Work system and work unit

Abstract

To provide a work system capable of achieving automation or semi-automation of work such as mowing not only on a slope but also on various terrains.SOLUTION: The work system includes a work unit, three or more support tools installed to surround a work area, three or more cables respectively stretched between the work unit in the work area and the three or more support tools, and three or more reel motors that respectively wind or unwind the three or more cables to move the work unit in the work area.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work system and a work unit for performing work such as mowing. [Background technology]

[0002] Patent Document 1 discloses a work vehicle that performs grass cutting work while traveling on a slope by winding up a wire, one end of which is supported by a fixed object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2024-008610 Summary of the Invention [Problem to be solved by the invention]

[0004] A primary object of the present invention is to provide a work system and work unit that can realize automation or semi-automation of work such as mowing on various types of terrain, not just slopes. [Means for solving the problem]

[0005] To solve the above problems, one aspect of the present invention provides a work system comprising a work unit, three or more supports installed around a work area, three or more cables stretched between the work unit and the three or more supports within the work area, and three or more reel motors that reel in or unreel the three or more cables to move the work unit within the work area. This makes it possible to automate or semi-automate work such as mowing on various types of terrain, not just slopes.

[0006] In the above aspect, the three or more supports include first to fourth supports, the three or more cables include first to fourth cables, the three or more reel motors include first to fourth reel motors, the first and second supports are installed on one side of the work area, and the third and fourth supports are installed on the other side of the work area opposite the one side, and the work unit may further include a first rail installed between the first and second supports, a first slider movable on the first rail, a second rail installed between the third and fourth supports, and a second slider movable on the second rail, the first and second cables are respectively stretched between the work unit and the first and second supports via the first slider, and the third and fourth cables are respectively stretched between the work unit and the third and fourth supports via the second slider, and the first to fourth reel motors may wind or unwind the first to fourth cables, respectively, to move the work unit within the work area. This makes it possible to move the working unit between the sliders and to move the working unit along the rail together with the slider.

[0007] In the above aspect, the three or more reel motors may be installed in the working unit, which makes it possible to aggregate the reel motors in the working unit.

[0008] In the above aspect, the first or second rail may be a flexible rail having flexibility, and may further include one or more auxiliary supports that support the flexible rail midway. This allows the flexible rail to be grounded in any shape and allows the flexible rail to maintain tension.

[0009] In the above aspect, the first rail may be formed by the first cable folded back at the first support or the second cable folded back at the second support, and the second rail may be formed by the third cable folded back at the third support or the fourth cable folded back at the fourth support. This makes it possible to form rails using folded cables.

[0010] Another aspect of the present invention provides a working unit that includes three or more reel motors that reel in or unreel three or more cables that are stretched between the working unit within a working area and three or more supports that are installed surrounding the working area, and a controller that controls the three or more reel motors to move the working unit within the working area. This makes it possible to integrate the reel motors and controller into the working unit. [Effects of the Invention]

[0011] According to the present invention, it is possible to realize automation or semi-automation of work such as mowing on various types of terrain, not limited to slopes. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 illustrates an example of a work system. [Figure 2] FIG. 1 illustrates an example of a work system. [Figure 3] FIG. 10 illustrates an example of a task unit. [Figure 4] FIG. 10 illustrates an example of a task unit. [Figure 5] FIG. 10 illustrates an example of a task unit. [Figure 6] FIG. 10 is a diagram illustrating another example of a work system. [Figure 7] 10A and 10B are diagrams illustrating examples of auxiliary supports. [Figure 8] FIG. [Figure 9] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this specification and the drawings, elements similar to those described above with reference to the previous drawings will be designated by the same reference numerals, and detailed descriptions thereof may be omitted as appropriate.

[0014] Fig. 1 is a diagram showing a schematic configuration example of a work system 100. Fig. 2 is a diagram showing an example in which the work system 100 is applied to a slope. Figs. 3 and 4 are external perspective views showing a configuration example of a work unit 1. Fig. 5 is a block diagram showing an internal configuration example of the work unit 1.

[0015] The work system 100 is a system that uses the cable pulling mechanism of this embodiment to move the work unit 1 within a work area WA to perform work such as mowing. The work is not limited to mowing, but may also be agricultural work such as spraying pesticides or sowing seeds.

[0016] As shown in the example of Figure 2, the work system 100 is suitable for mowing steep slopes and adjacent ridges found in mountainous areas, etc. The work system 100 is also suitable for mowing not only slopes but also flat land, and is adaptable to a variety of terrains.

[0017] By adopting the cable traction mechanism of this embodiment, the risk of the work unit 1 tipping over on steep slopes or getting stuck on uneven ground or obstacles is reduced compared to wheel-driven work vehicles, improving off-road performance.

[0018] Specifically, the working system 100 includes a working unit 1, supports 21 to 24, cables 31 to 34, reel motors 41 to 44, sliders 51 and 52, and rails 61 and 62.

[0019] The supports 21 to 24 are installed to surround the work area WA. In other words, the work area WA is defined by the supports 21 to 24. The work area WA is, for example, rectangular, but is not limited to this and may be a trapezoid, parallelogram, or other quadrangle.

[0020] The supports 21 to 24 are devices for supporting the cables 31 to 34 and the rails 61, 62, and are provided integrally with, for example, stakes driven into the ground. However, the supports 21 to 24 may also be attached to, for example, trees, guardrails, or other structures.

[0021] Of the supports 21 to 24, supports 21 and 22 are installed on one side of the work area WA (for example, on the upper side of the slope), while supports 23 and 24 are installed on the other side opposite the one side of the work area WA (for example, on the lower side of the slope).

[0022] A rail 61 is installed between supports 21 and 22, and a rail 62 is installed between supports 23 and 24. Rail 61 extends along one side of the work area WA, and rail 62 extends along the other side of the work area WA.

[0023] The supports 21 and 23 are installed on one end side (left side in FIG. 1) of the rails 61 and 62, and the supports 22 and 24 are installed on the other end side (right side in FIG. 1) opposite the one end side of the rails 61 and 62.

[0024] The rails 61 and 62 are flexible rails. Specifically, the rails 61 and 62 are formed of, for example, a metal wire or a synthetic resin rope. However, the rails 61 and 62 are not limited to this, and may be metal rails with high rigidity.

[0025] Slider 51 is movably installed on rail 61, and slider 52 is movably installed on rail 62. Slider 51 has roller 516 that rolls on rail 61. Slider 52 has roller 527 that rolls on rail 62.

[0026] The cables 31 to 34 are stretched between the working unit 1 and the supports 21 to 24 in the working area WA, respectively. The cables 31 to 34 are formed of, for example, metal wire or synthetic resin rope.

[0027] Of the cables 31 to , the cables 31 and 32 are stretched between the working unit 1 and the supports 21 and 22 via a slider 51. The cables 33 and 34 are stretched between the working unit 1 and the supports 23 and 24 via a slider 52.

[0028] Slider 51 has roller 511 that rolls on cable 31 and roller 512 that rolls on cable 32 (see FIG. 7). Slider 52 has roller 523 that rolls on cable 33 and roller 524 that rolls on cable .

[0029] The cables 31 to 34 are preferably flexible for winding or unwinding. The rails 61 and 62 are preferably rigid and capable of providing sufficient tension in order to support the sliders 51 and 52.

[0030] The reel motors 41 to 44 are installed on the working unit 1 and reel in or unreel in the cables 31 to 34, respectively, to move the working unit 1 within the working area WA. The reel motors 41 to 44 may also be installed on the supports 21 to 24 side.

[0031] The reel motors 41 to 44 include reels around which the cables 31 to 34 are wound, and electric motors that rotate the reels. The electric motors are, for example, servo motors or stepping motors. They may also include separate encoders for measuring the lengths of the cables 31 to 34.

[0032] 3 to 5, the working unit 1 has a box-shaped housing 10 and is shaped, sized, and lightweight to be easily carried. The housing 10 houses reel motors 41 to 44, a grass cutting motor 18, and a controller 16.

[0033] A battery 19 may be detachably installed on the top of the housing 10. The battery 19 supplies power to the reel motors 41 to 44, the mowing motor 18, and the controller 16 housed in the housing 10. The battery 19 is, for example, a secondary battery such as a lithium ion battery.

[0034] The housing 10 has openings 10a formed on its front and rear surfaces (surfaces facing the sliders 51 and 52) for passing the cables 31 to 34 drawn out from the reel motors 41 to 44 through.

[0035] A grass cutting blade 8 for cutting brush is installed in the center of the bottom of the housing 10. The grass cutting blade 8 is rotated by a grass cutting motor 18. The grass cutting blade 8 is made of, for example, a synthetic resin. However, the grass cutting blade 8 is not limited to this and may be a metal blade, a chip saw, a nylon cord, or the like.

[0036] In this embodiment, the mower blade 8 and the mower motor 18 are used for mowing, but instead of these, a module for a scratching type, a flail type, or a burn-off type using a laser or an electric pulse may be provided. Also, a module for performing other tasks may be provided.

[0037] Brackets 17 extending downward are installed on both sides of the lower part of housing 10, and wheels 7 are supported on brackets 17. Wheels 7 are wheels for movement in the direction toward sliders 51 and 52, i.e., in the direction in which cables 31 to 34 extend.

[0038] The wheels 7 come into contact with the ground, thereby maintaining the grass cutting blade 8 at a predetermined height from the ground. In addition, the wheels 7 are positioned to the sides of the grass cutting blade 8, making it possible to prevent obstacles from entering from the sides.

[0039] For example, three-wheel casters that allow three wheels to revolve are used as the wheels 7 to make it easier to overcome obstacles. However, the present invention is not limited to this, and the wheels 7 may be omitted as long as a ground contact portion is provided to maintain the grass cutting blade 8 at a predetermined height from the ground.

[0040] The controller 16 is a computer including a CPU, RAM, ROM, non-volatile memory, an input / output interface, etc. The controller 16 controls the reel motors 41 to 44 to move the working unit 1 within the working area WA.

[0041] As shown in the example of FIG. 1, the controller 16 controls the reel motors 41 and 42 to wind up the cables 31 and 32, and controls the reel motors 43 and 44 to unwind the cables 33 and 34, thereby moving the working unit 1 toward the slider 51.

[0042] The controller 16 also controls the reel motors 41 and 42 to unwind the cables 31 and 32, and controls the reel motors 43 and 44 to wind up the cables 33 and 34, thereby moving the working unit 1 toward the slider 52.

[0043] In addition, the controller 16 controls the reel motors 41, 43 to wind up the cables 31, 33, and controls the reel motors 42, 44 to rewind the cables 32, 34, thereby moving the working unit 1 together with the sliders 51, 52 toward one end side of the rails 61, 62, i.e., toward the supports 21, 23.

[0044] The controller 16 also controls the reel motors 41, 43 to rewind the cables 31, 33, and controls the reel motors 42, 44 to wind up the cables 32, 34, thereby moving the working unit 1 together with the sliders 51, 52 toward the other end of the rails 61, 62, i.e., toward the supports 22, 24.

[0045] For example, the controller 16 proceeds with work such as mowing by alternately repeating a step of reciprocating the work unit 1 in the direction of the sliders 51, 52 and a step of shifting the work unit 1 together with the sliders 51, 52 in the direction of the rails 61, 62.

[0046] However, the controller 16 may shift the working unit 1 together with the sliders 51, 52 in the direction of the rails 61, 62 during the process of reciprocating the working unit 1 in the direction of the sliders 51, 52. In other words, the working unit 1 may move in a zigzag pattern.

[0047] Furthermore, the controller 16 can grasp the position of the working unit 1 within the working area WA based on signals from the encoders of the reel motors 41 to 44, and can position the working unit 1 at a desired position within the working area WA.

[0048] For example, when the controller 16 detects that the working unit 1 has approached the edge of the working area WA in the process of reciprocating the working unit 1 in the direction of the sliders 51, 52, the controller 16 switches the direction of movement of the working unit 1.

[0049] Alternatively, a sensor that detects approach to the sliders 51, 52 may be installed on the working unit 1, and the controller 16 may switch the direction of movement of the working unit 1 when it detects that the working unit 1 has approached the sliders 51, 52.

[0050] Fig. 6 is a diagram schematically illustrating an example configuration of a working system 100B according to another embodiment. Fig. 7 is an external perspective view illustrating an example configuration of an auxiliary support 9. The working system 100B further includes one or more auxiliary supports 9 that support the rails 61, 62 midway.

[0051] By supporting the flexible rails 61 and 62 with the auxiliary support 9, it is possible to maintain tension on the rails 61 and 62 and keep the sliders 51 and 52 afloat so that they do not rub against the ground.

[0052] Furthermore, because the rails 61, 62 can be bent, the working area WA can be adjusted to a desired shape, making it possible to adapt to various terrains. The area between the rails 61, 62 is the working area WA. Note that the rails 61, 62 do not necessarily have to be parallel.

[0053] 7, the auxiliary support 9 has a holding portion 93 for holding the rail 61 at the tip of an arm 92 supported by a pole 91. The slider 51 can pass through the auxiliary support 9 by the roller 516 climbing over the holding portion 93.

[0054] 8 is a diagram showing a schematic configuration example of a working system 100C according to a modified example. In this example, rails 61 and 62 using cables 31 to 34 are installed.

[0055] That is, rail 61 is made up of cable 31 folded back at support 21 or cable 32 folded back at support 22. Rail 62 is made up of cable 33 folded back at support 23 or cable 34 folded back at support 24.

[0056] This eliminates the need to separately install rails 61 and 62, thereby reducing the number of parts and the number of steps required for grounding. Also, the tension of rails 61 and 62 can be ensured by reel motors 41 to 44.

[0057] 9 is a diagram schematically illustrating an example of the configuration of a working system 100D according to a modified example. As in this example, the working system 100D may be configured with three supports 21-23, three cables 31-33, and three reel motors 41-43.

[0058] Even with this configuration, it is possible to move the work unit 1 and mow within the work area WA surrounded by the supports 21 to 23. The number of components is not limited to three, and may be four or more.

[0059] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made by those skilled in the art. [Explanation of symbols]

[0060] 1 working unit, 10 housing, 16 controller, 18 grass cutting motor, 19 battery, 21-24 support, 31-34 cable, 41-44 reel motor, 51, 52 slider, 61, 62 rail, 7 wheel, 8 grass cutting blade, 9 auxiliary support, 100 working system, WA working area

Claims

1. A work unit; Three or more supports installed around the work area; three or more cables respectively stretched between the operational unit and the three or more supports located within the operational area; three or more reel motors that reel in or unreel in the three or more cables, respectively, to move the working unit within the working area; A working system comprising:

2. the three or more supports include first to fourth supports, the three or more cables include first to fourth cables, the three or more reel motors include first to fourth reel motors, the first and second supports are installed on one side of the work area; the third and fourth supports are installed on the other side opposite the one side with respect to the work area, a first rail installed between the first and second supports; a first slider movable on the first rail; a second rail installed between the third and fourth supports; a second slider movable on the second rail; Furthermore, the first and second cables are stretched between the working unit and the first and second supports via the first slider, the third and fourth cables are stretched between the working unit and the third and fourth supports, respectively, via the second slider; the first to fourth reel motors wind or unwind the first to fourth cables, respectively, to move the working unit within the working area; The work system according to claim 1 .

3. The three or more reel motors are installed in the working unit. The work system according to claim 1 .

4. the first or second rail is a flexible rail, Further provided is one or more auxiliary supports for supporting the flexible rail midway. The work system according to claim 2 .

5. the first rail is configured by the first cable folded back at the first support or the second cable folded back at the second support, the second rail is configured by the third cable folded back at the third support or the fourth cable folded back at the fourth support. The work system according to claim 2 .

6. A working unit comprising: three or more reel motors for winding or unwinding three or more cables respectively stretched between the working unit located within a working area and three or more supports installed surrounding the working area; a controller that controls the three or more reel motors to move the working unit within the working area; A working unit comprising:

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