Vehicle system and moving method

Abstract

To provide a vehicle system and the like suitable for moving while maintaining a constant distance between a first vehicle and a second vehicle even in locations that are not sufficiently leveled.SOLUTION: A second crawler 37 is an endless track that moves a second vehicle 5. A first vehicle 3 and the second vehicle 5 are coupled such that the first vehicle 3 is positioned at the front and the second vehicle 5 is positioned at the rear. A collection device (an acquisition device 20 and a conveyance belt 21) collects a target object using power output from a first power source device 13. The collected target object is stored in a storage device 41. A second transmission-mechanism device 35 is in a neutral state in which gears are not meshed. The second vehicle 5 moves by following the first vehicle 3 through rotation of a crawler belt of the second crawler 37 when the first vehicle 3 moves forward using power output from the first power source device 13.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle system and a travel method, and more particularly to a vehicle system including a first vehicle and a second vehicle. [Background technology]

[0002] The applicant has proposed a capture device that collects objects (vegetables, animals (eg, chickens), etc.) from the ground surface (see Patent Documents 1 and 2, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-004030 [Patent Document 2] Japanese Patent Publication No. 2023-082490 Summary of the Invention [Problem to be solved by the invention]

[0004] Fig. 5 is a diagram illustrating an example of a conventional collection operation. In order to realize the operation of collecting objects and the operation of shipping the objects, a front vehicle 103 that collects the objects and a rear vehicle 105 that stores the collected objects are realized by different vehicles.

[0005] In the task of collecting objects, the leading vehicle 103 is made to follow the trailing vehicle 105. In the leading vehicle 103, a front operator 118 operates the leading vehicle 103 using a first operating device 119. An acquisition device 120 picks up the object from the ground. The object picked up by the acquisition device 120 is sent to the trailing vehicle 105 by a conveyor belt 121.

[0006] In the rear vehicle 105, a rear operator 138 operates the rear vehicle 105 by a second operating device 139. The objects sent to the rear vehicle by the conveyor belt 121 are collected in a storage device 141.

[0007] For the work of shipping the object, the rear vehicle 105 moves separately from the front vehicle 103. Generally, the location where the object is located is not a leveled ground. Therefore, the rear vehicle 105 moves over the uneven ground using caterpillars 137 under the operation of a rear operator 138.

[0008] During collection work, the rear vehicle 105 moves following the front vehicle 103. Therefore, it is conceivable to provide the rear vehicle 105 with a mechanism for moving following the front vehicle 103. For example, the rear vehicle 105 may be provided with a sensing mechanism that grasps the distance between it and the front vehicle 103, and control is performed such that the speed of the rear vehicle 105 increases when it moves away from the front vehicle 103, and when it approaches the front vehicle 103 and collides with it, the speed of the rear vehicle 105 is reduced by braking.

[0009] However, even if such a mechanism for moving in a following manner is used, it is not possible to maintain a constant distance between the front vehicle and the rear vehicle. Furthermore, since it is not possible to deal with differences in the left and right sides of the front vehicle 103 and the rear vehicle 105, the rear operator 138 needs to operate the rear vehicle 105 even while the rear vehicle 105 is following the front vehicle 103 operated by the front operator 118.

[0010] As described above, according to the conventional technology, it was not possible to maintain a constant distance between the leading vehicle 103 and the trailing vehicle 105, and furthermore, multiple operators such as a leading operator 118 and a trailing operator 138 were required to operate the leading vehicle 103 and the trailing vehicle 105, respectively.

[0011] Therefore, an object of the present invention is to provide a vehicle system, etc., that is suitable for moving while maintaining a constant distance between a first vehicle and a second vehicle, even in places where the ground is not sufficiently leveled. [Means for solving the problem]

[0012] A first aspect of the present invention is a vehicle system comprising a first vehicle and a second vehicle, wherein the first vehicle comprises a collection device and a first power source device, and the second vehicle comprises a storage device, a second transmission mechanism device, and a second crawler, the second crawler being an endless track for moving the second vehicle, the first vehicle and the second vehicle being connected with the first vehicle positioned in front and the second vehicle positioned in rear, and when the collection device collects objects, the collection device collects the objects using power output by the first power source device, and the collected objects are stored in the storage device, the second transmission mechanism device is in a neutral state with gears disengaged, and the second vehicle moves following the first vehicle as the tracks of the second crawler rotate as the first vehicle moves forward using the power output by the first power source device.

[0013] A second aspect of the present invention is the vehicle system of the first aspect, wherein the first vehicle comprises a first transmission mechanism and a first crawler, and the second vehicle comprises a second power source device, the first crawler is an endless track that moves the first vehicle, and when the first vehicle is moved to follow the second vehicle, the collection device does not require power because it does not collect objects, the first transmission mechanism device is in a neutral state with its gears disengaged, and the second transmission mechanism device is in a state with its gears engaged, and the power output by the second power source device is transmitted to the second crawler, and the first vehicle moves to follow the second vehicle as the second vehicle moves backward, causing the tracks of the first crawler to rotate.

[0014] A third aspect of the present invention is a method of moving in a vehicle system including a first vehicle and a second vehicle, wherein the first vehicle includes a collection device and a first power source device, the second vehicle includes a storage device, a second transmission mechanism device, and a second crawler, the second crawler being an endless track for moving the second vehicle, the first vehicle and the second vehicle are connected with the first vehicle positioned in front and the second vehicle positioned in rear, when the collection device collects objects, the collection device collects the objects using power output by the first power source device, the objects collected by the collection device are stored in the storage device, the second transmission mechanism device is in a neutral state with gears not engaged, and the second vehicle includes a step of moving the first vehicle forward using the power output by the first power source device, causing the tracks of the second crawler to rotate and move following the first vehicle.

[0015] A fourth aspect of the present invention is the movement method of the third aspect, wherein the first vehicle comprises a first transmission mechanism and a first crawler, and the second vehicle comprises a second power source device, the first crawler being an endless track that moves the first vehicle, and when the first vehicle is moved to follow the second vehicle, the collection device does not require power because it does not collect objects, the first transmission mechanism device is in a neutral state with its gears disengaged, and the second transmission mechanism device is in a state with its gears engaged, and the power output by the second power source device is transmitted to the second crawler, and the first vehicle moves to follow the second vehicle as the second vehicle moves backward, causing the tracks of the first crawler to rotate.

[0016] The present invention may also be understood as a second vehicle having a second crawler and a second coupling device for coupling to the first vehicle forward with respect to the direction of the track of the second crawler. [Effects of the Invention]

[0017] According to each aspect of the present invention, even on an area that is not sufficiently leveled, a second vehicle that moves by crawlers can be connected to a first vehicle, and the second vehicle can be placed in a neutral state and pulled by the first vehicle, allowing the second vehicle to follow while maintaining a constant distance. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a diagram showing an example of the configuration of a vehicle system 1 according to an embodiment of the present invention. [Figure 2] (a) A diagram showing the first vehicle 3 and the second vehicle 5 coupled together by the first coupling device 23 and the second coupling device 43, and (b) a diagram to explain the process in which the collection device collects objects on the ground and the collected objects are stored in the storage device 41. [Figure 3] FIG. 10 is a diagram showing a state in which objects are sufficiently stored in the storage device 41. [Figure 4] FIG. 10 is a diagram showing a state in which a first vehicle 3 is moved following a second vehicle 5. [Figure 5] FIG. 1 is a diagram for explaining an example of a conventional collection operation. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, examples of the present invention will be described with reference to the drawings, but the present invention is not limited to the following examples. [Example]

[0020] 1 is a diagram showing an example of the configuration of a vehicle system 1 according to an embodiment of the present invention. The configuration of the vehicle system 1 will be described with reference to FIG.

[0021] The vehicle system 1 includes a first vehicle 3 and a second vehicle 5 .

[0022] The first vehicle 3 is a tracked vehicle. That is, the first vehicle 3 is a vehicle that operates on endless tracks. An endless track is a vehicle that allows a vehicle to move on rough ground by moving tracks that are connected in a band around a drive wheel, a roller, an idler wheel (guider wheel), etc., using the drive wheel. The first vehicle 3 includes a first frame 11, a first power source device 13, a first transmission mechanism device 15, a first crawler 17, a first operating device 19, a collection device (an acquisition device 20 and a conveyor belt 21), and a first coupling device 23.

[0023] The second vehicle 5 is a tracked vehicle. The second vehicle 5 includes a second frame 31, a second power source device 33, a second transmission mechanism device 35, a second crawler 37, a second operating device 39, a storage device 41, and a second coupling device 43.

[0024] In the first vehicle 3, the first frame 11 is the frame of the first vehicle 3.

[0025] The first power source device 13 is a device that serves as a power source for the first vehicle 3, and outputs, for example, power for moving the first vehicle 3 and power for the collection device (acquisition device 20 and conveyor belt 21) to collect objects on the ground. The power for moving the first vehicle 3 and the power for the collection device (acquisition device 20 and conveyor belt 21) to collect objects on the ground may be output from the same device or from different devices. The first power source device 13 is, for example, a prime mover, a battery, etc.

[0026] The first speed change mechanism device 15 is a transmission for transmitting the power output by the first power source device 13 to the first crawler 17. The transmission has a state in which the gears are engaged and a neutral state in which the gears are not engaged. In the state in which the gears are engaged, the power output by the first power source device 13 is transmitted to the first crawler 17, causing the drive wheels to rotate and enabling forward movement, reverse movement, gear changes, etc. In the neutral state in which the gears are not engaged, the power output by the first power source device 13 is not transmitted to the first crawler 17.

[0027] The first crawler 17 is an endless track for moving the first vehicle 3, and includes a drive wheel, a wheel, an idler wheel (guider wheel), and the like, as well as a track connected to surround these.

[0028] The acquisition device 20 acquires objects on the ground using power output by the first power source device 13. The objects may be, for example, plants such as vegetables, or animals such as birds. The conveyor belt 21 moves the collected objects to the storage device 41. For example, if the storage device 41 is a basket with a hole in the lid, the conveyor belt 21 places the collected objects into the hole in the lid of the basket, and the collected objects are stored in the storage device 41.

[0029] In the second vehicle 5, the second frame 31 is the frame of the second vehicle 5.

[0030] The second power source device 33 is a device that serves as a power source for the second vehicle 5, and outputs power for moving the second vehicle 5. The second power source device 33 is, for example, a prime mover, a battery, or the like.

[0031] The second speed change mechanism 35 is a transmission for transmitting the power output by the second power source device 33 to the second crawler 37. The transmission has a state in which the gears are engaged and a neutral state in which the gears are not engaged. In the state in which the gears are engaged, the power output by the second power source device 33 is transmitted to the second crawler 37, causing the drive wheels to rotate and enabling forward movement, reverse movement, gear changes, etc. In the neutral state in which the gears are not engaged, the power output by the second power source device 33 is not transmitted to the second crawler 37.

[0032] The second crawler 37 is an endless track for moving the second vehicle 5, and includes a drive wheel, a wheel, an idler wheel (guider wheel), and the like, as well as a track connected to surround these.

[0033] The storage device 41 is, for example, a container, a pallet, a basket, etc. The objects collected by the collection device (the acquisition device 20 and the conveyor belt 21) are stored in the storage device 41.

[0034] The second operating device 39 is operated by the operator to move the second vehicle 5, etc. When a movement state such as forward, backward, or gear change is instructed by operating the second operating device 39, the second transmission mechanism 35 transmits the power output by the second power source device 33 to the second crawler 37 in an engaged gear state, causing the second crawler 37 to move in accordance with the instruction. When a neutral state is instructed by operating the second operating device 39, the second transmission mechanism 35 puts the gears in a disengaged state. In the neutral state where the gears are disengaged, the drive wheels can rotate without load on the second transmission mechanism 35 and the second power source device 33.

[0035] The first coupling device 23 and the second coupling device 43 are provided on the first frame body 11 and the second frame body 31, respectively, and are used to couple or uncouple the first vehicle 3 and the second vehicle 5. For example, the first coupling device 23 has a donut-shaped (annular) hole, and the second coupling device 43 has a curved shape like a hook (a hook, a device for hooking or fastening things), and the curved part of the second coupling device 43 can be moved manually or electrically to hook into the hole of the first coupling device 23, thereby coupling the first vehicle 3 and the second vehicle 5.

[0036] FIG. 2(a) shows a state in which the first vehicle 3 and the second vehicle 5 are coupled together by the first coupling device 23 and the second coupling device 43. In FIG. 2(a), the direction in which the first vehicle 3 exists (toward the left in the figure) with respect to the first vehicle 3 and the second vehicle 5 is defined as the front, and the direction in which the second vehicle 5 exists (toward the right in the figure) with respect to the first vehicle 3 and the second vehicle 5 is defined as the rear. The first vehicle 3 and the second vehicle 5 are coupled together with the first vehicle 3 positioned in the front and the second vehicle 5 positioned in the rear. The first coupling device 23 is located behind the first frame 11 based on the direction of the track of the first crawler 17 of the first vehicle 3. The second coupling device 43 is located in front of the second frame 31 based on the direction of the track of the second crawler 37 of the second vehicle 5.

[0037] 2(b) is a diagram for explaining the process in which the collection device (acquisition device 20 and conveyor belt 21) collects objects on the ground and stores the collected objects in the storage device 41. In this example, the first vehicle 3 and the second vehicle 5 are connected by the first coupling device 23 and the second coupling device 43.

[0038] At this time, the operator 18 of the second vehicle 5 operates the second operating device 39 to instruct the second vehicle 5 to be in a neutral state, and the gears of the second transmission mechanism 35 are in a disengaged state. The second transmission mechanism 35 is in a neutral state with the gears not engaged, and the drive wheels of the second crawler 37 can rotate without load on the second transmission mechanism 35 and the second power source device 33. The operator 18 does not need to give any further instructions to the second vehicle 5 thereafter.

[0039] In the first vehicle 3, the operator 18 operates the first operating device 19 to instruct the vehicle to move forward (forward) (towards the left in the figure) and for the collection device (acquisition device 20 and conveyor belt 21) to collect objects on the ground. The first transmission mechanism device 15, in accordance with the instruction from the operation of the first operating device 19, brings the gears into mesh and moves the first vehicle 3 forward. The collection device (acquisition device 20 and conveyor belt 21) in accordance with the instruction from the operation of the first operating device 19 collects objects on the ground. The collected objects are stored in the storage device 41.

[0040] The second vehicle 5 is coupled to the first vehicle 3 by the first coupling device 23 and the second coupling device 43. As the first vehicle 3 moves forward, the second vehicle 5 is pulled, and a force is applied to the second vehicle 5 to move forward. In the second vehicle 5, the force to move forward causes the drive wheels to rotate, which in turn rotates the tracks, causing the second vehicle 5 to move following the first vehicle 3. Because the operator 18 does not need to give instructions to the second vehicle 5 while giving instructions to the first vehicle 3, one person can operate the first vehicle 3 and the second vehicle 5 to collect the objects. In other words, labor can be reduced.

[0041] In general, caterpillars are used on rough terrain. For this reason, it was thought that a caterpillar-based vehicle would slip and be unable to move properly if towed by another vehicle. However, the inventors conducted experiments and confirmed that, when the ground is leveled at least to the extent that objects can be collected from the ground, the tracks of the first crawler 17 and the second crawler 37 are oriented in the same direction, and the transmission of the towed second vehicle 5 is in neutral, even if the first vehicle 3 tows the second vehicle 5, the tracks of the second vehicle 5 do not slip, and the tracks rotate as the drive wheels rotate, allowing the second vehicle 5 to move following the first vehicle 3. Therefore, when moving the second vehicle 5 following the first vehicle 3, this can be achieved by coupling the first vehicle 3 and the second vehicle 5 and placing the transmission of the second vehicle 5 in neutral, without the second vehicle 5 having to use its own power source to move independently of the first vehicle 3.

[0042] FIG. 3 shows a state in which the storage device 41 has adequately stored the object. The second vehicle 5 moves the object to a work site for shipping or other operations. At this time, the first vehicle 3 does not need to be moved, and it is better for it to remain there for subsequent operations. Therefore, the operator 18 disengages the first coupling device 23 and the second coupling device 43. The second vehicle 5 moves to a work site or other location independently of the first vehicle 3. The operator 18 operates the second operating device 39 to issue an instruction to move. The second transmission mechanism 35 transmits the power output by the second power source device 33 to the second crawler 37 with the gears engaged, causing it to move according to the instruction.

[0043] FIG. 4 shows the state in which the first vehicle 3 moves while following the second vehicle 5. It is assumed that the first vehicle 3 will become unable to move under its own power due to a problem (such as a breakdown). The inventors have experimentally confirmed that if the tracks of the first crawler 17 and the second crawler 37 are oriented in the same direction and the first vehicle 3, which is connected and towed by the first coupling device 23 and the second coupling device 43, has its transmission in neutral, moving the second vehicle 5 backward to pull the first vehicle 3 backward will similarly rotate the drive wheels of the first vehicle 3, causing the tracks to rotate, and the first vehicle 3 will move while following the second vehicle 5. In this state, the collection device (acquisition device 20 and conveyor belt 21) of the first vehicle 3 is not collecting objects. Therefore, the first vehicle 3 is not moving or collecting objects by its own power, and does not need to use the power output by the first power source device 13.

[0044] That is, first, the operator 18 couples the first vehicle 3 and the second vehicle 5 with the first coupling device 23 and the second coupling device 43. Next, the operator 18 operates the first operating device 19 to instruct the neutral state, and the first transmission mechanism device 15 to put the gears in a disengaged state. Next, the operator 18 operates the second operating device 39 to instruct reverse. The second transmission mechanism device 35 puts the gears in an engaged state, transmitting the power output by the second power source device 33 to the second crawler 37, causing the second vehicle 5 to move backward. This pulls the first vehicle 3 backward, causing the drive wheels of the first vehicle 3 to rotate, which rotates the tracks, and the first vehicle 3 moves following the second vehicle 5. This allows the operator 18 to deal with situations such as when the first vehicle 3 cannot move under its own power.

[0045] As shown in Figure 2(b), when the second vehicle 5 is moved following the first vehicle 3, the collection device (acquisition device 20 and conveyor belt 21) collects the objects, and the objects collected by the collection device (acquisition device 20 and conveyor belt 21) are stored in the storage device 41. As shown in Figure 4, when the first vehicle 3 is moved following the second vehicle 5, the collection device (acquisition device 20 and conveyor belt 21) does not collect the objects.

[0046] In the present invention, when the first vehicle and the second vehicle are coupled together and the second vehicle follows the first vehicle, the second vehicle may be a tracked vehicle, and the first vehicle may be either a tracked vehicle or a wheeled vehicle (a vehicle equipped with tires and wheels). [Explanation of symbols]

[0047] 1 Vehicle Systems 3. First car 5 Second car 11 First frame 13 1st power source device 15 First transmission mechanism 17 First crawler 18 Operator 19 1st operating device 20 Acquisition Device 21 Conveyor belt 23 1st coupling device 31 Second frame 33 Second power source device 35 Second transmission mechanism 37 Second Crawler 39 Second operating device 41 Storage device 43 Second coupling device 103 Front vehicle 105 Rear vehicle 118 Forward Operator 119 1st operating device 120 Acquisition Device 121 Conveyor belt 137 Endless track 138 Rear Operator 139 Second operating device 141 Storage device

Claims

1. A vehicle system including a first vehicle and a second vehicle, the first vehicle includes a collection device and a first power source device; the second vehicle includes a storage device, a second transmission mechanism device, and a second crawler; the second crawler is an endless track that moves the second vehicle, The first vehicle and the second vehicle are connected such that the first vehicle is located in the front and the second vehicle is located in the rear, When the collecting device collects the object, the collection device collects the objects using the power output by the first power source device, and the collected objects are stored in the storage device; the second transmission mechanism is in a neutral state in which the gears are not engaged, A vehicle system in which the first vehicle moves forward using the power output by the first power source device, causing the tracks of the second crawler to rotate and move in a manner following the first vehicle.

2. the first vehicle includes a first transmission mechanism and a first crawler; the second vehicle includes a second power source device; the first crawler is an endless track that moves the first vehicle, When the first vehicle is moved to follow the second vehicle, The collecting device does not require power because it does not collect objects; the first transmission mechanism is in a neutral state in which the gears are not engaged, When the gears of the second transmission mechanism are engaged, the power output by the second power source device is transmitted to the second crawler, The vehicle system according to claim 1 , wherein the first vehicle moves following the second vehicle by rotating the tracks of the first crawler as the second vehicle moves backward.

3. A method of travel in a vehicle system including a first vehicle and a second vehicle, comprising: the first vehicle includes a collection device and a first power source device; the second vehicle includes a storage device, a second transmission mechanism device, and a second crawler; the second crawler is an endless track that moves the second vehicle, The first vehicle and the second vehicle are connected such that the first vehicle is located in the front and the second vehicle is located in the rear, When the collecting device collects the object, the collection device collects the objects using the power output by the first power source device, The objects collected by the collection device are stored in the storage device; the second transmission mechanism is in a neutral state in which the gears are not engaged, The second vehicle moves forward using the power output by the first power source device, causing the tracks of the second crawler to rotate and move in tandem with the first vehicle.

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