JPH03151402A - Ground maintenance and line drawing robot - Google Patents

Abstract

PURPOSE:To achieve labor saving by providing a line drawing device, a position sensor, a laser beam receiving control portion and an obstacle sensor on a truck, and selectively using a program input according to the object of use to control the drive of the truck or the like. CONSTITUTION:A ground maintenance device 3, a line drawing device 4, a position sensor for calculating the current position, a laser beam receiving control device travelling on a line and an obstacle sensor are provided on a self-running truck 1. Further, a control portion is provided for selecting and using a program according to the object of use. In case of putting the ground A in good condition, radio wave generators B1, B2 are installed in the central portion of the infield, and laser generators D1, D2 are installed on extension lines of lines C1, C2 to be drawn. According to a selected program, the truck 1 is travelled along lines C1, C2 and the device 4 is driven to draw a line with lime. Thus, labor saving can be achieved.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention provides an unmanned maintenance system for soil fields such as baseball fields, soccer fields, tennis courts, etc., and allows necessary lines to be drawn with lime. This relates to fully automatic ground maintenance and line drawing robots.

[Prior Art] Conventionally, in order to maintain an earthen ground at a baseball field, etc., a worker leveled the surface using a ground maintenance tool called a dragonfly, or used a car equipped with a wide maintenance tool at the rear. I try to smooth the surface while running it. In addition, to draw a predetermined line, a person uses a so-called line drawer equipped with wheels filled with lime to draw the line.

[Problems to be Solved by the Invention] The conventional ground maintenance method described above requires a lot of manpower, takes a lot of time, and is extremely inefficient.

The present invention was developed in view of the conventional situation, and the technical problem is to provide a convenient robot that can automatically perform ground maintenance and line drawing without the need for human labor. It is something.

[Means for Solving the Problems] As a means for solving the technical problems, the present invention includes a freely movable trolley, which includes a line pulling device, a ground maintenance device using a rotating brush, A position sensing device that determines the current position by receiving radio waves from radio wave oscillators installed at important points on the ground, and a position sensing device that receives a laser beam from a laser oscillator installed on the ground on an extension of the line to be drawn. a laser light receiving control unit that causes the trolley to travel along the line, an obstacle sensing device that has a sound wave oscillator and a sensor that senses surrounding obstacles, and a program that is required in advance according to the purpose of use. A control unit that can select and use the input program;
The gist is that a driving device is installed to drive the trolley, the line pulling device, and the ground maintenance device, respectively. The surface of the ground is being maintained, but the position sensing device can determine the current position on the ground, and the obstacle sensing device can prevent collisions with foreign objects, fences, etc. The limestone is positioned on a predetermined line via the laser light receiving control section, and the line drawing device is driven to automatically draw the line with lime.

[Embodiments] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In Fig. 1, reference numeral 1 denotes a trolley that serves as the main body of the robot. Wheels 2 are attached to the lower part of the trolley so that it can move forward and backward freely. As shown in Fig. 2, there is a ground maintenance vehicle in the center of the lower surface. A device 3 is attached, and a line drawing device 4 is provided at the rear end. The ground maintenance device 3 has a pair of soil leveling rotary brushes 3a, which are rotated in opposite directions by a drive motor (not shown). The line drawing device 4 includes a lime storage section 4a, and is configured to discharge an appropriate amount of lime in a fixed width from a lower discharge port 4b according to a signal from a control section, and a leveling chamber is provided near the discharge port. A rotating brush 4C is attached.

Although not shown, the trolley 1 also includes a position sensing device that determines the current position within the ground, a laser light reception control unit that causes the trolley to travel along the line to be drawn, and a sonic oscillator and sensor. an obstacle sensing device that detects surrounding obstacles, a control section into which necessary programs are input in advance according to the purpose of use and which can be selectively used, and the trolley, ground maintenance device, and line drawing device. A driving device is installed to drive each of them.

The ground maintenance and line drawing robot according to the present invention is constructed as described above, and an example of its use will be explained with reference to the baseball field shown in FIG. 3. First, a radio wave oscillator B1-82 is installed approximately in the center of the infield fences on the first and third base sides of Ground A in the baseball field, and a laser oscillator is installed on the extension of lines C, C2 to be drawn on the front fence. Ri D2 is attached to each. Said radio wave oscillator B1. B2 oscillates a pulse signal, this pulse signal is received by the position sensing device of the trolley 1, and this signal is input to the control section and is compared with a pre-stored value to generate a pulse signal within the ground A. The current position of the truck 1 is known, and the truck 1 is self-controlled according to the commanded program, so that the truck 1 can be thoroughly maintained by the ground maintenance device 3 while traveling within the ground A. Even if a foreign object is present during this ground maintenance, the foreign object will be detected by the obstacle sensing device, so that the collision of the trolley 1 will be prevented and the fence of the ground A will be prevented from colliding with the fence. Nothing happens.

After the ground maintenance is completed in this way, a laser beam is emitted from the laser oscillator D+, the laser beam reception control section receives the laser beam, and runs the trolley 1 along the line C on the first base side. A line drawing device 4 is driven to draw a line from the home base to the outfield fence on the right field side with lime.

Similarly, by running the trolley 1 along the line C2 on the third base side via the laser oscillator D2, a line can be drawn with lime from the home base to the outfield fence on the left field side. These series of operations are extremely convenient because they are carried out unmanned and fully automatically by the robot (truck 1) when the ground is not in use, such as at night.

The driving power source shall be rechargeable, and it shall be automatically charged by a charger after work is completed. It is advantageous if the programs of the control section are stored in advance for each type of baseball, soccer, tennis, gateball, etc., and can be selected as appropriate by pressing a button, since maintenance can be easily performed to suit the purpose.

[Effects of the Invention] As explained above, according to the robot of the present invention, maintenance of the ground and necessary line drawing can be done fully automatically. Moreover, the effects are extremely remarkable, such as being able to work unattended in the middle of the night.

[Brief explanation of the drawing]

FIG. 1 is a side view showing an embodiment of the present invention, FIG. 2 is a bottom view thereof, and FIG. 3 is an explanatory view showing an example of use at a baseball field. 1... Trolley 2... Wheels 3... Ground maintenance device 3a... Rotating brush 4... Line drawing device 4a... Lime storage section 4b... Discharge port
4c...Brush for leveling A...Baseball field B1. B2... Radio wave oscillator C,, C2... Line Dt, D2... Laser oscillator

Claims (1)

[Claims] Equipped with a freely movable trolley, this trolley is equipped with a line drawing device, a ground maintenance device using a rotating brush, and a position sensing device that receives radio waves from radio wave oscillators installed at key points on the ground to determine the current position. , a laser light reception control unit that receives a laser beam from a laser oscillator installed on the ground and located on an extension of the line to be drawn, and causes the cart to travel along the line; a sonic oscillator and a sensor; an obstacle sensing device that senses surrounding obstacles, a control section into which necessary programs are input in advance according to the purpose of use and which can be selectively used, and drives the trolley, line pulling device, and ground maintenance device, respectively. A ground maintenance and line drawing robot characterized in that it is equipped with a drive device that moves the ground.