JPH07129241A - Driving method for traveling vehicle and traveling vehicle - Google Patents

Abstract

PURPOSE:To omit a steering device which controls the steering angle of a wheel and an additional guidance device for a travel on a desired travel path, and to make an automatic traveling scattering cart automatically travels along the desired travel path even when there is a wall only on one side. CONSTITUTION:A sideward distance sensor 26 measures the distance to a right- side wall and the rotating power of a motor is transmitted to left-side and right-side rear driving wheels through left and right electromagnetic clutches 64 and 66. When the distance to the wall becomes less than a lower limit, the left and right electromagnetic clutches 64 and 66 are turned OFF and ON respectively, and the left-side and right-side rear driving wheels are switched to a free rotation state and a rotation driven state. When the distance to the wall exceeds an upper limit, the left-side and right-side electromagnetic clutches 64 and 66 are turned ON and OFF respectively and the left-side and right-side driving wheels are switched to the free rotation state and rotation driven state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is applied to a traveling vehicle for a traveling vehicle and a traveling vehicle which are applied to, for example, a spraying vehicle which circulates in a livestock barn at a relatively low speed and sprays a disinfectant solution or the like on the wall of the barn. More specifically, the present invention relates to a traveling method for a traveling vehicle that can simplify the structure of the traveling vehicle and a traveling vehicle that has a simplified structure.

[0002]

2. Description of the Related Art Japanese Unexamined Patent Publication (Kokai) No. 4-322307 omits a steering device for controlling a steering angle of wheels, and a guide device such as a rail for guiding a traveling vehicle along a traveling route. Disclosed is a traveling vehicle that can appropriately and automatically travel in a furrow passage without riding. According to this traveling vehicle, while traveling in the ridge passage, the distances to the ridges on both sides are measured.
If it deviates from the proper range, increase the rotation speed of the drive wheel on the approach side from the rotation speed of the drive wheel on the non-approach side (at this time, the drive wheel on the non-approach side rotates Although the speed is reduced, it is maintained in a state of being driven at a predetermined rotation speed.), But the rotation speeds of the left and right drive wheels are made different from each other.

[0003]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
The traveling method disclosed in Japanese Patent Publication No. 7 requires three switching operations, namely, straight traveling, steering to the right, and steering to the left, and during steering,
Since the driving wheels inside the steering direction are held in a rotationally driven state and the rotational speeds of the left and right driving wheels are made different, the control and transmission device becomes complicated. Furthermore, this traveling method is limited to traveling along a route in which a wall body exists on both sides of the traveling vehicle, such as a furrow passage, and when the wall body exists only on one side, the traveling vehicle along the route is limited. It is difficult to drive properly.

The object of the inventions of claims 1 and 7 is to eliminate the need for a steering device accompanied by control of the steering angle of the steered wheels, and a specially added guiding device for traveling along the route, and It is an object of the present invention to provide a traveling method and a traveling vehicle for a traveling vehicle that can simplify a control and transmission device. Another object of the invention of claims 1 and 8 is to provide a traveling method for a traveling vehicle and a traveling vehicle capable of appropriately traveling a traveling vehicle according to a desired route even in a situation where a wall exists on only one side. That is. It is an object of the inventions of claims 2 and 9 to further provide a traveling method for a traveling vehicle and a traveling vehicle capable of traveling back and forth on the same route. An object of the inventions of claims 3 and 10 is to provide a traveling method and a traveling vehicle for a traveling vehicle that can appropriately pass through a corner. An object of the inventions of claims 4 and 11 is to provide a traveling method for a traveling vehicle and a traveling vehicle which are excellent in patrol traveling. It is an object of the inventions of claims 5 and 12 to provide a traveling method for a traveling vehicle and a traveling vehicle capable of simplifying the wheel device and achieving smoother steering. It is an object of the inventions of claims 6 and 13 to provide a traveling method for a traveling vehicle and an advantageous embodiment of the traveling vehicle. It is an object of the inventions of claims 7 and 14 to provide a traveling method for a traveling vehicle and a traveling vehicle capable of spraying a spray liquid from a traveling vehicle on a limited section of a traveling route.

[0005]

The present invention will be described using reference numerals in the drawings corresponding to the embodiments. In the traveling method for traveling vehicle according to claim 1, the distance to the wall body (78) on the side of the traveling vehicle (10) is measured, and when the distance to the wall body (78) is equal to or less than the lower limit, the traveling vehicle ( The drive wheels (16, 18) on the side of the wall body (78) and on the side opposite the wall body (78) of 10) are switched to the rotational drive state and the free rotation state, respectively, and then the distance to the wall body (78) is not less than the upper limit. To become and,
The drive wheels (16, 16) on the wall (78) side and the opposite wall (78) side of the traveling vehicle (10)
18) are respectively switched to the free rotation state and the rotation drive state, and while repeating this switching alternately, the traveling vehicle (10)
Follow along (78).

In the traveling vehicle traveling method according to claim 2, in the traveling vehicle traveling method according to claim 1, further, when the distance to the obstacle (80) in front of the traveling vehicle (10) becomes a predetermined value or less. Then, the drive wheels (16, 18) of the traveling vehicle (10) are rotated in the reverse direction to switch the traveling vehicle (10) from forward to reverse.

The traveling vehicle traveling method according to claim 3 is the traveling vehicle traveling method according to claim 1, further comprising an obstacle detector (20) for detecting an obstacle (80) in front of the traveling vehicle (10). The corner (80) of the wall body (78) is detected by, and when the traveling vehicle (10) comes to the corner (80), the obstacle (80) ahead of the obstacle (80) is detected for a predetermined time or by the obstacle detector (20). Turn the traveling vehicle (10) by turning the driving wheels (16, 18) on the wall (78) side and the opposite wall (78) side of the traveling vehicle (10) to the rotational driving state and the braking state, respectively, until it is no longer detected. Let

In the traveling vehicle traveling method of claim 4, the traveling vehicle traveling method of claim 3 further stores the number of corners (80) in one round of the traveling vehicle (10), Ten)
Each time the corner (80) comes, the number of times the corner (80) is counted,
The traveling vehicle (10) is patrolled while detecting the number of patrolling based on the comparison between the stored value and the count value.

A traveling vehicle traveling method according to claim 5 is the traveling vehicle traveling method according to any one of claims 1 to 4, further comprising wheels on one side and the other side of the traveling vehicle (10) in a traveling direction. The traveling vehicle (10) is caused to travel using the free wheels (14) and the drive wheels (16, 18), respectively.

A traveling vehicle traveling method according to claim 6 is the traveling vehicle traveling method according to any one of claims 1 to 5, further comprising: traveling the traveling vehicle (10) while spreading it from the traveling vehicle (10) to the surroundings. Disperse the liquid.

In the traveling method for a traveling vehicle according to claim 7, the numbers of the corners (80) at the beginning and the end of the spraying section in the traveling route are stored, and the corners (80) reached by the traveling vehicle (10) by traveling are stored. )
Is counted, the spraying section is detected from the comparison between the stored value and the counted value, and the spraying solution is sprayed from the traveling vehicle (10) in the spraying section.

The traveling method for a traveling vehicle according to claim 7 can be added not only as a single method but also to the traveling method for a traveling vehicle according to any one of claims 1 to 5.

A traveling vehicle (10) according to claim 8 has the following (a)-
It has the component (d). (A) Left drive wheel (16) and right drive wheel (18) driven by rotational power transmitted from a common prime mover (32) (b) Left drive wheel (16) and right drive wheel from prime mover (32) (1
8) Left side clutch that connects and disconnects the transmission of rotational power to each
(64) and right clutch (66) (c) Lateral distance sensor (26) that detects the distance to the wall (78) extending laterally along the travel route (d) To the wall (78) When the distance is less than or equal to the lower limit, the left side clutch (64) and the right side clutch (66) inside the wall body (78) side and the opposite wall body (78) side are switched to the connection and disconnection, respectively. ) Is more than the upper limit, the left clutch (6
4) and the wall (78) side of the right clutch (66) and the opposite wall (7)
8) Clutch control means (84) that alternately repeats disconnection and contact switching

The traveling vehicle (10) according to claim 9 further has the following components (e) and (f) in addition to the traveling vehicle (10) according to claim 8. (E) Obstacle detector (20) that detects the presence of the obstacle (80) in the front of the traveling direction (f) Left drive wheel (16) and right side when the distance to the obstacle (80) is less than a predetermined value Rotation direction switching means (96) for reversing the drive rotation direction of the drive wheels (18)

The traveling vehicle (10) according to claim 10 has the following components (e) to (g) in addition to the traveling vehicle (10) according to claim 8. (E) Obstacle detector (20) for detecting the corner (80) of the wall (78) from the presence of the obstacle (80) in the front in the traveling direction (f) Left drive wheel (16) and right drive wheel Left side brake (68) and right side brake (70) for braking (18) respectively (g) When it comes to the corner (80), a predetermined time or obstacle detector (20)
Until the obstacle (80) in front of the left clutch (64) and the right clutch (66) on the side of the wall (78) is in contact with the left brake (68) and the right brake (70). Turning means (88) for actuating the inner side of the opposite wall (78)

The traveling vehicle (10) according to claim 11 has the following constituents (h) to (j) in addition to the traveling vehicle (10) according to claim 10. (H) Storage means (90) for storing the number of corners (80) in one traveling route (i) Counting means (92) for counting the number of reached corners (80) (j) Storage means ( Discriminating means (94) for discriminating the number of rounds by comparing the values of 90) and the counting means (92)

The traveling vehicle (10) according to claim 12 is characterized by that
In one of the traveling vehicles (10) of 11, the wheels on one side in the traveling direction are free wheels (14), and the wheels on the other side are left driving wheels (16) and right driving wheels (18). is there.

A traveling vehicle (10) according to claim 13 is characterized in that:
The traveling vehicle (10) according to any one of No. 2 and No. 2 further has a nozzle (82) for spraying the spray liquid around.

A traveling vehicle (10) according to claim 14 has the following (a) to (a).
It has the component (d). (A) Corner number storage means (96) for storing the numbers of the corners (80) at the start and end of the spraying section for spraying the sprayed liquid on the traveling route (b) The traveling vehicle (10) arrives by traveling. Counting means (92) for counting the number of the corners (80) (c) Scattering section discriminating means for discriminating the spraying section by comparing the values of the corner number storage means (96) and the counting means (92) (98) (d) Spray control means (100) for spraying the spray liquid from the nozzle (82) in the spray section.

The structure of the traveling vehicle (10) according to claim 14 can be added not only to the structure but also to the structure according to any one of claims 8 to 12.

[0021]

In the traveling method for traveling vehicle according to claim 1, the traveling vehicle (10)
To the lateral wall (78) is measured. And
When the measured distance is equal to or less than the lower limit, the drive wheels (16, 18) on the side of the wall body (78) and the side of the opposite wall body (78) of the traveling vehicle (10) are set to the rotational drive state and the free rotation state, respectively. This allows the wall (78)
Side drive wheels (16, 18) rotate faster than the drive wheels (16, 18) on the side opposite the wall (78), and the traveling vehicle (10) is steered to the side opposite the wall (78) to Move away from your body (78). When the measured distance exceeds the upper limit, the wall (78) side of the traveling vehicle (10) and the opposite wall (78)
The drive wheels (16, 18) on the side are set in a free rotation state and a rotation drive state, respectively. As a result, the drive wheels (1
6,18) rotates faster than the drive wheels (16,18) on the wall (78) side, and the traveling vehicle (10) is steered to the wall (78) side and approaches the wall (78). While proceeding. In this way, the traveling vehicle (10) travels along the wall body (78) while alternately repeating steering to the left and right.

In the traveling method for a traveling vehicle according to claim 2, the traveling vehicle
If the distance to the obstacle (80) becomes less than a predetermined value by contacting or sufficiently approaching the obstacle (80) in front, the driving wheels (16, 18) will rotate. The direction is reversed. As a result, the traveling vehicle (10) subsequently travels along the wall body (78) in a reverse state.

In the traveling method for a traveling vehicle according to claim 3, the traveling vehicle
When (10) comes to the corner (80) of the wall (78), the obstacle detector (20)
Detects this, the traveling vehicle (10), the wall body (78) side and the opposite wall body (78) for a predetermined time or until the obstacle (80) in front is no longer detected by the obstacle detector (20). The side drive wheels (16, 18) are brought into a rotational drive state and a braking state, respectively. As a result, the traveling vehicle (10) turns with the drive wheels on the side opposite the wall (78) as the turning center.

In the traveling method for a traveling vehicle according to claim 4, the traveling vehicle
(10) updates the count value of the corner (80) each time it reaches the corner (80). The number of counted corners (80) is compared with the number of previously stored corners (80) for one round. If they match, it means that the traveling vehicle (10) has traveled around the traveling route once.

In the traveling method for a traveling vehicle according to claim 5, the traveling vehicle
A wheel on one side of the traveling direction (10) is a free wheel (14). The free wheel (14) is the drive wheel (16, 18) on the other side in the traveling direction.
According to the driving state of the traveling vehicle (10), in other words, the vehicle rolls while changing the direction according to the steering.

In the traveling method for a traveling vehicle according to claim 6, the traveling vehicle
In (10), while running, the spray liquid is sprayed to the surroundings to perform the spraying work.

In the traveling method for a traveling vehicle according to claim 7, the traveling vehicle
(10) updates the count value of the corner (80) each time it reaches the corner (80). The counted number of the corners (80) is compared with the numbers of the corners (80) stored in advance as the start end and the end of the scatter section, and it is determined whether or not the scatter section is the scatter section. If it is determined to be the spraying section, the spraying liquid is sprayed from the traveling vehicle (10).

In the traveling vehicle (10) of the eighth aspect, the lateral distance sensor (26) measures the distance from the traveling vehicle (10) to the side wall body (78). When the measured distance is equal to or less than the lower limit, the ones for the drive wheels (16, 18) on the side of the wall (78) and the side of the opposite wall (78) of the left clutch (64) and the right clutch (66) are It is said to be connected and disconnected respectively. As a result, the drive wheels (16,1) on the side of the wall (78)
8) is rotationally driven by the rotational power transmitted from the prime mover (32), while the drive wheels (16, 18) on the side opposite to the wall (78) are provided.
The transmission of the rotational power from the prime mover (32) is cut off, and the state becomes a free rotation state. The drive wheels (16, 18) on the side of the wall body (78) are opposite walls
It rotates faster than the drive wheels (16,18) on the (78) side,
Is steered to the side opposite to the wall body (78), and moves away from the wall body (78). When the measured distance exceeds the upper limit, the ones for the drive wheels (16, 18) on the side of the wall (78) and on the side opposite the wall (78) of the left clutch (64) and the right clutch (66) are disconnected. And contact. As a result, the drive wheels (16, 18) on the side opposite the wall (78)
Is transmitted to the rotational power from the prime mover (32) and is in a rotational drive state, while the drive wheels (16, 18) on the wall (78) side are
The transmission of rotational power from the prime mover (32) is cut off, and a free rotation state is established. The drive wheels (16, 18) on the side opposite the wall (78) are the wall (78)
Rotating faster than the drive wheels (16, 18) on the side, the traveling vehicle (10) is steered to the side of the wall body (78) opposite to the wall body (78), and advances while approaching the wall body (78). In this way, the traveling vehicle (10) advances along the wall body (78) while alternately repeating the steering to the left and right.

In the traveling vehicle (10) according to claim 9, an obstacle detector is provided.
(20) detects the presence of an obstacle (80) in front of the traveling vehicle (10) in the traveling direction by, for example, contact with the obstacle (80) or measurement of the distance to the obstacle (80). When the obstacle detector (20) detects that the distance to the obstacle (80) of the traveling vehicle (10) is less than a predetermined value, the rotation direction switching means (96) causes the left drive wheel (16) to rotate. ) And the drive rotation direction of the right drive wheel (18) are reversed. As a result, the traveling vehicle (10) subsequently moves backward along the wall body (78).

In the traveling vehicle (10) according to claim 10, the obstacle detector (20) detects the contact with the obstacle (80), the distance to the obstacle (80), etc. Has reached the corner (80) of the wall (78). The traveling vehicle (10) is at the corner (80) of the wall (78).
When the rotation direction switching means (96) comes to the position of the left clutch (64) and the right clutch (66) for a predetermined time or until the front obstacle (80) is no longer detected by the obstacle detector (20). The one for the drive wheels (16, 18) on the wall (78) side of
Inside the left brake (68) and right brake (70)
Operate the drive wheels (16, 18) on the 8) side. As a result, the inner wall of the left drive wheel (16) and the right drive wheel (18) (78)
The side and the side of the opposite wall (78) are set to the rotational driving state and the braking state, respectively, and the traveling vehicle (10) has the opposite side wall of the left driving wheel (16) and the right driving wheel (18) ( Turn the one on the 78) side about the turning center for a predetermined angle.

In the traveling vehicle (10) according to claim 11, the counting means (9
2) updates the count value of the corner (80) every time the traveling vehicle (10) comes to the corner (80). The counted number of the counting means (92) is compared with the number of the corners (80) of one round stored in the storage means (90) in advance. If they match, it means that the traveling vehicle (10) has traveled around the traveling route once.

In the traveling vehicle (10) according to claim 12, the universal wheel (14) is provided.
Is the left drive wheel (16) and the right drive wheel on the other side in the traveling direction.
The driving state of the traveling vehicle (10) by (18), in other words, the vehicle rolls while changing the direction according to the steering.

The traveling vehicle (10) of the thirteenth aspect is provided with the nozzle (82), and while traveling, the spray liquid is sprayed from the nozzle (82) to the surroundings to perform the spraying work.

In the traveling vehicle (10) according to claim 14, the counting means (9
2) updates the count value of the corner (80) every time the traveling vehicle (10) comes to the corner (80). The dispersion section determination means (98) is a counting means.
Whether the counted number of (92) is in the spraying section by comparing it with the number of the corners (80) of the start end and the end of the spraying section stored in advance in the corner number storage means (96). To determine. The spray control means (100) sprays the spray liquid from the nozzles (82) on the travel route determined by the spray section determination means (98) to be the spray section.

[0035]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the accompanying drawings. FIG. 6 is a schematic plan view of the automatic spreading vehicle 10. The automatic traveling vehicle 10 has a front wheel 14 at the center of the front side in the left-right direction, and left and right rear drive wheels 16 and 18 on the left and right sides of the rear side of the lower part of the main body 12, which support the weight. It is designed to run while being trained. Front wheel 14
Is connected to and supported by the main body 12 at the eccentric position,
While the automatic traveling spraying vehicle 10 is traveling, the orientation is changed according to the orientation of the main body 12 and the road surface rolls. The front and rear obstacle detection sensors 20, 22 are attached to the front and rear central portions of the main body 12 in the left-right direction, and detect obstacles within a predetermined distance in the front and rear, respectively. The lateral distance sensors 24 and 26 are attached to the front end of the main body 12 at the left end and the right end, respectively, and detect the distances to the obstacles diagonally left front and diagonal right front of the automatic traveling vehicle 10. ing. The lateral distance sensors 28 and 30 are provided on the main body 12
It is attached to the left end and the right end of the rear part, respectively, and detects the distances to obstacles diagonally left rear and diagonal right rear of the automatic traveling vehicle 10.

FIG. 7 is a structural diagram of a power transmission device mounted on the automatic traveling vehicle 10. The motor 32 operates with the electric power from the battery 34. The intermediate shaft 36 extends horizontally in the left-right direction at an intermediate portion of the automatic traveling spraying vehicle 10 in the front-rear direction, and is rotatably supported at both ends via the intermediate shaft 36. The sprockets 40 and 42 are integrally attached to the output shaft of the motor 32 and the intermediate shaft 36 in the rotational direction, respectively, and are connected to the chain 44.
The rotating power is mutually transmitted via the chain 44. The left and right sprockets 46 and 48 are intermediate shafts.
The left and right ends of 36 are integrally attached to each other in the rotating direction. The left and right axles 50 and 52 are rotatably supported at two axial positions via bearings 54, and the left and right rear drive wheels 16 are integrally formed with the left and right outer ends in the rotational direction. , 18 are attached. The left and right sprockets 56 and 58 are respectively on the left and right axles 5.
0 and 52 are rotatably supported relative to each other, a left chain 60 and a right chain 62 are respectively hung, and rotational power is transmitted from the left and right sprockets 46 and 48. The left and right electromagnetic clutches 64, 66 are respectively for the left and right axles.
Connect and disconnect the power transmission between the 50 and 52 and the left and right sprockets 56 and 58. The left and right electromagnetic brakes 68, 70 are
Brakes the left and right axles 50, 52 respectively. Controller 72
Includes a microcomputer, to which various signals are input, the motor 32, the left electromagnetic clutch 64, the right electromagnetic clutch
66, controls left and right electromagnetic brakes 68, 70.

FIG. 8 is a diagram for explaining the traveling of the automatic traveling spray vehicle 10 in the livestock barn 76. The barn 76 has a rectangular peripheral contour surrounded by walls 78 on four sides, and has four corner portions 80. The automatic traveling spray vehicle 10 includes a plurality of nozzles 82 arranged in the vertical direction, travels along the wall 78, and
Disperse the disinfectant from 82 onto the wall 78. The nozzle 82 is
To disperse the disinfectant solution on the wall 78 regardless of whether the wall 78 is on the left or right of the traveling vehicle 10, for example, the direction of the nozzle 82 can be switched to the left or right, or the left-facing nozzle 82 and the right-facing nozzle 82. The nozzles 82 to be sprayed can be selected according to the situation. In FIG. 8, the automatic traveling spreader vehicle 10 travels with the wall 78 in the forward direction on the right side and moves to a predetermined corner portion.
Starting from 80. For example, the stall 76 has vertical and horizontal lengths of 5 m and 3 m, respectively, and the speed of the automatic traveling spraying vehicle 10 is about 50 cm / sec. The left and right electromagnetic brakes 68, 70 of the automatic traveling spray vehicle 10 are negative-acting type,
Prior to the departure of the automatic traveling vehicle 10, the left and right rear drive wheels 16 and 18 are braked so that the automatic traveling vehicle 10 is not powered.
Has stopped. The left and right electromagnetic brakes 68, 70 are
As the traveling of the automatic traveling spray vehicle 10 starts, electricity is supplied and the braking of the left and right rear drive wheels 16 and 18 is released.

FIG. 1 shows an automatic traveling vehicle 10 with the wall 78 on the right.
It is a block diagram of the control apparatus part which concerns on the control which moves forward.
In this case, only the lateral distance sensor 26 on the front right side operates,
The lateral distance sensors 24, 28, 30 do not need to operate. It should be noted that the front wheels 14 as free wheels change their orientations in accordance with the driving state of the automatic traveling spray vehicle 10 by the left and right rear drive wheels 16 and 18 while the automatic traveling spray vehicle 10 is traveling, in other words, in accordance with the steering. While rolling, rolling on the road surface. The lateral distance sensor 26 detects the distance to the wall 78 in the diagonally right front with respect to the front surface of the automatic traveling vehicle 10. When the distance measured by the lateral distance sensor 26 is less than or equal to the first predetermined value, that is, the automatic traveling spray vehicle 10 is on the wall.
If it is too close to 78, the clutch control means 84 disconnects and engages the left and right electromagnetic clutches 64 and 66, respectively. As a result, the left rear drive wheel 16 is not rotated by the rotational power from the motor 32 and is in a free rotation state.
The right rear drive wheel 18 receives rotational power from the motor 32 to be in a rotational drive state, the right rear drive wheel 18 rotates at a higher rotation speed than the left rear drive wheel 16, and the automatic traveling scatter vehicle
10 is steered to the left and moves forward while moving away from the wall 78. When the distance traveled by the lateral distance sensor 26 becomes equal to or greater than the second predetermined value due to the forward movement of the automatic traveling spray vehicle 10 to the diagonal left, that is, when the automatic traveling spray vehicle 10 is too far from the wall 78, the clutch control means. 84 connects and disconnects the left and right electromagnetic clutches 64 and 66, respectively. As a result, the left rear drive wheel 16 receives the rotational power from the motor 32 to be in a rotational drive state, while the right rear drive wheel 18 is not transmitted with the rotational power from the motor 32 and is in a free rotation state. Therefore, the left rear drive wheel 16 rotates at a higher rotation speed than the right rear drive wheel 18, and the automatic traveling vehicle 10 is steered to the right and approaches the wall 78. In this way, the automatic traveling spray vehicle 10 travels along the right side wall 78 while alternately repeating the traveling diagonally forward right and the traveling diagonally forward left.

When advancing the automatic traveling spray vehicle 10 along the left side wall 78, the lateral distance sensor 24 is operated in place of the lateral distance sensor 26, and is advanced in the same manner.

FIG. 2 is a block diagram of the control device portion related to the control for reciprocating the automatic traveling spray vehicle 10. The front obstacle detection sensor 20 detects an obstacle existing in front of the automatic traveling spray vehicle 10 by measuring the contact with the obstacle and the distance to the obstacle. In the example of FIG. 8, it is assumed that the automatic traveling vehicle 10 travels back and forth along the wall on the right side, and the obstacle is the right end portion of the wall 78 on the upper side of FIG. 8.
The rotation direction switching means 86 first defines the direction of the voltage of the motor 32 so as to rotate the motor 32 normally, but when the front obstacle detection sensor 20 detects an obstacle, that is, the first corner portion. When it reaches 80, the voltage direction of the motor 32 is reversed and the motor 32 is rotated in the reverse direction. As a result, thereafter, the automatic traveling spray vehicle 10 moves backward. In the case of reverse, the rear obstacle detection sensor 22 and the side distance sensor 30 are operated, and the clutch control means 84 (FIG. 1) is operated based on the output of the side distance sensor 30 to move to the left side as in the case of forward movement. When the rear obstacle detection sensor 22 detects an obstacle, that is, when the vehicle returns to the starting point, the motor 32 is stopped.

FIG. 3 is a block diagram of a control device portion related to the control for allowing the automatic traveling spray vehicle 10 to pass through the corner portion 80 of the wall 78. When an obstacle is detected by the front obstacle detection sensor 20, that is, when the automatic traveling spray vehicle 10 reaches the corner 80, the turning means 88 disconnects and engages the left and right electromagnetic clutches 64 and 66, respectively. At the same time, the left electromagnetic brake 68 is activated. As a result, the left rear drive wheel 16 is braked, and the right rear drive wheel 18 receives the rotational power from the motor 32 and enters the rotational drive state. The automatic traveling spray vehicle 10 turns with the left rear drive wheel 16 as the turning center. The turning means 88 has passed a predetermined time (this predetermined time is set in advance to the time required for the automatic traveling spray vehicle 10 to turn the angle of the corner portion 80, 90 ° in FIG. 8), or, When the front obstacle detection sensor 20 stops detecting the wall 78 (that is, to the left 9
When the vehicle turns by 0 °), the turning control is released, and the control proceeds to the forward traveling control of FIG. 1 again. When turning to the right instead of to the left, the inside and outside of the turning direction are reversed, so the left and right electromagnetic clutches 64 and 66 are engaged and disengaged, respectively, and the right electromagnetic brake 70 is operated.

FIG. 4 is a block diagram of the control device portion related to the control for circulating the automatic traveling spray vehicle 10 in the livestock shed 76. The storage means 90 is preset with the number of corners 80 per cycle of the automatic traveling spraying vehicle 10 in the barn 76, that is, four. This set number can be arbitrarily changed according to the number of corners 80 in the route along which the automatic traveling vehicle 10 travels. For example, when the patrol route is a pentagon, the set number is 5. The counting means 92 is reset at the time of departure, and the count value is set to 1 each time the front obstacle detection sensor 20 detects that the new corner portion 80 is detected, or the automatic traveling vehicle 10 is controlled to turn. The number of corners 80 reached by the automatic traveling spray vehicle 10 is counted in this manner. The discriminating means 94 compares the count value of the counting means 92 with the stored value of the storage means 90 while the automatic traveling spray vehicle 10 is traveling, and circulates the automatic traveling spray vehicle 10 from the integer part of the quotient of the counted value / stored value. Figure out the number of times. By setting so that the traveling of the automatic traveling spraying vehicle 10 is stopped when the count value becomes a multiple of twice, 3 times, ... Of the stored value, the automatic traveling spraying vehicle 10 is set in the barn 76. It is possible to make multiple rounds as well as one round.

FIG. 5 is a block diagram of a control device portion relating to control for causing the automatic traveling spraying vehicle 10 to perform the spraying work in the spraying section of the livestock house 76 where the travel route is limited. The corner number storage means 96 stores the numbers of the corners 80 at the start and end of the spraying section in the livestock house 76. For example, in the livestock house 76 of FIG. 8, if the disinfecting solution is sprayed only on the walls 78 on the left and right vertical sides, and the disinfecting solution is not sprayed on the walls 78 on the upper and lower horizontal sides, the corner number storage means 96 Assuming that the corner 80 of the starting point of the traveling vehicle 10 is the 0th and the vehicle is traveling counterclockwise when viewed from above, the 0th and 2nd (the upper left corner 80) are the start end of the spraying section, and 1 The number (upper right corner 80) and the third (lower left corner 80) are stored in the corner number storage means 96 as the end of the spraying section. This stored value can be manually and appropriately changed by the operator according to various cases. The counting means 92 is reset at the time of departure, and the count value is set to 1 each time the front obstacle detection sensor 20 detects that the new corner portion 80 is detected, or the automatic traveling vehicle 10 is controlled to turn. The number of corners 80 reached by the automatic traveling spray vehicle 10 is counted in this manner. Dispersion section identification means 98
Is comparing the count value of the counting means 92 and the storage value of the corner number storage means 96 while the automatic traveling spray vehicle 10 is running to determine whether or not the running vehicle 10 is currently running in the spray section. . The spraying control means 100, based on the determination result by the spraying area determining means 98, controls the nozzles 82 in the spraying area through the control of the on-off valve and the like.
The disinfectant solution is sprinkled onto the wall 78.

Although the illustrated embodiment is a livestock house 76, the traveling vehicle traveling method and traveling vehicle of the present invention can be applied to traveling on other traveling routes such as a furrow passage. In the furrow passage, the side surface of one of the left and right furrows serves as a wall, and the lateral distance sensor measures the distance.

[0045]

According to the present invention, the left and right drive wheels are alternately switched between the rotational drive state and the free rotation state,
Since the traveling vehicle is advanced along the wall body, control and transmission of rotational power to the drive wheels can be simplified.

In the first and eighth aspects of the invention, the traveling vehicle is caused to travel based on the increase or decrease in the distance to the wall on one side. Therefore, there is no wall on both sides of the traveling route, and only one side has a wall. Even if the vehicle does not exist, the traveling vehicle can be driven without any trouble.

According to the inventions of claims 2 and 9, reciprocating traveling can be further realized.

In the inventions of claims 3 and 10, when the drive wheel on the side of the wall and the drive wheel on the side opposite to the wall are turned at the corners in the rotational driving state and the braking state, respectively, the traveling vehicle is moved to the wall body. It can be passed through at the corners without any hindrance.

In the inventions of claims 4 and 11, the number of corners reached is counted, and this is compared with the stored number of corners for one round. It is possible to grasp the number of times and to make appropriate patrols.

According to the fifth and twelfth aspects of the present invention, since the wheels on one side in the traveling direction are free wheels, the structure of the wheel device of the traveling vehicle can be simplified and smooth steering can be achieved.

In the sixth and thirteenth aspects of the present invention, it is possible to provide a traveling method for a traveling vehicle and a traveling vehicle suitable for spraying work.

According to the seventh and fourteenth aspects of the present invention, the number of corners reached is counted, and this is compared with the numbers of the corners corresponding to the start end and the end of the spraying section on the traveling route. Since it is possible to know whether or not it is the spraying section during traveling, it is possible to appropriately perform the spraying work in the section where the travel route is limited.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a control device portion related to control for advancing an automatic traveling spraying vehicle with a wall on the right side.

FIG. 2 is a configuration diagram of a control device portion related to control for causing an automatic traveling spraying vehicle to travel back and forth.

FIG. 3 is a configuration diagram of a control device portion related to control for passing an automatic traveling spraying vehicle through a corner portion of a wall.

[Fig. 4] Fig. 4 is a configuration diagram of a control device portion related to control for circulating an automatic traveling spraying vehicle in a livestock shed.

FIG. 5 is a configuration diagram of a control device portion related to control for causing an automatic traveling spraying vehicle to perform a spraying operation in a spraying section where the travel route is limited in a livestock house.

FIG. 6 is a schematic plan view of an automatic traveling spraying vehicle.

FIG. 7 is a structural diagram of a power transmission device installed in an automatic traveling spray vehicle.

FIG. 8 is a diagram illustrating traveling of an automatic traveling spraying vehicle in a livestock house.

[Explanation of symbols]

 10 Self-propelled spreading vehicle (running vehicle) 14 Front wheel (free wheel) 16 Left rear drive wheel (drive wheel, left drive wheel) 18 Right rear drive wheel (drive wheel, right drive wheel) 20 Front obstacle detection sensor (obstacle) Detector 26 Side distance sensor 32 Motor (motor) 64 Left electromagnetic clutch (left clutch) 66 Right electromagnetic clutch (right clutch) 68 Left electromagnetic brake (left brake) 70 Right electromagnetic brake (right brake) 78 Wall (wall body) ) 80 corners (obstacles) 82 nozzles 84 clutch control means 86 rotation direction switching means 88 turning means 90 storage means 92 counting means 94 discrimination means 96 corner number storage means 98 spraying area discrimination means 100 dispersion control means

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location B05B 17/00 101 9441-4D (72) Inventor Manzo Matsuo 2-Takatsudo-cho, Midori-ku, Chiba-shi, Chiba Prefecture 230

Claims (14)

[Claims] 1. The wall of the traveling vehicle (10) is measured when the distance to the wall (78) on the side of the traveling vehicle (10) is measured and the distance to the wall (78) is less than or equal to a lower limit. When the drive wheels (16, 18) on the side of the body (78) and on the side opposite to the wall (78) are switched to a rotational drive state and a free rotation state, respectively, and then the distance to the wall body (78) becomes the upper limit or more, The drive wheels (16, 18) on the side of the wall (78) and on the side opposite the wall (78) of the traveling vehicle (10) are switched to a free rotation state and a rotation drive state, respectively, while repeating this switching alternately, A traveling method for a traveling vehicle, characterized in that the traveling vehicle (10) is advanced along the wall body (78). 2. An obstacle (80) in front of the traveling vehicle (10)
When the distance to is a predetermined value or less, it is reversed in the rotational direction of the drive wheels (16, 18) of the traveling vehicle (10), the traveling vehicle (10) is switched from forward to reverse. The traveling method for a traveling vehicle according to 1. 3. A corner (80) of a wall (78) is detected by an obstacle detector (20) for detecting an obstacle (80) in front of the traveling vehicle (10), and the traveling vehicle (10) is detected. ) Comes to the corner (80) for a predetermined time or until the obstacle detector (20) cannot detect the obstacle (80) in front of the vehicle (10) on the wall (78) side and the opposite side. The traveling method for a traveling vehicle according to claim 1, wherein the driving wheels (16, 18) on the side of the wall body (78) are brought into a rotational driving state and a braking state, respectively, and the traveling vehicle (10) is turned. 4. A corner portion (8) in one round of the traveling vehicle (10)
0) is stored, the number of times the corner (80) is counted every time the traveling vehicle (10) comes to the corner (80), and the number of rounds is detected from the comparison between the stored value and the counted value. The traveling method for a traveling vehicle according to claim 3, wherein the traveling vehicle (10) is patrolled while being circulated. 5. Wheels on one side and the other side of the traveling direction of the traveling vehicle (10) are a free wheel (14) and a drive wheel (16, 16), respectively.
The traveling vehicle traveling method according to any one of claims 1 to 4, wherein the traveling vehicle (10) is caused to travel as 18). 6. The traveling method for a traveling vehicle according to claim 1, wherein the traveling liquid is sprinkled from the traveling vehicle (10) to the surroundings while the traveling vehicle (10) is traveling. . 7. A stored value is stored by storing the numbers of the corners (80) of the start end and the end of the spraying section on the traveling route, and counting the number of corners (80) reached by the traveling vehicle (10) by traveling. The traveling method for a traveling vehicle, characterized in that the spraying section is detected from the contrast of the count value and the spraying solution is sprayed from the traveling vehicle (10) in the spraying section. 8. (a) a left drive wheel (16) and a right drive wheel (18) driven by rotational power transmitted from a common prime mover (32), and (b) the left drive from the prime mover (32). Ring (16)
And the left side clutch (64) and the right side clutch (66) for connecting and disconnecting the transmission of rotational power to the right side drive wheel (18), respectively.
(C) A lateral distance sensor (26) for detecting the distance to the wall body (78) extending laterally along the traveling route, and (d) the distance to the wall body (78) is below the lower limit. Then, the switching to the wall body (78) between the left side clutch (64) and the right side clutch (66), the wall body (78) side and the opposite wall body (78) side, respectively, is switched between contact and disconnection. When the distance exceeds the upper limit, the inner wall of the left clutch (64) and the right clutch (66) (78)
A traveling vehicle characterized by having a clutch control means (84) for alternately repeating switching between disconnection and contact between the side and the opposite wall (78) side. 9. (e) An obstacle (8
0) the presence of an obstacle detector (20), and (f) when the distance to the obstacle (80) becomes a predetermined value or less, the left drive wheel (16) and the right drive wheel (18) 9. The traveling vehicle according to claim 8, further comprising rotation direction switching means (96) for reversing the driving rotation direction. 10. (e) Obstacle in front of the traveling direction
An obstacle detector (20) for detecting the corner portion (80) of the wall body (78) from the presence of (80), (f) braking the left drive wheel (16) and the right drive wheel (18) respectively. The left side brake (68) and the right side brake (70), (g) When the vehicle comes to the corner (80), the left side is left for a predetermined time or until the obstacle detector (20) cannot detect the front obstacle (80). The one on the side of the wall body (78) of the clutch (64) and the right side clutch (66) is in contact with the one on the side of the opposite wall body (78) of the left side brake (68) and the right side brake (70). The vehicle according to claim 8, further comprising a turning means (88) for activating the. 11. (h) A corner portion of a traveling route for one round
A storage means (90) for storing the number of (80), (i) a counting means (92) for counting the number of reached corners (80), and (j) the storage means (90) and the counting means ( 11. The traveling vehicle according to claim 10, further comprising a discrimination means (94) for discriminating the number of rounds by comparing the value with (92). 12. The wheel on one side in the traveling direction is a free wheel (14)
And the wheels on the other side are the left drive wheel (16) and the right drive wheel (18).
The traveling vehicle according to any one of 1. 13. The traveling vehicle according to claim 8, further comprising a nozzle (82) for spraying a spray liquid to the surroundings. 14. A corner number storage means (96) for storing (a) the numbers of the corners (80) at the start and end of the spraying section for spraying the sprayed liquid on the traveling route, (b) the traveling vehicle ( 10) counting means (92) for counting the number of corners (80) reached by running,
(C) a spraying section discriminating means (98) for discriminating the spraying section by comparing the values of the corner number storage means (96) and the counting means (92), and (d) a nozzle in the spraying section. A traveling vehicle having a spray control means (100) for spraying a spray liquid from (82).