JP2016010382A - Self-propelled mower - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothly perform mowing work by a self-propelled mower.SOLUTION: A mower body 20 includes a travel motor 23 for driving wheels; work motor 25 for driving a cutter 24; and a secondary cell 26. In a state where the mower body 20 is made to travel to a feeding position at which a power-transmission primary coil 41 provided at a feeding base 30 faces a power-receiving secondary coil 51 via a space and to stop at the feeding position, the secondary cell 26 is charged by electromagnetically energizing from the primary coil 41 to the secondary coil 51 via the space.

Description

  The present invention relates to an automatic traveling mower that automatically travels in a mowing area and cuts grass using an electric motor as a drive source.

  As a lawn mower for mowing lawns and weeds that grow on the ground, manual mowers (lawn mowers) that are used by operators or controlled by hand-held handles are in widespread use. A self-propelled (self-propelled or robotic) mowing machine that automatically runs in the mowing area partitioned by the above and cuts the grass has also been developed. Such a self-propelled mower has a housing on which a motor for driving for driving wheels and a motor for operation for driving a cutter for mowing are mounted. Are equipped with secondary batteries that supply power to each motor.

  In self-propelled mowers, if the charging capacity of the installed secondary battery is reduced, the main unit of the self-propelled mower is equipped with a power supply device in addition to the method of charging by solar cells and workers There is also known a structure in which a return traveling is automatically performed toward a power supply station (power supply base) and a rechargeable battery is automatically charged. After the charging of the secondary battery is completed, the mowing work in the designated mowing area is automatically resumed. Such an automatic rechargeable mower does not require the operator to guide the travel locus of the mower every time charging is required, and can perform mowing for a long time.

  A conventional robot-type self-propelled mower has a power receiving terminal (power receiving plug) provided on the main body of the mower, similar to the self-propelled device described in Patent Document 1, and a power receiving base includes a power receiving terminal and a power receiving terminal. Contacting power supply terminals (power supply connectors) are provided, and a charging operation is performed by bringing an electrode composed of the power reception terminal and the power supply terminal into contact with each other.

JP 2007-336672 A

  The conventional self-propelled mower has a contact-type charging method, so the structure of the contact section is precisely configured so that the power receiving terminal of the mower body is in contact with the power supply terminal of the power supply base. It is necessary to precisely control and control the traveling method of the mower body. For this reason, when the mower main body does not accurately enter the power supply base, charging cannot be performed, and the mowing operation cannot be continued. In addition, the power supply / reception terminal of the mower main body and the power supply base is often exposed to the outside, and the structure is liable to cause an energization failure due to the oxidation of the terminal or the insertion of insulating foreign matter such as cut grass. When such a trouble occurs, it becomes easy to cause a redundant charging time and a defective charging, and the mowing work cannot be smoothly performed.

  An object of the present invention is to make it possible to reliably perform a charging operation for a secondary battery mounted in a mower main body, and to perform mowing work with a self-propelled mower smoothly. is there.

  The self-propelled mower according to the present invention automatically feeds a mower main body having a traveling motor for driving wheels, a working motor for driving a cutter, and a secondary battery for supplying electric power to the motor. A self-propelled mower that runs on a base and charges the secondary battery, wherein the secondary battery is charged in a primary coil for power transmission provided in the power supply base and in the mower main body. The secondary coil is moved from the primary coil to the secondary coil in a state where the mower main body travels to a power feeding position facing the received secondary coil via a space and is stopped at the power feeding position. And a charging system for energizing electromagnetically through the space.

  The rechargeable battery installed in the mower body can be charged in a non-contact manner from the power supply base, preventing the occurrence of troubles such as poor energization as in the case of the contact-type charging method. Work can be performed smoothly.

It is a perspective view which shows the mower main body and charging base which are arrange | positioned on the lawn. It is an expansion perspective view of the mower main body shown by FIG. It is a perspective view which shows an example of the electric power feeding base shown by FIG. FIG. 4 is a front view of FIG. 3. It is a front view which shows the state which the mower main body approached into the electric power feeding base. It is a schematic front view which shows the internal structure of an electric power feeding base and a mower main body. It is a block diagram which shows the electric power feeding circuit provided in the electric power feeding base, and the receiving circuit provided in the mower main body. (A) is a front view which shows the modification of a power feeding base and a mower main body, (B) is a schematic right view which shows the internal structure of the power feeding base and mower main body shown by (A). (A) is a front view showing another modification of the power supply base and the mower main body, and (B) is a schematic right side view showing the internal structure of the power supply base and the mower main body shown in (A). . (A) is a front view showing still another modified example of the power supply base and the mower main body, (B) is a schematic right side view showing the internal structure of the power supply base and the mower main body shown in (A). is there. (A) is a front view showing still another modified example of the power supply base and the mower main body, (B) is a schematic right side view showing the internal structure of the power supply base and the mower main body shown in (A). is there.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 shows a site 10 where a house 11 is built. A site 10 surrounding the house 11 is provided with a road 12 and a garden 13, and a pond 14 is provided in the garden 13. In FIG. 1, a mower body 20 of a robot type (autonomous traveling type, self-propelled) mower for mowing the lawn planted in the garden 13 is arranged on the lawn, and the mower main body 20 is charged. The power supply base 30 is shown in a state where it is arranged in the garden 13.

  As shown in FIG. 2, the mower main body 20 is provided with wheels including a front wheel 21 and a rear wheel 22 on the left and right sides, and the rear wheel 22 is driven by a traveling motor 23 as shown in FIG. In this embodiment, the front wheel 21 is a driving wheel that travels and is driven, and the axial direction of the wheel freely rotates when carrying the load and changing the direction of the main body. A steering wheel that is steered in the left-right direction by a steering mechanism (not shown) may be used. The mower main body 20 is provided with a cutter 24 for projecting downward from the bottom surface 20 a, and the cutter 24 is rotationally driven by a working motor 25. A secondary battery 26 is provided inside the mower main body 20 in order to supply electric power to the traveling motor 23 and the working motor 25. The mower main body 20 automatically performs the mowing work of the lawn planted in the garden 13 by the cutter 24 using the motor 25 as a drive source while traveling using the motor 23 as a drive source. As the secondary battery 26, any rechargeable battery or a power storage means such as a capacitor can be adopted, and a lithium ion battery, a lead battery, or the like is preferably used.

  As shown in FIG. 1, a boundary cable 40, a fence, boundary notification means using radio, light, etc. are arranged in advance at the boundary portion between the area where mowing work is performed and another area, as shown in FIG. Is done. By arranging the boundary cable 40 or the like formed in a loop shape on the site 10, the area inside the boundary cable 40 or the like is set as the mowing area 15 where the mowing work is performed. When the boundary cable 40 is employed, the boundary cable 40 generates a magnetic field, an electric field, or the like by an electric signal from a signal generator connected to the boundary cable. The signal generator can be connected to any position of the boundary cable, but is preferably provided at the same location as the power supply base. The mower body 20 detects a signal such as a magnetic field generated by the boundary cable 40, thereby discriminating the inside and outside of the designated mowing area 15, and performs mowing work while automatically running.

  The power supply station (power supply base 30) constitutes a power supply device that charges the mower main body 20, and as shown in FIGS. 3 to 5, the substrate 31 disposed on the site 10 and the sides of the substrate 31 The column 32 is provided on the substrate 31 so as to be pivotable about a vertical axis as indicated by an arrow A in FIG. In the direction in which the column 32 becomes the reference position along the side of the substrate 31, a posture adjusting force in the rotational direction composed of a spring member or the like (not shown) is urged to the column 32.

  A power feeding wall 33 is connected to the upper end of the column 32 via a connecting portion 34. As shown by an arrow B in FIG. 3, the power feeding wall 33 is connected to the column 32 so as to be swingable in the vertical direction around the connecting portion 34. An urging member (not shown) made of a spring member or the like is incorporated in the connecting portion 34 in order to urge the feeding wall body 33 with a pressing force in a direction in which the distal end portion of the feeding wall body 33 is below the base end portion. It is. As shown in FIG. 4, the distal end portion of the power feeding wall 33 swings between a power feeding position that is lower than the base end portion and a retracted position that is higher than the power feeding position.

  As shown in FIG. 4, a protrusion 35 is provided on the lower surface of the power supply wall 33 as a first uneven portion so as to protrude from the lower surface. On the other hand, the upper surface 20b of the mower main body 20 is provided with a concave groove 27 as a second concavo-convex portion with which the projection 35 is engaged, as shown in FIG. The protrusion 35 is a hemispherical convex surface, and the concave groove 27 is a hemispherical concave surface corresponding to the protrusion 35.

  When the remaining capacity of the secondary battery reaches the specified value set based on the remaining battery level required for the return travel, the mower main body 20 performs the return travel toward the power supply base. As a preferred example of the return traveling, the power supply base 30 provided on the boundary cable 40 is reached by circling along the boundary cable 40. Thus, the mower main body 20 has detection means for detecting the remaining capacity of the secondary battery 26, and when the remaining capacity of the secondary battery 26 reaches a predetermined remaining amount, the return travel control unit Thus, the return travel is controlled and the travel is automatically performed toward the power supply base 30. When the mower main body 20 enters the upper side of the substrate 31 of the power supply base 30, the upper surface 20 b of the mower main body 20 comes into contact with the power supply wall body 33 and resists the pressing force of the urging member on the tip of the power supply wall body 33. Push up. As the mower main body 20 travels, as shown in FIG. 5, when the protrusion 35 engages the concave groove 27, the mower main body 20 is positioned at the power supply position of the power supply base 30. When even a part of the projection 35 enters the concave groove 27, a downward biasing force is applied to the projection 35 by the power feeding wall 33, so the column 32 rotates about the vertical axis and the projection 35 Is completely in the concave groove 27. As a result, the center of the concave groove 27 is automatically positioned at the center of the protrusion 35.

  Since the power feeding wall 33 is provided on the column 32 so as to protrude to the upper side of the mower main body 20, when the mower main body 20 enters the power supply base 30, a recess provided on the upper surface 20 b of the mower main body 20 is provided. The groove 27 is covered with the feeding wall 33. As a result, when the mower main body 20 is held in the state where it has entered the power supply base 30 at the time of charging and after the end of charging, foreign matter such as dust is prevented from entering the concave groove 27. In the present invention, since a non-contact charging method is employed as will be described later, even if there is some foreign matter such as cut grass in the concave groove 27, contact failure does not occur and charging is not affected. .

  As shown by the arrow C in FIG. 3, the approach direction of the mower main body 20 to the power supply base 30 is a direction in which one side surface 20c of the mower main body 20 is adjacent to and opposes the column 32. The mower main body 20 may enter the power supply base 30 with the other side surface 20d, front surface 20e, or rear surface 20f of the main body 20 facing the column 32. In addition, the concave / convex relationship is set in the opposite direction, and a concave groove 27 is provided as a first concave / convex portion on the lower surface of the feeding wall body 33, and a projection as a second concave / convex portion is provided on the upper surface 20 b of the mower body 20. The part 35 may be provided.

  As shown in FIG. 6, a power feeding head 36 is incorporated in the power feeding wall 33, and a power receiving head 28 is incorporated in the upper surface 20 b of the mower main body 20. The power receiving head 28 and the power feeding head 36 constitute a charging device that transmits electric power in a non-contact manner and charges the secondary battery 26 of the mower main body 20.

  FIG. 7 is a block diagram showing a power supply control circuit 37 provided in the power supply base 30 and a power reception control circuit 29 provided in the mower main body 20. The power feeding head 36 is provided with a primary coil 41 for power transmission, and the primary coil 41 is incorporated in the protrusion 35 so as to approach (adjacent to) the outer surface of the protrusion 35. In the present embodiment, the power supply control circuit 37 has a power supply circuit 43 connected to an external commercial power supply 42. The power supply circuit 43 is a transformer that boosts the voltage of the commercial power supply 42 and a rectifier that converts alternating current into direct current. A circuit is provided. The power supply circuit 43 is connected to the inverter circuit 44, and the output from the power supply circuit 43 is converted into a high-frequency output of a predetermined frequency by the inverter circuit 44 and sent to the primary coil 41 via the resonance circuit 45.

  On the other hand, the power receiving head 28 is provided with a secondary coil 51 for receiving power, and the secondary coil 51 is provided on the upper surface 20 b side of the mower main body 20 so as to face the concave groove 27. The power reception control circuit 29 is connected to the constant voltage circuit 53 via the resonance circuit 52, and the constant voltage circuit 53 converts the voltage into a constant voltage direct current and outputs a charging voltage to the secondary battery 26. When electric power of a predetermined frequency is supplied to the primary coil 41 in a state where the primary coil 41 and the secondary coil 51 are positioned at the feeding positions facing each other through a space without contact, the primary coil 41 and The secondary coil 51 is electromagnetically energized, and power is transmitted from the primary coil 41 to the secondary coil 51 by electromagnetic induction.

  In order to detect the charging voltage of the secondary battery 26, a voltage detection unit 54 is connected to the constant voltage circuit 53, and an output signal of the voltage detection unit 54 is sent to the charging control unit 55. The charging control unit 55 sends a control signal to the charging on / off switch 56. Thus, when charging of the secondary battery 26 is completed, the charging on / off switch 56 is switched from on to off based on a signal sent from the voltage detection unit 54 to the charging control unit 55.

  Thus, since the secondary battery 26 in the mower main body 20 is supplied with power from the power supply base 30 by a non-contact power supply method, charging failure due to poor contact of the power supply terminals, etc., as in the contact-type power supply method. Occurrence can be prevented. Furthermore, since the primary coil 41 and the secondary coil 51 are not exposed on the outer surface, the respective coils are not exposed to rainwater or strong wind, and the durability of the mower body 20 and the power supply base 30 is improved. Can be made. In addition, in the specific structure of the present invention, the primary coil 41 and the secondary coil 51 are accurately positioned at a predetermined power feeding position by the engagement between the protrusion 35 and the concave groove 27, so that it is efficient. This is more preferable in that the secondary battery 26 can be charged.

  The mower main body 20 is provided with a magnet 57 as a member to be detected, and a sensor 46 including a magnetic sensor that outputs a detection signal in response to the magnetism of the magnet 57 is provided as a detection member on the power supply base 30. . An output signal of the sensor 46 is sent to the power supply control unit 47, and an on / off signal is sent to the inverter circuit 44 by a signal from the power supply control unit 47. When the magnet 57 is provided on the power receiving head 28 and the sensor 46 is provided on the power feeding head 36, the projection 35 is engaged with the concave groove 27 and the mower body 20 is positioned at the power feeding position of the power feeding base 30. Then, the magnet 57 approaches the sensor 46, and the primary coil 41 is energized based on the detection signal from the sensor 46. As described above, when the mower main body 20 is positioned at the predetermined power feeding position with respect to the power feeding base 30, a current is supplied to the primary coil 41.

  The member to be detected for turning on / off the inverter circuit 44 is not limited to the magnet 57, and a light emitting element may be used. In this case, a light receiving element is used as the detecting member. Thus, the non-contact type detected member and the detection member are not limited to the magnet 57 and the sensor 46, and various types of members can be used. Moreover, it is good also as a structure provided with the contact-type well-known switch etc. which are pressed when it positions in a predetermined electric power feeding position.

  The power supply control circuit 37 has a current detector 48 for detecting the current flowing through the primary coil 41, and charging is stopped when a different current flows through the primary coil 41 during charging. . Thereby, even when a foreign object such as a metal piece enters between the coils, an unintended charging operation is not performed, and the power supply base 30 and the mower main body 20 can be protected.

  The charging device includes the mower main body 20 and the power supply base 30 having the above-described structure. When it is detected that the remaining capacity of the secondary battery 26 has decreased, the mower main body 20 is directed toward the power supply base 30. To enter automatically. When the mower main body 20 enters the power supply base 30, the projecting portion 35 enters the concave groove 27, and the power receiving primary coil 41 and the power receiving secondary coil 51 are positioned at a power feeding position facing through the space. Is done. When positioned, the sensor 46 is sensitive to the magnetism of the magnet 57, the inverter circuit 44 is activated, and the secondary battery 26 is automatically charged.

  In the power supply base 30 described above, the primary coil 41 is provided in the protrusion 35 provided in the power supply head 36, and the secondary coil 51 is provided in the power receiving head 28 provided with the concave groove 27. Without providing the primary coil 41 in the projection 35, the projection 35 and the power feeding head 36 are separated, the power feeding head 36 is provided at a position away from the projection 35, and the primary coil 41 is provided in the power feeding head 36. May be provided. In that case, the concave groove 27 is provided at a position away from the power receiving head 28.

  The charging device shown in FIG. 7 is an electromagnetic induction method, but the contactless power transmission method is not limited to this, and an arbitrary contactless charging method, for example, an electromagnetic resonance method or a radio wave method is applied. The charging method is not limited to the exemplified charging method.

  FIGS. 8 to 11 show modified examples of the mower main body 20 and the power supply base 30, respectively. In these drawings, members common to the members described above are denoted by the same reference numerals. The basic structure of the mower main body 20 is almost the same as that described above.

  8 to 11, two outer guide rails 61 and two inner guide rails 62 are provided so as to extend in the direction in which the mower body 20 enters, on the substrate 31 of the power supply base 30 shown in FIGS. 8 to 11. The outer guide rail 61 is provided at a position that is outside the front wheel 21 and the rear wheel 22, and the inner guide rail 62 is provided at a position that is inside the front wheel 21 and the rear wheel 22. Similarly to the case described above, the mower body 20 is provided with the power reception control circuit 29 shown in FIG. 7, and the power supply base 30 is provided with the power supply control circuit 37.

  The board 31 of the power supply base 30 shown in FIG. 8 is provided with a stopper 63 for restricting the entry position at the rear end portion in the entry direction of the mower main body 20. As a result, when the mower main body 20 enters the board 31, the position in the left-right direction with respect to the traveling direction of the mower main body 20 is guided by the guide rails 61 and 62, and the approach position in the traveling direction is set by the stopper 63. Therefore, the power feeding position of the secondary coil 51 with respect to the primary coil 41 is positioned with high accuracy.

  In the power supply base 30 shown in FIG. 8, a power supply head 36 is provided on the power supply wall body 33 protruding above the upper surface 20 b of the mower main body 20, similarly to the case shown in FIGS. 3 to 6. It is a top-side power feeding method. The power supply wall 33 shown in FIG. 8 is fixed to the upper end of the column 32 without swinging in the vertical direction, and is a fixed type. The primary coil 41 provided in the power feeding head 36 is incorporated in the power feeding head 36 along the lower surface of the power feeding wall 33. On the other hand, the secondary coil 51 is incorporated in the power receiving head 28 so as to face the externally exposed surface along the flat upper surface 20b of the mower body 20, that is, the externally exposed surface.

  As described above, in the power supply base 30 shown in FIG. 8, positioning of the power supply position with respect to the power receiving head 28 of the mower main body 20 is performed, the guide rails 61 and 62 that guide the front wheel 21 and the rear wheel 22, and the mower main body 20 This is performed by a stopper 63 that contacts the front surface 20e. However, the power feeding wall 33 shown in FIG. 8 is made to swing in the vertical direction as shown in FIGS. 3 to 6, so that a protrusion 35 is provided at a position away from the power feeding head 36. A concave groove 27 may be provided at a position away from 28. In this case, the positioning by the projection 35 and the concave groove 27 and the positioning by the guide rails 61 and 62 and the stopper 63 are used in combination. The feeding wall 33 is fixed to the upper end portion of the column 32 without swinging in the vertical direction, and has a shape having an inclined or trapezoidal raised portion in the groove of the guide rails 61 and 62. As the machine main body 20 is guided to the power supply base 30, the distance between the power supply wall 33 and the power receiving head 28 of the mower main body 20 may be made closer.

  In the case of the structure as shown in FIG. 8, the power feeding wall 33 may have a shape or size that covers only the power receiving head 28 of the mower main body 20, but is large enough to cover the entire upper surface of the mower main body 20. It is good. In this case, the power supply base 30 is more preferable in that it can also serve as a garage that protects the mower main body 20 from the external environment, such as when it is raining, at a high temperature, at night, etc. .

  In the power supply base 30 shown in FIG. 9, the power receiving head 28 is provided on the externally exposed surface on the bottom surface 20 a side of the mower main body 20, and the power supply head 36 is provided on the substrate 31. Further, the position of the power feeding position of the mower main body 20 with respect to the power feeding base 30 is determined by the guide rails 61 and 62 that guide the front wheel 21 and the rear wheel 22 and the stopper 63 that contacts the rear surface 20f of the mower main body 20. ing. Therefore, when the mower main body 20 enters the power supply base 30 shown in FIG. 9 and the secondary battery 26 is charged, the charging method is the bottom surface charging method.

  In the power supply base 30 shown in FIG. 10, the power receiving head 28 is provided on the externally exposed surface on the side surface 20 c side of the mower main body 20, and the power supply head 36 is provided in the column 32. Further, the position of the power feeding position of the mower main body 20 with respect to the power feeding base 30 is determined by the guide rails 61 and 62 that guide the front wheel 21 and the rear wheel 22 and the stopper 63 that contacts the front surface 20e of the mower main body 20. ing. Therefore, when the mower main body 20 enters the power supply base 30 shown in FIG. 10 and the secondary battery 26 is charged, the charging method is the side charging method. In FIG. 10, the power receiving head 28 is provided on the right side surface 20c in the forward traveling direction, but the power receiving head 28 may be provided on the opposite side surface 20d.

  In the power supply base 30 shown in FIG. 11, a column 32 provided on the substrate 31 is used as a positioning stopper for the mower main body 20, and a power receiving head is provided on the externally exposed surface on the rear surface 20 f side of the mower main body 20. 28 is provided, and the column 32 is provided with a power feeding head 36 facing the power receiving head 28. As described above, the position of the power supply position of the mower main body 20 with respect to the power supply base 30 is determined by the guide rails 61 and 62 that guide the front wheel 21 and the rear wheel 22 and the column 32 that contacts the rear surface 20f of the mower main body 20. I am doing so. Therefore, when the mower main body 20 enters the power supply base 30 shown in FIG. 11 and the secondary battery 26 is charged, the charging method is the rear surface charging method.

  8 to 11, two types of guide rails, an inner guide rail 61 that guides the front wheel 21 and an outer guide rail 62 that guides the rear wheel 22, are provided on the substrate 31. Only one of the guide rails 61 or 62 may guide the travel of the mower main body 20.

  As described above, as a method for positioning the power feeding position of the mower main body 20 with respect to the power feeding base 30, the mower main body 20 is moved in the running direction and the width direction by engaging the concavo-convex portion, the guide rails 61 and 62, and the stopper 63. There are a method for positioning the head and the head and a method using both of them. In any method, the primary coil 41 on the power feeding base 30 side and the secondary coil 51 on the mower main body 20 side can be reliably positioned at the power feeding position, and can be removed from the power feeding base 30 by a non-contact charging method. The secondary battery 26 in the mower main body 20 can be charged. Thereby, the charging operation for the secondary battery 26 can be reliably performed, and unattended mowing work can be performed smoothly.

  The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention. For example, the secondary battery 26 is not limited to a lead battery or a lithium ion battery, and a lithium ion capacitor or a supercapacitor structure may be used.

DESCRIPTION OF SYMBOLS 15 Mowing area 20 Mower main body 21 Front wheel 22 Rear wheel 23 Driving motor 24 Cutter 25 Working motor 26 Secondary battery 27 Concave groove 28 Power receiving head 30 Power supply base 31 Substrate 32 Column 33 Power supply wall body 34 Connection part 35 Projection Unit 36 Feeding head 41 Primary coil 46 Sensor 51 Secondary coil 56 Charging on / off switch 57 Magnet 61, 62 Guide rail 63 Stopper

Claims (13)

A motor for driving to drive a wheel, a motor for driving to drive a cutter, and a mower body having a secondary battery for supplying electric power to the motor are automatically caused to travel to a power supply base, thereby the secondary battery. A self-propelled mower that charges
Charging the secondary battery
The mowing machine main body travels to a power feeding position where a primary coil for power transmission provided in the power supply base and a secondary coil for power reception provided in the mower main body are opposed to each other through a space,
Under a state where the power supply position is stopped, a charging method is provided in which the primary coil is electromagnetically energized from the primary coil to the secondary coil through the space.
Self-propelled mower. The power supply base is provided with a detection member, the mower main body is provided with a detection member, and when the secondary coil is placed at the power supply position, the primary coil is energized.
The self-propelled mower according to claim 1. A motor for driving to drive the wheel, a motor for driving to drive the mowing cutter, and a mower body having a secondary battery for supplying electric power to the motor are automatically driven to the power supply base and the secondary A self-propelled mower that charges a battery,
A primary coil for power transmission provided in the power supply base;
A secondary coil that is provided in the mower main body and is positioned at a power feeding position facing the primary coil through a space;
Have
A self-propelled mowing machine that feeds power to the mower body by electromagnetically energizing the primary coil from the primary coil through the space. The power supply base includes a detection member that detects a detected member provided in the mower body, and a power supply control circuit that controls the primary coil based on a signal from the detection member, and the secondary coil Is energized to the primary coil when placed at the power feeding position,
The self-propelled mower according to claim 3. The member to be detected is a magnet, and the detection member is a magnetic sensor sensitive to magnetism of the magnet;
The self-propelled mower according to claim 4. The secondary coil is disposed facing the upper surface, bottom surface, front surface, or rear surface of the housing of the mower body,
The power supply base is arranged with the primary coil at a position facing the secondary coil when the mower main body enters the power supply base.
The self-propelled mower according to any one of claims 3 to 5. The power supply base has a power supply wall body that is movable between a power supply position that contacts the mower body and a retreat position that is away from the power supply position, and the power supply wall body is provided with a first uneven portion. The mower body is provided with a second concavo-convex portion that engages with the first concavo-convex portion, and the first concavo-convex portion and the second concavo-convex portion are engaged with each other so that the secondary coil and the 1 Facing the next coil,
The self-propelled mower according to any one of claims 3 to 6.   The self-propelled mower according to claim 7, wherein the primary coil is provided inside the unevenness of the first uneven portion, and the secondary coil is provided inside the unevenness of the second uneven portion. The power supply wall body includes a biasing unit that biases a pressing force in a direction toward the mower main body, and when the second uneven portion moves to the position of the first uneven portion, The first uneven portion and the second uneven portion are fitted by the biasing means.
The self-propelled mower according to claim 7 or 8. The power supply base has a base portion on which the mower main body enters and is placed, and a stopper that regulates an entry position of the mower main body, and when the mower main body contacts the stopper The secondary coil and the primary coil face each other.
The self-propelled mower according to any one of claims 3 to 6. When the mower main body enters the board, a guide rail that guides the wheels of the mower main body is provided on the board.
The charging device for a self-propelled mower according to any one of claims 3 to 10. It has a running motor that drives the wheels, a working motor that drives the mowing cutter, and a secondary battery that supplies power to the motor, and it automatically runs on the power supply base to charge the secondary battery. A self-propelled mower unit that
The self-propelled mower unit includes a secondary coil that receives power electromagnetically through a space;
Detecting means for detecting a remaining capacity of the secondary battery;
Boundary detection means for detecting the boundary of the work area;
A return travel control unit for performing a return travel to the power supply base;
Have
A self-propelled mower unit that travels back toward a power supply base when the remaining capacity of the secondary battery reaches a predetermined remaining capacity. The return travel is to identify the boundary laid in the work area by the boundary detection means,
The self-propelled mower unit according to claim 12, wherein the self-propelled mower unit returns to the power supply base by circling along the boundary.

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