement of the working tool 42, making it possible to perform a wider range of tasks.

[0089] In the above embodiment, the swivel base 201 is disposed on one side of the base part 200, and the arm mechanism 40 is bent at the joint part 400 to enable the working tool 42 to be disposed on the other side of the base part 200. In this way, the entire device can be made compact.

[0090] In the above embodiment, the working tool 42 is a bucket capable of digging up stumps from wasteland, making it possible to uproot even stumps with a large diameter.

[0091] In the above embodiment, the grass cutting device 3 includes a rotating shaft 30 and a plurality of hammer knives 31... attached to the rotating shaft 30 at intervals in the axial direction of the rotating shaft 30. In this way, the work of removing vegetation (weed cutting) from wasteland can be carried out properly and quickly.

[0092] In the above embodiment, the collection device 5 includes a blade 51 having a surface facing the traveling direction of the traveling device 21, and the width of the blade 51 in the same direction as the extension direction of the rotation shaft 30 is set to be wider than the range in which the multiple hammer knives 31... are arranged in the grass cutting device 3. In this way, the blade 51 can push and collect grass, stumps, etc. while encompassing the grass cutting range of the grass cutting device 3. In other words, because the blade 51 is wider than the range in which the grass cutting device 3 cuts grass, the cut (undergrowth-cut) grass can be efficiently collected.

[0093] In the above embodiment, the work machine 1 further includes an image sensor 6 capable of capturing images of wasteland, and a control unit 7 that recognizes images of vegetation and stumps from image data captured by the image sensor 6, and the control unit 7 recognizes the state of the wasteland and executes one of the tasks of mowing, digging, and collecting based on the recognized state. In this way, the mowing device 3, excavation device 4, and collection device 5 operate with the task content corresponding to the actual state of the wasteland (the state of the image), so that the wasteland can be leveled by automatic driving.

[0094] It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that appropriate modifications can be made without departing from the gist of the present invention.

[0095] In the above embodiment, a bucket is used as the working tool 42 of the excavation device 4, but the present invention is not limited thereto. For example, the working tool 42 may be a breaker that applies vibration during excavation. The working tool 42 may also be a bucket with a sieve. Specifically, the bottom 420a of the bucket may have a plurality of openings. In this way, the soil dug up together with the stump during excavation work (uproot removal work) can pass through the openings, and the stump and the soil can be separated.

[0096] In the above embodiment, the grass cutting device 3 has the hammer knife 31 rotating around the rotating shaft 30, but is not limited to this. For example, as shown in Fig. 15, the grass cutting device 3 may be of a clipper type in which two overlapping cutting blades move toward and away from each other in a direction perpendicular to the up-down direction. The grass cutting device 3 may also be of a saw blade type having a saw-shaped undercut blade (grass cutting blade) that rotates when driven.

[0097] In the above embodiment, the collecting device 5 includes the blade 51, and the traveling device 21 travels (moves) to push vegetation and stumps with the blade 51, but this is not limited thereto. For example, the collecting device 5 may be configured with a plurality of forks arranged side by side instead of the blade 51.

[0098] In the above embodiment, a bucket is used as the work tool 42 of the excavation device 4. In the embodiment, the tip of the bottom 420a of the bucket body 420 is a scooping portion that becomes thinner toward the tip, but the present invention is not limited to this. For example, a plurality of claw members may be attached to the scooping portion (tip of the bottom 420a) of the bucket body 420 at intervals in a direction perpendicular to the one direction. In this case, it is preferable that the plurality of claw members are replaceable.

[0099] In the above embodiment, the work machine 1 is configured to be automatically operated, but the present invention is not limited to this. For example, the work machine 1 may be configured to be remotely operable by a remote controller.

[0100] In the above embodiment, the traveling device 21 is a crawler type traveling device, but the present invention is not limited to this. For example, the traveling device 21 may be wheel-driven.

[0101] In the above embodiment, a charging inlet is provided so that the battery 82 is charged from the outside, but the present invention is not limited to this. For example, the work machine 1 may be provided with a solar power generation panel so that the battery 82 is charged with electricity generated by the solar power generation panel.

[0102] In the above embodiment, the electric motor 81 drives the hydraulic pump 80, but the present invention is not limited to this. For example, an engine may be provided instead of the electric motor 81, and the engine may drive the hydraulic pump 80.

[0103] In the above embodiment, the arm mechanism 40 of the excavation device 4 has one joint unit 400, but is not limited to this. For example, the arm mechanism 40 may have two or more joint units 400. [Explanation of symbols]

[0104] 1: Work equipment 2: Aircraft 3: Grass cutting device 4: Drilling equipment 5: Collection device 6: Image sensor 7: Control section 21: Running gear 30: Rotation axis 31: Hammer knife 40: Arm mechanism 42: Work tools 51: Blade 200: Base section 201: Swivel base 400: Joints

Claims

1. A body including a running gear; A grass cutting device that is connected to the machine body and cuts grass on wasteland as the machine body travels; an excavation device coupled to the vehicle body for excavating the wasteland; A collection device connected to the vehicle body and configured to collect at least one of grass and trees as the vehicle travels; A work machine equipped with the above.

2. The grass cutting device is disposed on one side of the machine body, The work machine of claim 1 , wherein the collection device is disposed on the other side of the body.

3. The grass cutting device is The mower is arranged on one side of the traveling direction of the traveling device with respect to the machine body, and is configured to be able to mow the wasteland in accordance with the movement of the traveling device to one side of the traveling direction, The collecting device comprises: The work machine according to claim 2, which is arranged on the other side of the traveling direction of the traveling device relative to the body and is configured to collect at least one of the mowed grass and the uprooted stumps in conjunction with the movement of the traveling device to one side or the other side in the traveling direction.

4. The work machine according to claim 1 , wherein the excavation device is disposed between the grass cutting device and the collection device.

5. The drilling rig is an arm mechanism having one end connected to the airframe and another end opposite the one end, the arm mechanism having at least one foldable joint between the one end and the other end; 2. The work machine according to claim 1, further comprising: a work tool connected to the other end of the arm mechanism, the work tool being capable of digging up the wasteland.

6. The work machine according to claim 5 , wherein the arm mechanism positions the work implement on the machine body by bending at the joint portion.

7. The airframe comprises:

2. The work machine according to claim 1, comprising: a base portion supported by the traveling device; and a swivel base rotatably connected to the base portion about an axis extending in an upward / downward direction, the swivel base to which the one end of the arm mechanism is connected.

8. 8. The work machine according to claim 7, wherein the swivel base is disposed on one side of the base portion, and the arm mechanism is bent at the joint portion to enable the work tool to be disposed on the other side of the base portion.

9. 6. The work machine according to claim 5, wherein the work implement is a bucket capable of digging up stumps from the wasteland.

10. 2. The work machine according to claim 1, wherein the grass cutting device comprises a rotary shaft and a plurality of hammer knives attached to the rotary shaft at intervals in an axial direction of the rotary shaft.

11. The collecting device includes a blade having a surface facing the traveling direction of the traveling device, The work machine according to claim 10 , wherein the width of the blade in the same direction as the direction in which the rotation shaft extends is set to be wider than a range in which the multiple hammer knives are arranged in the grass cutting device.

12. The system further includes an image sensor capable of capturing an image of the wasteland, and a control unit that recognizes images of vegetation and stumps from the image data acquired by the image sensor, 2. The ground leveling work machine according to claim 1, wherein the control unit recognizes a state of the wasteland, and executes one of the grass cutting, the digging up, and the collecting based on the recognized state.

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