JP2016195546A - Self-propelled mower - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled mower that can stop at least one of a traveling power source and a rotary blade power source when a state that exceeds a predetermined range is detected.SOLUTION: A self-propelled mower 10 comprises a mower body 200 that travels when the torque of traveling motors 230 is transmitted to drive wheels, and comprises: a rotary blade motor 240 that rotates a rotary blade provided in the mower body 200; a sensor unit 270 and a control unit 220 that detect the behavior of the mower body 200; and the control unit 220 that stops at least one of the traveling motors 230 and the rotary blade motor 240 when the behavior of the mower body 200 that exceeds a predetermined range is detected.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a self-propelled mower having drive wheels driven by a traveling power source and used for cutting undergrass such as turf and weeds.

  As shown in Patent Document 1, a conventional mower has a structure in which a traveling power source such as an electric motor is provided in a mower main body, and a rotary blade is rotated by the power of the traveling power source. Further, the mower has a hook part, one end of the hook part in the length direction is connected to the mower main body, and the other end of the hook part is connected to the handle part. The mower body is provided with wheels, and the mower is used with the wheels installed. The mower described in Patent Document 1 is such that the user rotates the wheel by pushing the mower with the handle and the mower body travels, and the rotary blade is rotated by the power of the electric motor. It is a structure that performs work.

JP 2013-031397 A

  The mower described in the above-mentioned Patent Document 1 has to move the mower body by the user's human power, which imposes a burden on the user. Therefore, it is also conceivable to provide a traveling power source for driving the traveling wheels in the mower main body to provide a self-propelled mower.

  However, at least one of the power source for traveling and the power source for rotary blades continues to rotate even if a state or operation that the user does not expect occurs when the mower body travels away from the user. There was room for improvement.

  An object of the present invention is to provide a self-propelled mower capable of stopping at least one of a power source for traveling or a power source for rotary blades when a state or operation not anticipated by the user is detected. It is in.

  A self-propelled mower according to an embodiment is a self-propelled mower having a mower main body that travels when torque of a driving power source is transmitted to drive wheels, and includes a rotary blade provided on the mower main body. When the rotary blade power source to rotate, the behavior detecting unit for detecting the behavior of the mower main body, and the behavior of the mower main body exceeds a predetermined range, the driving power source or the And a controller that stops at least one of the power sources for the rotary blade.

  In another embodiment, the power source for traveling of the self-propelled mower is a first electric motor that generates torque by being supplied with electric power, and the power source for rotary blade generates torque by being supplied with electric power. A second electric motor.

  In another embodiment, the second electric motor of the self-propelled mower is a disk motor including a disk-shaped rotor that rotates with a magnetic field formed by energization.

  The behavior detection unit of the self-propelled mower in another embodiment detects a state in which the mower main body is inclined at a predetermined angle or more with respect to the ground or a vertical line.

  The behavior detection unit of the self-propelled mower in another embodiment detects a state in which the mower body is inclined at least 20 degrees with respect to the ground or a vertical line.

  In another embodiment, the behavior detection unit of the self-propelled mower includes an acceleration sensor that detects an acceleration of the mower main body.

  In another embodiment, the behavior detecting unit of the self-propelled mower includes an infrared sensor that detects a distance between the mower body and the ground.

  The behavior detecting unit of the self-propelled mower in another embodiment includes an ultrasonic sensor that detects a distance between the mower main body and the ground.

  The behavior detector of the self-propelled mower in another embodiment detects a state in which the main body of the mower moves with an external force other than the driving force generated by the driving wheel.

  In another embodiment, the behavior detecting unit of the self-propelled mower includes an angular velocity sensor that detects an angular velocity of the mower body around a reference line in a predetermined direction.

  The behavior detecting unit of the self-propelled mower in another embodiment detects the behavior of the mower main body based on the sound generated around the mower main body.

  The behavior detecting unit of the self-propelled mower in another embodiment is a microphone that detects the sound.

  In another embodiment, a self-propelled mower is provided with a notification unit that informs the user of the mower main body that at least one of the power source for traveling or the power source for rotary blade is stopped by the control unit. It has been.

  The notification unit of the self-propelled mower according to another embodiment notifies by sound that at least one of the traveling power source or the rotary blade power source has been stopped by the control unit.

  The notification unit of the self-propelled mower in another embodiment includes a speaker.

  In another embodiment, a self-propelled mower is provided with a height adjustment mechanism that moves the rotary blade in the height direction of the mower main body, and the behavior detection unit exceeds the predetermined range. When the state is detected, the height adjusting mechanism is stopped.

  In another embodiment, a self-propelled mower is provided with a moving device that moves the rotary blade in a horizontal direction, and the behavior detecting unit detects when the state is beyond the predetermined range. And the moving device is stopped.

  In the self-propelled mower according to another embodiment, a signal that is mutually communicable with the mower main body and that controls the driving power source and the rotary blade power source is transmitted to the mower. An operation terminal unit for transmitting to the main body is provided.

  According to the self-propelled mower of the present invention, when a behavior other than the state assumed in advance is detected, at least one of the traveling power source and the rotary blade power source can be stopped.

It is a figure which shows the structure of the self-propelled mower which concerns on embodiment of this invention. It is an external appearance perspective view of the mower main body which concerns on embodiment of this invention. It is side surface sectional drawing of the mower main body which concerns on Embodiment 1 of this invention. It is a bottom view of the mower main body which concerns on Embodiment 1 of this invention. It is a figure which shows the structure of the sensor part shown by FIG. It is side surface sectional drawing of the mower main body which concerns on Embodiment 2 of this invention. It is a bottom view of the mower main body which concerns on Embodiment 2 of this invention. It is side surface sectional drawing of the mower main body which concerns on Embodiment 3 of this invention. It is side surface sectional drawing of the mower main body which concerns on Embodiment 4 of this invention. It is a mower main body which concerns on Embodiment 4 of this invention, and is the top view which abbreviate | omitted the cover. It is side surface sectional drawing of the mower main body which concerns on Embodiment 5 of this invention. It is a mower main body which concerns on Embodiment 5 of this invention, and is the top view which abbreviate | omitted the cover.

  Hereinafter, an example of a self-propelled mower to which the present invention is applied will be described in detail with reference to the drawings. Note that components having the same function are denoted by the same reference symbols throughout the drawings for describing the embodiment, and the repetitive description thereof will be omitted. The self-propelled mower according to the present embodiment includes a mower main body and an operation terminal unit connected to the mower main body via a wireless system. The wireless system includes a network based on an arbitrary wireless communication standard such as a wireless LAN. An operator, that is, a user can remotely operate the mower main body by operating the operation terminal unit. For example, the start and stop of the traveling of the self-propelled mower, the traveling direction and the traveling speed are remotely controlled. In addition, the start and stop of rotation of the rotary blade provided in the self-propelled mower, the rotational speed of the rotary blade, and the like are remotely controlled. Hereinafter, embodiments of the self-propelled mower will be specifically described.

(Embodiment 1)
First Embodiment A self-propelled mower will be described with reference to FIG. The self-propelled mower 10 has an operation terminal unit 100 and a mower main body 200. The operation terminal unit 100 operated by the user is, for example, a self-propelled type terminal such as a remote-control type dedicated terminal provided for remotely operating the self-propelled mower 10 and a smartphone or a tablet type terminal. And a portable general-purpose information processing terminal having a function other than the function of remotely operating the mower 10. The remote-control type dedicated terminal includes a mobile dedicated terminal that can be carried by the user and a fixed installation type dedicated terminal that cannot be carried by the user.

  As shown in FIG. 1, the operation terminal unit 100 includes a power supply unit 110, a control unit 120, an image processing unit 130, a display unit 140, an input unit 150 operated by a user, and an operation terminal side communication unit. 160, a sensor unit 170, and an information storage unit 180. The control unit 120 includes a processor that controls the entire operation terminal unit 100, an arithmetic device that processes data and signals, a memory that temporarily stores data, and the like. The information storage unit 180 stores a control program necessary for controlling the mower main body 200 in advance.

  The information storage unit 180 can also store a control program or application installed or downloaded from the external device 300. Hereinafter, in this specification, a control program and an application are described as a control program or the like. The operation terminal unit 100 causes the operation terminal unit 100 to function by executing a control program of the self-propelled mower 10 by a processor. Note that the operation terminal unit 100 can communicate with the external device 300 via the wireless system. The external device 300 is connected via an information network and has a server function, a driver to which a storage medium such as a CD-ROM is attached, a personal computer in the data center, and a portable device provided separately from the operation terminal unit 100. Includes phones or smartphones.

  Further, when using a general-purpose information processing terminal device or a dedicated terminal device with an older version of a control program or the like as the operation terminal unit 100, the operation terminal unit 100 is a control program stored in the storage unit of the external device 300 or the like. Can be downloaded to the information storage unit 180, or a control program stored in a storage medium such as a CD-ROM can be installed in the information storage unit 180. The control unit 120 can also cause the operation terminal unit 100 to function by executing a control program or the like downloaded or installed in the information storage unit 180.

  Note that a signal transmission / reception performed between the operation terminal unit 100 and the external device 300 may use a wired system in addition to using the wireless system. For example, the external device 300 and the operation terminal side communication unit 160 can be connected by a USB (Universal Serial Bus) cable which is an example of a wired system. Furthermore, the operation terminal side communication unit 160 can be provided with a port to which a card type memory, a stick type memory, and the like can be attached and detached. In the card type memory, the stick type memory, etc., a control program for controlling the mower main body 200 is stored. That is, a card type memory, a stick type memory, and the like are included in the external device 300.

  Furthermore, the operation terminal unit 100 transmits data and information received by the operation of the input unit 150 to the external device 300, and receives a control signal calculated by the external device 300 as a response to this transmission. Furthermore, the operation terminal unit 100 can communicate with the mower main body 200, and the operation terminal unit 100 transmits a control signal received from the external device 300 to the mower main body 200. The mower main body 200 can be controlled based on a control signal transmitted from the operation terminal unit 100.

  The input unit 150 of the operation terminal unit 100 is an element operated or used by a user, and the input unit 150 includes a touch panel, buttons, switches, a microphone, and the like. The input unit 150 outputs an instruction signal corresponding to an input signal received by a user operation or use, and the instruction signal is input to the control unit 120.

  The control unit 120 generates a control signal based on the instruction signal input from the input unit 150, and the control unit 120 outputs the generated control signal to the operation terminal side communication unit 160.

  The operation terminal side communication unit 160 transmits terminal information such as an authentication ID, a control signal input from the control unit 120, and the like to the mower main body 200 by radio waves. However, the operation terminal side communication unit 160 of the operation terminal unit 100 has not only a function of transmitting a control signal to the mower main body 200 but also a function of receiving a signal transmitted from the mower main body 200. Although details will be described later, from the mower main body 200, basic information such as an authentication ID, which is main body information of the mower main body 200, the traveling speed of the mower main body 200, the traveling direction of the mower main body 200, the mower main body 200, and the like. , A signal indicating the remaining amount of the battery as the power supply unit 210 provided in the mower main body 200 is transmitted, and these signals are received by the operation terminal side communication unit 160 of the operation terminal unit 100. Operation terminal side communication unit 160 outputs the received signal to control unit 120.

  Further, the control unit 120 generates notification information based on at least one of the signal input from the operation terminal side communication unit 160 or the instruction signal input from the input unit 150. Thereafter, the control unit 120 processes the information according to the generated notification information. The control unit 120 controls the display unit 140 so as to notify the user of information processed by itself.

  The display unit 140 as a notification unit displays information on an arbitrary screen display means such as liquid crystal or organic EL, outputs information from a speaker or the like by voice or alarm, vibrates the operation terminal unit 100, At least one process is executed by any means that can be perceived by the user, such as turning on a lamp, and the necessary information is notified to the user. The necessary information includes the current position of the mower main body 200 on the map, the remaining battery level of the power supply units 110 and 210, the rotational speed of the rotary blade 244, the traveling speed of the mower main body 200, and the like.

  The operation terminal unit 100 can be connected to the external device 300 via an information network, and the operation terminal unit 100 can exchange signals and information with both the mower main body 200 and the external device 300. The operation terminal unit 100 can also exclusively communicate voice, information, and the like with an external device 300 such as a mobile phone via an information network. Here, as an example of performing exclusive communication, for example, there is a case where the operation terminal unit 100 has a mobile phone or information reception function.

  That is, when the operation terminal unit 100 can also be used as a mobile phone or an information receiving terminal, when the operation terminal unit 100 receives a call from the mobile phone as the external device 300 or is set in advance as a priority reception. When the received information is received, it is possible to interrupt the control program used for mowing work of the mower main body 200.

  The user presets predetermined information as preferential reception via the input unit 150 or the main body side operation unit 290. The information set as the priority reception includes information that needs to stop the self-propelled mower 10 such as an earthquake early warning. Information set as priority reception includes update information such as a short message, mail, and control program. Alternatively, the communication between the operation terminal unit 100 and the mower main body 200 is interrupted, and a call is made between the operation terminal unit 100 and the mobile phone that is the external device 300, or information that has been preferentially received is displayed. The user can confirm.

  Here, the meaning of interrupting a control program or the like used for controlling the mower main body 200 or interrupting a signal between the operation terminal unit 100 and the mower main body 200 is as follows. This means that an interruption signal is transmitted from the operation terminal unit 100 to the mower main body 200, and the operation of the mower main body 200 is set to a standby state or a stopped state. The standby state is to stop the travel of the mower main body 200, and the stop state is to stop the travel of the mower main body 200 and stop the rotary blade.

  The mower main body 200 includes an imaging unit 260 that captures the situation around or near the mower main body 200, and transmits captured image data corresponding to the captured image captured by the imaging unit 260. The captured image data is received by the operation terminal side communication unit 160 of the operation terminal unit 100.

  Various signals and captured image data received by the operation terminal side communication unit 160 are output to each unit via the control unit 120. For example, captured image data received by the operation terminal side communication unit 160 is output to the image processing unit 130 via the control unit 120.

  The image processing unit 130 performs predetermined processing on the input captured image data, and outputs the processed captured image data to the display unit 140. The captured image is displayed by the display unit 140 to which the processed captured image data is input.

  The operation terminal unit 100 includes a power supply unit 110, and the operation terminal unit 100 is driven by electric power supplied from the power supply unit 110. The power supply unit 110 includes, for example, a rechargeable battery. In addition, the operation terminal unit 100 includes the image information transmitted from the imaging unit 260 and the control program in the information storage unit 180 or the information storage unit of the server computer as the external device 300 connected to the operation terminal unit 100. The set value, the technical information of the mower main body 200, the usage history information of the consumable parts, and the like can be output, and the technical information, the guidance for the consumable parts, and the like can be received from the external device 300. Here, the external device 300 may be a server computer such as a store or a manufacturer, or may be a PC set in advance by a user.

  As shown in FIG. 1, the mower main body 200 includes a power supply unit 210, a control unit 220, a traveling motor 230, a rotary blade motor 240, a main body side communication unit 250, an imaging unit 260, a sensor. A unit 270, a brake device 280 as a mechanical stopping means, a main body side operation unit 290, and a main body side display unit 293. The brake device 280 has a motor control circuit that generates a braking force, or a known structure that generates a braking force according to a friction force. Preferably, the brake device 280 is an electromagnetic brake, a disc brake, or a drum. Including any of the brakes.

  The main body side communication unit 250 receives a control signal transmitted from the operation terminal unit 100 or a device that relays a signal from the operation terminal unit 100. The main body side communication unit 250 outputs the received control signal to the control unit 220. The operation terminal unit 100 also transmits basic information such as an authentication ID and a signal indicating the work start time, current time, communication strength, etc. of the mower main body 200. Received by the communication unit 250. It should be noted that basic information such as the authentication ID of the mower main body 200, the travel speed of the mower main body 200, the travel direction of the mower main body 200, the driving information of the rotary blade, the remaining battery level as the power supply unit 210, and the like As described above, the captured image data is transmitted from the mower main body 200 to the operation terminal unit 100, but these signals and captured image data are also transmitted from the main body side communication unit 250.

  The main body side operation unit 290 is an element having the same configuration and the same function as the input unit 150 of the operation terminal unit 100. For example, when the user does not carry the operation terminal unit 100, the operation terminal unit 100 cannot be used. In such a manner, the user can control the mower main body 200 by operating the main body side operation unit 290. In this specification, the operation or use of the main body side operation unit 290 or the input unit 150 may be abbreviated as the operation of the main body side operation unit 290 or the operation of the input unit 150 for convenience.

  Furthermore, in controlling the mower main body 200, both the main body side operation unit 290 and the operation terminal unit 100 may be operated simultaneously. In such a case, it is possible to control the mower main body 200 based on either one of the main body side operation unit 290 or the operation terminal unit 100. Which of the main body side operation unit 290 and the operation terminal unit 100 is to be prioritized to control the mower main body 200 depends on whether the user operates the main body side operation unit 290 or the operation terminal unit 100 before performing the mowing work. By operating, the priority mode can be arbitrarily set.

  In addition, after starting the mowing work, it is possible to switch the priority mode for controlling the mower main body 200 based on which signal of the main body side operation unit 290 or the operation terminal unit 100. The priority mode is a first mode in which the mower main body 200 is controlled based on a signal from the operation terminal unit 100, and a first mode in which the mower main body 200 is controlled based on a signal input from the main body side operation unit 290 to the control unit 220. Two modes can be switched.

  The control unit 220 of the mower main body 200 controls the mower main body 200 based on a control signal received by the main body side communication unit 250 or a signal input from the main body side operation unit 290. For example, the motor 230 for driving which drives a wheel is controlled. The wheel will be described later with reference to FIGS. In addition, the control unit 220 acquires the battery voltage from the power supply unit 210 and calculates the remaining battery level based on the acquired battery voltage. The control unit 220 periodically outputs a signal indicating the calculated remaining battery level to the main body side communication unit 250 or the main body side display unit 293.

  The main body side communication unit 250 transmits a signal indicating the received battery remaining amount to the operation terminal unit 100. A signal indicating the remaining battery level is received by the operation terminal side communication unit 160 of the operation terminal unit 100, and the remaining battery level is displayed on the display unit 140. Specifically, a signal indicating the remaining battery level is received by the operation terminal side communication unit 160 and output to the image processing unit 130 via the control unit 120.

  In addition, the control unit 220 controls the rotary blade motor 240 that drives the rotary blade based on a control signal input from the operation terminal unit 100 to the main body side communication unit 250 or a signal input from the main body side operation unit 290. Control rotation, stop, rotation speed, and rotation direction. The rotary blade will be described later with reference to FIGS. 3 and 4. Further, the control unit 220 rotates and stops the two traveling motors 230 based on a control signal input from the operation terminal unit 100 to the main body side communication unit 250 or a signal input from the main body side operation unit 290. The rotation direction and rotation speed are individually controlled.

  The imaging unit 260 is, for example, a CCD camera, and images the front of the mower main body 200 in the traveling direction. The captured image captured by the imaging unit 260 is converted into captured image data for rendering the captured image, and then output to the main body side communication unit 250 via the control unit 220. The main body side communication unit 250 outputs the operation terminal. Transmitted to the unit 100.

  The main body side display unit 293 receives signals from the control unit 220, and the main body side display unit 293 displays information on a display screen such as a liquid crystal display, an organic EL display, and an LED, and information from a speaker by voice. Output at least one of the process of turning on the lamp, etc., to notify the user of the information. That is, the main body side display unit 293 has a function equivalent to that of the display unit 140. Therefore, the main body side display unit 293 can display the remaining battery level of the power supply unit 210, the selected priority mode, and the like. When the first mode is selected, the display on the main body side display unit 293 is not performed, and when the second mode is selected, the display on the display unit 140 is not performed.

  As shown in FIG. 5, the sensor unit 270 includes, for example, a distance sensor 270 a that measures the travel distance of the mower main body 200, an acceleration sensor 270 b that measures the acceleration of the mower main body 200, and an object contact with the mower main body 200. Sensor 270c, pressure sensor 270d, load sensor 270e, contact switch 270f, ultrasonic sensor 270g for detecting the approach of the object to the mower body 200, infrared sensor 270h, laser distance sensor 270i, and rotary blade 244 Current sensor 270j for detecting the load of the battery, voltage sensor 270k for detecting the remaining battery level, gyro sensor 270m for detecting the angular velocity, general purpose sound collecting element (for example, microphone) 270n, rotational speed sensor 270p, rotational speed sensor 270q, etc. Is included. The rotation speed sensor 270p separately detects the rotation speeds of the two traveling motors 230, and the rotation speed sensor 270q detects the rotation speed of the rotation shaft 243 of the rotary blade motor 240. Here, the application of each sensor and switch is an example, and the illustrated sensor and switch can be used for the different applications described above. Note that various sensors and switches included in the sensor unit 270 in the present embodiment can be arranged in any number of places on the mower body 200 in accordance with the role of the sensor or switch and the object detected by the sensor or switch. Can be provided. For example, a sensor or switch that detects contact or approach of an object is preferably provided on the outer surface of the cover 202 of the mower main body 200. A signal output from the sensor unit 270 is input to the control unit 220.

  The mower main body 200 includes a main body chassis 201 and a cover 202 that covers an opening of the main body chassis 201. The main body chassis 201 and the cover 202 are separately resin-molded. A housing 205 is formed by the main body chassis 201 and the cover 202. The main body side operation unit 290 and the main body side display unit 293 are provided on the cover 202. The main body side operation unit 290 and the main body side display unit 293 can be operated and viewed by the user from the outside of the housing 205. As shown in FIGS. 3 and 4, the mower main body 200 includes a front wheel 282 that is rotatably provided, a rear wheel that is a driving wheel, and a rotary blade 244 that rotates counterclockwise in FIG. 4. The rear wheel includes a left driving wheel 283 and a right driving wheel 284 that are individually driven. Two front wheels 282 are provided side by side in the left-right direction of the mower main body 200.

  In addition, a traveling motor 230 for driving the left driving wheel 283 and a traveling motor 230 for driving the right driving wheel 284 are provided separately. The two traveling motors 230 can rotate forward or backward, respectively. The rotational speed sensor 270p separately detects the rotational speeds of the two traveling motors 230. The two traveling motors 230 are both electric motors that generate torque when power is supplied from the power supply unit 210, and the two traveling motors 230 are both attached to the bottom 201 a of the main body chassis 201. That is, the two traveling motors 230 are disposed in the interior 203 of the housing 205. The bottom 201a has a flat plate shape as an example. A control board 248 is attached to the bottom part 201a via a mount part 203b, and a control part 220, a main body side communication part 250, and the like are attached to the control board 248. The control board 248 is disposed in front of the traveling motor 230 in the direction in which the mower main body 200 travels forward. In a bottom view of the mower main body 200, at least a part of the arrangement area of the control board 248 and at least a part of the arrangement area of the rotary blade motor 240 overlap.

  These two traveling motors 230 are independently controlled in rotation, stop, rotational speed, rotational direction, and the like. Therefore, in the following description, the traveling motor 230 for driving the left driving wheel 283 is referred to as a “left wheel motor”, and the traveling motor 230 for driving the right driving wheel 284 is referred to as a “right wheel motor”. Sometimes called. Further, the outer diameter of the left driving wheel 283 and the outer diameter of the right driving wheel 284 are the same.

  The two traveling motors 230 are connected to the axles 231a of the left driving wheel 283 and the right driving wheel 284, respectively. The two axles 231a are concentrically arranged on the center line B1, and when the mower main body 200 is viewed from the bottom, the axle 231a extends substantially at a right angle to the direction in which the mower main body 200 travels straight. Has been.

  The traveling speed and traveling direction of the mower main body 200 are determined by the rotational speed of the left driving wheel 283 and the rotational speed of the right driving wheel 284. For example, when the left driving wheel 283 and the right driving wheel 284 rotate in the first direction at the same speed, the mower main body 200 travels straight, that is, travels forward. On the other hand, when the left driving wheel 283 and the right driving wheel 284 rotate at the same speed in the direction opposite to the first direction, the mower main body 200 travels backward.

  Further, when the left driving wheel 283 and the right driving wheel 284 rotate in the first direction and the rotation speed of the left driving wheel 283 is faster than the rotation speed of the right driving wheel 284, the mower main body 200 moves to the right Turn in the direction.

  Further, when the left driving wheel 283 and the right driving wheel 284 rotate in the first direction and the rotation speed of the right driving wheel 284 is faster than the rotation speed of the left driving wheel 283, the mower body 200 is moved to the left. Turn in the direction.

  The two front wheels 282 are auxiliary wheels, and no power source for transmitting torque to the two front wheels 282 is provided. The individual outer diameters of the two front wheels 282 are less than the individual outer diameters of the left driving wheel 283 and the right driving wheel 284. The two front wheels 282 are rotatably supported by a support shaft 282a, and the support shaft 282a is rotatably attached to the main body chassis 201. The support shaft 282a is rotatable around a vertical axis, and the rotation center of the front wheel 282 is set at a position eccentric from the axis. Assuming that the mower main body 200 travels straight, the axis of the support shaft 282a is disposed in front of the axles 231a of the right drive wheel 284 and the left drive wheel 283.

  The front wheel 282 is driven to rotate by frictional force with the ground A2 as the mower main body 200 travels forward or backward. Further, if the ground A2 is flat, the bottom 201a of the main body chassis 201 is substantially horizontal in a state where the right driving wheel 284 and the left driving wheel 283 are in contact with the ground A2 and the front wheel 282 is in contact with the ground A2. .

  On the other hand, the rotary blade motor 240 is attached to the main body chassis 201. The rotary blade motor 240 connects a motor case 246, a stator 242 fixed to the motor case 246, a rotor 241 rotatably accommodated in the motor case 246, and the rotor 241 and the rotary blade 244. Rotating shaft 243. The rotary blade motor 240 can rotate the rotating shaft 243 forward or backward. The rotational speed sensor 270p detects the rotational speed of the rotary shaft 243, that is, the rotational speed of the rotary blade 244.

  The stator 242 and the rotor 241 are provided in the motor case 246. The rotating shaft 243 is rotatably supported by a bearing 247. The center line A1 of the rotating shaft 243 is substantially vertical if the mower main body 200 is placed on the flat ground A2. When the mower main body 200 is viewed from the side, the center line A1 is positioned forward of the center line B1 in the forward direction of the mower main body 200. The stator 242 and the rotor 241 are arranged side by side in the direction along the center line A1.

  The motor case 246 has a disk shape fixed to the bottom portion 201 a, and most of the motor case 246 is disposed below the bottom portion 201 a of the main body chassis 201. That is, the motor case 246 protrudes downward from the bottom portion 201a, and the rotor 241 is provided at a location that is located below the bottom portion 201a of the motor case 246.

  The rotary blade motor 240 in the present embodiment is a disk motor, and the stator includes a plurality of permanent magnets arranged around the center line A1 along the circumferential direction.

  The rotor 241 has a disk shape formed coaxially with the center line A1, and the rotor 241 includes a plurality of coils provided along the circumferential direction around the center line A1. The rotor 241 and the rotary blade 244 are fixed to the rotary shaft 243 so as to rotate integrally with the rotary shaft 243. The rotating shaft 243 is disposed from the inside of the motor case 246 to the outside of the motor case 246. The rotary blade 244 is attached to a portion of the rotary shaft 243 that is disposed outside the motor case 246.

  When the mower main body 200 is viewed from the bottom, the rotary blade 244 is substantially circular around the center line A1. When the mower main body 200 is viewed from the bottom, the outer diameter of the rotary blade 244 is larger than the outer diameter of the motor case 246. large. When the coil is energized and a magnetic field is formed, the rotor 241 and the rotating shaft 243 rotate integrally. Further, when the mower main body 200 is viewed from the bottom, at least a part of the arrangement region of the two traveling motors 230 overlaps at least a part of the arrangement region of the rotary blade motor 240.

  The power supply unit 210 may employ any power supply means, a rechargeable battery incorporating a nickel-based or lithium-based storage battery, a fuel cell, a transformer circuit of a wired commercial power supply, or the like. The power supply unit 210 in the present embodiment is constituted by, for example, a rechargeable battery, and the two traveling motors 230 are driven by electric power supplied from the battery. The power supply unit 210 is preferably compatible with a detachable battery used for an electric tool or the like, and the power supply unit 210 is exemplified by a battery pack having a lithium ion battery or the like inside. In the present embodiment, the power pack 210 is provided near the rear end of the battery pack in the direction in which the mower main body 200 travels forward. That is, when the mower main body 200 is viewed from the bottom, the power supply unit 210 is disposed behind the two traveling motors 230 in a direction in which the mower main body 200 travels forward.

  Further, when the mower main body 200 is viewed from the bottom, the rotary shaft 243 is provided in front of the traveling motor 230 in the direction in which the mower main body 200 travels forward. The power supply unit 210 is movable in the horizontal direction with the ground A2, that is, in a direction along the bottom 201a. The power supply unit 210 is provided with a power supply side terminal, and the cover 202 is provided with a main body side terminal. And if the power supply part 210 is mounted | worn with the mower main body 200, a power supply side terminal and a main body side terminal will be connected.

  Further, the mower main body 200 has a power supply in the front-rear direction, the height direction, and the width direction of the mower main body 200 so that the center of gravity W1 when the mower main body 200 is viewed from the side is set below the axle 231a. The layout, position, and the like of heavy objects such as the unit 210, the rotary blade 244, and the rotary blade motor 240 are determined. FIG. 3 shows an example in which the center of gravity W1 is in the vicinity of the bottom 201a of the main body chassis 201 between the axle 231a and the rotary blade motor 240 as an example. When the center of gravity W1 is set at a lower position than the example of FIG. 3 such as the lower part, for example, the vicinity of the rotary blade motor 240 or the lower part of the rotary blade motor 240, the posture of the mower body 200 is More stable.

  In the self-propelled mower 10 according to the first embodiment, the rotary blade motor 240 is disposed outside the housing 205 constituting the mower main body 200, specifically, below the bottom 201 a of the main body chassis 201. . That is, the rotary blade motor 240 is positioned between the bottom 201a and the ground A2 with the mower main body 200 placed on the ground A2. That is, the two traveling motors 230 are provided inside the housing 205, and the rotary blade motor 240 is provided outside the housing 205.

  That is, it is not necessary to secure a space for disposing the rotary blade motor 240 inside the housing 205, and the housing 205 can be prevented from increasing in size. In other words, the mower main body 200 can be reduced in size and size. Furthermore, the main body chassis 201 and the mold for forming the cover 202 constituting the housing 205 can be miniaturized, and the manufacturing cost of the housing 205 can be reduced. Furthermore, in the bottom view of the mower main body 200, the arrangement area of the traveling motor 230 and the arrangement area of the rotary blade motor 240 partially overlap. For this reason, the housing 205 can be reduced in size in the bottom view of the mower main body 200, and the manufacturing cost of the housing 205 can be further reduced.

  Furthermore, the rotary blade motor 240 is disposed outside the housing 205, and the space inside the housing 205 can be used effectively. For example, the layout of the control board 248 and the like can be arbitrarily set. Further, since the rotary blade motor 240 is disposed outside the housing 205, the heat of the rotary blade motor 240 is dissipated outside the housing 205 without staying inside the housing 205, and the rotary blade motor 240 Cooling efficiency is improved. For this reason, it is not necessary to increase the size of the rotary blade motor 240 in order to increase the heat radiation area. In other words, the rotary blade motor 240 can be reduced in size and the manufacturing cost can be reduced.

  Further, since a disk motor is used as the rotary blade motor 240, the stator 242 and the rotor 241 have a flat shape. That is, the rotary blade motor 240 can be downsized in the direction along the center line A1. Therefore, the distance between the bottom 201a and the ground surface A2 can be shortened as much as possible, and the center of gravity W1 can be lowered. In particular, since the center of gravity W1 is disposed below the axle 231a, the posture of the mower main body 200 is stabilized, and any of the front wheel 282, the left driving wheel 283, and the right driving wheel 284 floats from the ground A2. Can be suppressed.

  Further, since a disk motor is used as the rotary blade motor 240, the magnetic field for rotating the rotor 241 can be formed as much as possible around the center line A1. For this reason, the torque of the rotating shaft 243 can be increased, and the output of the rotary blade motor 240 obtained by the product of the rotational speed of the rotating shaft 243 and the torque can be increased.

  Further, by covering the periphery of the control board 248 with the seal member 249, the control board 248 can be sealed alone. Examples of the seal member 249 include silicon. In this way, if the control board 248 is sealed with the sealing member 249, foreign matters such as water and dust existing outside the housing 205 enter the inside 203 through the space between the cover 202 and the main body chassis 201. There is no need to provide a seal structure to prevent this.

  Further, by using a well-known seal bearing as the bearing 247, it is possible to prevent foreign matters such as water and dust existing outside the motor case 246 from entering the inside of the motor case 246. A seal member such as an O-ring or an oil seal may be provided between the rotating shaft 243 and the motor case 246.

  Next, control examples that can be executed by the self-propelled mower 10 having the mower main body 200 of the first embodiment will be sequentially described. The control example described below is executed by the control unit 220.

(Control example 1)
In the control example 1, the control unit 220 detects whether or not the behavior of the mower main body 200 is assumed in advance based on the inclination angle of the mower main body 200 with respect to the ground surface A2. The control unit 220 stops at least one of the traveling motor 230 or the rotary blade motor 240 when the behavior of the mower main body 200 is not in the assumed state. For example, the control unit 220 determines that the mower main body 200 is inclined beyond a predetermined angle with respect to the ground A2, and stops at least one of the travel motor 230 or the rotary blade motor 240.

  The inclination angle of the mower main body 200 with respect to the ground A2 can be obtained as follows. As shown in FIG. 2, when an acute angle formed between the ground line A2 and the reference line E1 passing through the center of gravity W1 of the mower main body 200 and extending in the front-rear direction of the mower main body 200, the mowing with respect to the ground A2 is detected. The tilt angle in the left-right direction of the machine body 200 can be detected. Further, when an acute angle formed between the reference line E3 passing through the center of gravity W1 of the mower main body 200 and along the left-right direction of the mower main body 200 and the surface of the ground A2, the mower main body with respect to the ground A2 is detected. The tilt angle in the front-rear direction of 200 can be detected.

  Here, a plurality of distance sensors 270a are provided on the lower surface of the main body chassis 201 at intervals in the direction along the reference line E1, and the mower main body 200 with respect to the ground A2 is detected from the detection signals of the plurality of distance sensors 270a. An inclination angle in the front-rear direction can be detected. On the other hand, a plurality of distance sensors 270a are provided on the lower surface of the main body chassis 201 at intervals in the direction along the reference line E3. From the detection signals of the plurality of distance sensors 270a, the right and left of the mower main body 200 with respect to the ground A2 The inclination angle in the direction can be detected.

  In addition, it is also possible to detect the inclination angle in the left-right direction of the mower main body 200 with respect to the ground A2 or the inclination angle in the front-rear direction of the mower main body 200 with respect to the ground A2 from the detection signals of the plurality of acceleration sensors 270b. Furthermore, it is also possible to detect the inclination angle in the left-right direction of the mower main body 200 with respect to the ground A2 or the inclination angle in the front-rear direction of the mower main body 200 with respect to the ground A2 from the detection signals of the plurality of infrared sensors 270h. Furthermore, it is also possible to detect the inclination angle in the left-right direction of the mower main body 200 with respect to the ground A2 or the inclination angle in the front-rear direction of the mower main body 200 with respect to the ground A2 from the detection signals of the plurality of ultrasonic sensors 270g. .

  For example, when the mower main body 200 enters a step or a slope and executes the control example 1, the control unit 220 stops at least one of the travel motor 230 or the rotary blade motor 240. Therefore, when the mower main body 200 travels in a place that is not anticipated by the user, or when the mower main body 200 travels outside the area set or specified by the user in advance, the rotary blade 244 and the like are prevented from being damaged. it can.

  For example, it is possible to prevent the rotary blade 244 from being damaged when the mower main body 200 travels in a gravel area other than grassland. In addition, when the mower main body 200 is traveling on the grassland surrounded by the wire or the like, when the wire is cut due to an external factor, the mower main body 200 is outside the area surrounded by the wire. It is possible to prevent the rotary blade 244 from being damaged.

  Note that, in the control example 1, the predetermined angle that is an unexpected judgment criterion is based on whether a fixed value is stored in the control unit 220 in advance, or an arbitrary predetermined angle is set by the user, or based on a driving history. It is good also as a structure which corrects a threshold value automatically. The predetermined angle is a value determined by conditions such as the height from the ground surface A2 to the rotary blade 244, the outer diameter of the rotary blade 244, and the predetermined angle can be set to 20 degrees, for example.

(Control example 2)
In the control example 2, it is determined that the actual movement, operation, etc. of the mower main body 200 is different from the movement, operation set by the input of the input unit 150 or the main body side operation unit 290, and the control unit 220 travels. At least one of the motor 230 for rotation or the motor 240 for rotary blades is stopped. The control unit 220 can detect the operation state in the control example 2 by the plurality of gyro sensors 270m.

  More specifically, the control unit 220 can detect a roll motion that the mower body 200 tries to rotate about the reference line E1 from the detection signal of the gyro sensor 270m. Then, when the actual roll motion angle of the mower main body 200 is equal to or greater than a predetermined angle determined from the turning angle of the mower main body 200, the traveling speed, etc., it can be determined that it is out of the range of the assumed operation.

  On the other hand, the control unit 220 can detect the pitching motion that the mower main body 200 tries to rotate around the reference line E3 from the detection signal of the gyro sensor 270m. Then, when the actual pitching angle of the mower main body 200 is equal to or greater than a predetermined angle determined from the traveling speed of the mower main body 200, it can be determined that it is outside the range of the assumed operation.

  Further, the control unit 220 can detect a yawing motion that the mower body 200 tries to rotate about the vertical line E2 passing through the center of gravity W1 from the detection signal of the gyro sensor 270m. Then, when the yawing angle of the mower main body 200 is equal to or larger than a predetermined angle determined from the traveling speed, turning angle, etc. of the mower main body 200, it can be determined that it is outside the range of the assumed operation.

  Furthermore, when the control unit 220 detects that the mower body 200 is lifted from the ground A2 or lifted from the detection signal of the distance sensor 270a, the detection signal of the infrared sensor 270h, etc., It can be judged that there is no state.

  Since the control unit 220 executes the control example 2 and stops at least one of the travel motor 230 or the rotary blade motor 240, it is possible to suppress damage to the rotary blade 244 and the like.

(Control example 3)
The control unit 220 detects sound generated around the mower body 200 with the sound collecting element 270n, and the control unit 220 stops at least one of the traveling motor 230 and the rotary blade motor 240 when the sound is detected. To do. For example, the sound detected by the sound collecting element 270n includes a sound when gravel is sandwiched between the rotating parts of the mower main body 200, and a sound when the rotating blade 244 is in contact with an object having a hardness that cannot be cut, such as concrete or stone. Further, the sound detected by the sound collection element 270n is a sound hitting the surrounding ground or building, the housing 205, etc. when it rains, "rotating blade motor stop", "traveling motor stop", etc. issued by the user Voice, ultrasonic waves emitted by non-contact sensors, and the like. A sound pressure that is a threshold value is defined in advance, and control is executed when a sound pressure that exceeds the sound pressure value that is the threshold value is detected. When the sound is detected by the sound collecting element 270n, the control unit 220 stops at least one of the traveling motor 230 and the rotary blade motor 240. Since the control unit 220 executes the control example 3 and stops at least one of the travel motor 230 or the rotary blade motor 240, it is possible to suppress damage to the rotary blade 244 and the like.

(Control example 4)
This control example 4 is executed when the user operates the operation terminal unit 100 to control the mower main body 200. More specifically, the control unit 220 stops at least one of the travel motor 230 or the rotary blade motor 240 when the main body side communication unit 250 cannot receive radio waves from the operation terminal unit 100. By executing this control example 4, it is possible to prevent the mower main body 200 from moving outside the area where mowing is to be performed.

(Control example 5)
In this control example 5, in any one of the control examples 1 to 4, when at least one of the travel motor 230 or the rotary blade motor 240 is stopped, the travel motor 230 or the rotary blade motor 240 is controlled. In this control, the display unit 140 or the main body side display unit 293 outputs, for example, that at least one of the motors has been stopped and the reason why at least one of the traveling motor 230 or the rotary blade motor 240 has been stopped. The output performed by the display unit 140 or the main body side display unit 293 includes sound from a speaker, alarm sound, blinking of a lamp, display by liquid crystal or organic EL, and the like. When the control example 5 is executed, the user recognizes that at least one of the travel motor 230 or the rotary blade motor 240 has stopped, the cause that at least one of the travel motor 230 or the rotary blade motor 240 has stopped, and the like. it can.

(Embodiment 2)
In the self-propelled mower 10 shown in FIG. 1, Embodiment 2 of the mower main body 200 will be described based on FIGS. 6 and 7. Moreover, the mower main body 200 shown by FIG.6 and FIG.7 is provided with the sensor part 270 of FIG. In the mower main body 200 shown in FIGS. 6 and 7, the rotary blade motor 240 is disposed inside the housing 205. The rotary blade motor 240 is attached to the bottom 201a, the rotation shaft 243 is disposed below the bottom 201a, and the rotary blade 244 is also disposed below the bottom 201a. The center of gravity W1 of the mower main body 200 shown in FIG. 6 is disposed below the axle 231a.

  FIG. 6 shows an example in which the center of gravity W1 is disposed on the bottom 201a. Two distance sensors 270a are provided on the bottom surface of the bottom 201a as shown in FIG. In this example, the center of gravity W1 of the mower main body 200 is disposed between the two distance sensors 270a in the left-right direction of the mower main body 200. In addition, the center of gravity W1 of the mower main body 200 is an example that is disposed substantially in the center in the front-rear direction of the mower main body 200. Furthermore, the center of gravity W <b> 1 of the mower main body 200 is an example that is disposed between the traveling motor 230 and the rotating shaft 243 in the front-rear direction of the mower main body 200. Other configurations of the mower main body 200 are the same as the configurations of the mower main body 200 of FIGS. 3 and 4.

  The self-propelled mower 10 provided with the mower main body 200 of FIGS. 6 and 7 can execute the control examples 1 to 5. The effects when the self-propelled mower 10 provided with the mower main body 200 of FIGS. 6 and 7 executes the control examples 1 to 5 are self-propelled with the mower main body 200 of FIGS. 3 and 4. The effect is the same as when the mower 10 executes the control examples 1 to 5.

(Embodiment 3)
In the self-propelled mower 10 shown in FIG. 1, a second embodiment of the mower main body 200 will be described with reference to FIG. The mower main body 200 shown in FIG. 8 has the same basic configuration as the mower main body 200 shown in FIG. In the mower main body 200 of FIG. 8, the sound collecting element 270 n is provided on the cover 202, and the sound collecting element 270 n is exposed to the outside of the housing 205.

  Differences between the mower main body 200 shown in FIG. 8 and the mower main body 200 shown in FIG. 3 will be described. In the mower main body 200 of FIG. 8, the cover 202 is movable in a vertical direction with respect to the main body chassis 201 by a predetermined amount. More specifically, a shock absorber 310 and a damper 313 are provided between the cover 202 and the main body chassis 201. The shock absorber 310 is disposed in front of the rotary blade motor 240 in the front-rear direction of the mower main body 200. The shock absorber 310 is disposed in the interior 203 of the housing 205.

  The shock absorber 310 includes a cylinder 311, a plunger 312, and the like, and an elastic member such as a spring is provided in the cylinder 311. The plunger 312 is connected to the cover 202, and the cylinder 311 is fixed to the main body chassis 201. The load sensor 270e is provided in the cylinder 311. The damper 313 is formed of a rubber-like elastic body, and the damper 313 is interposed between the inner surface of the cover 202 and the main body chassis 201.

  When an external force is applied to the cover 202 from the outside of the housing 205, the cover 202 approaches the main body chassis 201 and stops at a predetermined position. When the external force applied to the cover 202 is released, the cover 202 moves in a direction away from the main body chassis 201 by the spring force of the shock absorber 310, and the cover 202 stops at a position before the external force is applied. Further, the load sensor 270e detects that an external force, that is, a load is applied to the cover 202. Control examples 1 to 5 can also be executed in the mower main body 200 shown in FIG. Moreover, in the mower main body 200 of FIG. 8, it is also possible to execute the control example 6.

(Control example 6)
In the control example 6, when the load sensor 270e detects that a load is applied to the cover 202, at least one of the traveling motor 230 and the rotary blade motor 240 is stopped. For this reason, when the user throws the ball and hits the cover 202, the load is detected by the load sensor 270e, and at least one of the traveling motor 230 and the rotary blade motor 240 is stopped.

  Therefore, if the user throws the ball from a place away from the mower main body 200 and stops the traveling motor 230 by hitting the cover 202, the mower main body 200 can be prevented from moving out of the mowing area. In addition, when the control example 6 is executed and at least one of the traveling motor 230 or the rotary blade motor 240 is stopped, the control example 5 can be executed.

(Embodiment 4)
Next, Embodiment 4 of the mower main body 200 will be described with reference to FIGS. 9 and 10. The rotary blade motor 240 shown in FIG. 9 is disposed below the bottom 201 a of the main body chassis 201. The configuration of the rotary blade motor 240 shown in FIG. 9 is the same as the configuration of the rotary blade motor 240 shown in FIG.

  Differences between the mower main body 200 shown in FIGS. 9 and 10 and the mower main body 200 shown in FIG. 3 are as follows. The rotary blade motor 240 and the rotary blade 244 provided in the mower main body 200 shown in FIGS. 9 and 10 can swing with respect to the housing 205 when the mower main body 200 is viewed in plan. A moving device 181 that swings the rotary blade motor 240 and the rotary blade 244 is provided. The moving device 181 includes a moving motor 182 provided in the interior 203 of the housing 205, a support member 294 that supports the rotary blade motor 240, and a cam rod 295 that connects the support member 294 and the moving motor 182. Have.

  The moving motor 182 is fixed to the bottom 201a of the main body chassis 201, and the rotating shaft 182a of the moving motor 182 rotates around a center line parallel to the center line A1. The movement motor 182 is supplied with electric power from the power supply unit 210 and rotates forward or backward. The rotation, stop, rotation direction, rotation angle, and rotation speed of the moving motor 182 are controlled by signals from the control unit 220. A support shaft 183a is provided eccentric from the center of the rotation shaft 182a.

  A support shaft 297 disposed from the inside 203 of the housing 205 to the bottom of the bottom 201a is provided. The support shaft 297 is inserted into the shaft hole 201d of the bottom portion 201a, and the support shaft 297 is rotatably supported by a bearing 296 provided on the bottom portion 201a. When the mower main body 200 is viewed in plan, the support shaft 297 is disposed between the traveling motors 230 in the left-right direction of the mower main body 200. When the mower main body 200 is viewed in plan, the moving motor 182 is disposed in front of the support shaft 297 in the front-rear direction of the mower main body 200. The support shaft 297 can rotate around a center line parallel to the center line of the rotation shaft 182a. The support shaft 297 is disposed from the inside 203 of the housing 205 to below the bottom 201a.

  One end of the support member 294 is fixed to the support shaft 297 below the bottom portion 201 a, and the other end of the support member 294 is connected to the motor case 246. In a plan view of the mower main body 200, the connection portion between the support member 294 and the motor case 246 is disposed between the moving motor 182 and the support shaft 282 a in the front-rear direction of the mower main body 200.

  One end of the cam rod 295 is connected to the support shaft 297 inside the housing 205, and the cam rod 295 and the support member 294 can swing integrally around the support shaft 297. The cam rod 295 is provided with a cam hole 295a. The cam hole 295a is a long hole extending in the length direction of the cam rod 295, and the support shaft 183a is movable in the length direction of the cam rod 295 within the cam hole 295a. Other configurations of the mower main body 200 in the fourth embodiment are the same as those of the mower main body 200 shown in FIG. 9 and 10 is the fourth embodiment of the mower main body 200 shown in FIG. 1 and includes the sensor unit 270 of FIG.

  In the mower main body 200 in the fourth embodiment, the two traveling motors 230 are controlled in the same manner as the mower main body 200 in the first embodiment, and the mower main body 200 travels or stops. In addition, the rotary blade motor 240 is controlled, and the rotating rotary blade 244 cuts grass growing on the ground surface A2.

  The mower main body 200 according to the fourth embodiment can be switched between movement control for moving the rotary blade 244 and fixed control for not moving the rotary blade 244. The movement of the rotary blade 244 is to move the center line A1 of the rotary blade 244 relative to the housing 205 in a plan view of the mower main body 200.

  More specifically, when the rotation shaft 182a of the moving motor 182 is controlled to alternately repeat forward rotation and reverse rotation within a predetermined angle range, the support shaft 183a has a predetermined angle range around the rotation shaft 182a. It operates in a circular arc shape. When the support shaft 183a moves in an arc shape, the operating force of the support shaft 183a is transmitted to the cam rod 295, and the cam rod 295 and the support member 294 both move in an arc shape around the support shaft 297 within a predetermined angle range. . As a result, the rotary blade motor 240 and the rotary blade 244 move in an arc shape within a predetermined angle range centering on the support shaft 297.

  The movement locus of the rotary blade 244 is indicated by a two-dot chain line in FIG. When the rotation shaft 182a of the moving motor 182 is stopped, the rotary blade 244 stops at a predetermined position in the left-right direction of the mower main body 200. The rotation and stop of the rotary blade motor 240 can be controlled independently of the rotation and stop of the moving motor 182.

  When the rotary blade 244 is moved in the left-right direction of the mower main body 200, the grass cutting range by the rotary blade 244 changes in the left-right direction of the mower main body 200. For example, when the fixed mode is selected in the input unit 150 or the main body side operation unit 290, the rotary shaft 182a of the moving motor 182 is stopped, and the rotary blade 244 is moved to the left and right of the mower main body 200 as shown in FIG. Stops at approximately the center in the direction. That is, when the mower main body 200 is viewed in plan, the entire region where the rotary blade 244 is located overlaps with the arrangement region of the main body chassis 201.

  On the other hand, when the movement mode is selected in the input unit 150 or the main body side operation unit 290, the rotation shaft 182a of the movement motor 182 rotates, and the rotary blade 244 is moved to the left drive wheel 283 as shown in FIG. Control to bring it close to is performed. Specifically, the moving motor 182 stops when a part of the rotary blade 244 is positioned outside the main body chassis 201 in plan view of the mower main body 200. More specifically, when the mower main body 200 is viewed in plan, a part of the rotary blade 244 is positioned between the front wheel 282 located on the left side in the forward direction of the mower main body 200 and the left drive wheel 283.

  Also in the mower main body 200 in the fourth embodiment, the same effect as the mower main body 200 in the first embodiment can be obtained. Furthermore, in the mower main body 200 of the fourth embodiment, the center of gravity W1 is located below the center line B1 of the axle 231a as shown in FIG. The center of gravity W <b> 1 is disposed at the approximate center of the main body chassis 201 in the front-rear direction and the left-right direction of the mower main body 200. In FIG. 9, the rotary blade motor 240 and the rotary blade 244 are arranged in front of the center of gravity W1 in the front-rear direction of the mower main body 200. The rotary blade motor 240 and the rotary blade 244 are disposed below the center of gravity W1.

  In the mower main body 200 according to the fourth embodiment, the same components as those of the mower main body 200 according to the first embodiment can obtain the same effects as those of the mower main body 200 according to the first embodiment. Further, in the mower main body 200 according to the fourth embodiment, the rotary blade 244 is moved in the left-right direction of the mower main body 200, and a part of the rotary blade 244 is disposed in the main body chassis 201 in a plan view of the mower main body 200. Can be moved out of the area.

  For this reason, when there is an object such as a fence, a tree, a fence on the ground, and the traveling range of the mower main body 200 is limited, the rotary blade 244 can be as close to the object as possible to perform trimming. Edge cutting is cutting grass that grows at the end of a predetermined area on the ground.

  Further, the control examples 1 to 6 can be executed also in the mower main body 200 of the fourth embodiment. Furthermore, the mower main body 200 according to the fourth embodiment detects signals output from various sensors, stops at least one of the travel motor 230 or the rotary blade motor 240, and rotates. In stopping the motor 182, the first stop control or the second stop control can be executed. The first stop control for stopping the moving motor 182 is a control for stopping immediately after receiving a signal. The second stop control for stopping the moving motor 182 is a control for stopping the moving motor 182 after operating the rotary blade 244 until it is stored in the inside 203 of the housing 205 such as the central portion of the housing 205. It is.

  Further, when the moving motor 182 is stopped in a state where a part of the rotary blade 244 is outside the arrangement region of the main body chassis 201 and the cutting is performed, the control unit 220 receives signals from various sensors. In this case, the moving motor 182 may be activated to operate until the rotary blade 244 is stored in the housing 203 such as the center of the housing, and then the moving motor 182 may be stopped again. Therefore, it is possible to reduce the possibility that the rotary blade 244 is damaged by contact with the bank, stone wall or the like.

(Embodiment 5)
Next, a fifth embodiment of the self-propelled mower will be described with reference to FIGS. 11 and 12. The rotary blade motor 240 shown in FIG. 11 is disposed below the bottom 201a of the main body chassis 201, and the configuration of the rotary blade motor 240 is the same as the configuration of the rotary blade motor 240 shown in FIG. The mower main body 200 shown in FIGS. 11 and 12 includes a height adjustment mechanism 301 that adjusts the height of the rotary blade 244. The height adjustment mechanism 301 is disposed between the traveling motor 230 and the front wheel 282 in the front-rear direction of the mower main body 200. The height adjustment mechanism 301 includes an outer sleeve 302, an inner sleeve 303, and a height adjustment motor 304.

  The outer sleeve 302 is formed by molding resin, metal or the like into a cylindrical shape. A guide portion 305 is provided on the bottom 201 a of the main body chassis 201. The outer sleeve 302 is disposed outside the guide portion 305. The guide part 305 has a cylindrical shape, and the guide part 305 and the outer sleeve 302 are arranged concentrically. The outer sleeve 302 is supported by the guide portion 305 so as to be rotatable about the center line A1. Further, the outer sleeve 302 does not move in the direction along the center line A1.

  On the inner peripheral surface of the outer sleeve 302, a guide groove 302a is provided above the guide portion 305. The guide groove 302 a is provided in a spiral shape along the circumferential direction of the outer sleeve 302. A rack 302b is provided on the outer peripheral surface of the outer sleeve 302 along the circumferential direction.

  The height adjusting motor 304 is attached to the bottom 201a via a bracket 306. The height adjusting motor 304 is disposed between the traveling motor 230 and the outer sleeve 302 in the front-rear direction of the mower main body 200. The height adjustment motor 304 rotates forward or backward by electric power supplied from the power supply unit 210. The control unit 220 controls the rotation, stop, and rotation direction of the height adjustment motor 304. The height adjusting motor 304 is provided with a pinion 307, and the pinion 307 is engaged with the rack 302b. For this reason, when the height adjustment motor 304 rotates, the outer sleeve 302 rotates with the torque of the pinion 307.

  The inner sleeve 303 is disposed around the center line A <b> 1, and the inner sleeve 303 is disposed over the guide portion 305 and the outer sleeve 302. A guide rail 303 a is provided on the outer peripheral surface of the inner sleeve 303. The guide rail 303a is provided in a spiral shape in the circumferential direction of the inner sleeve 303, and the guide rail 303a meshes with the guide groove 302a.

  A guide groove 303b is provided on the outer peripheral surface of the inner sleeve 303 below the guide rail 303a. The guide groove 303b is linearly provided in the direction along the center line A1. The guide portion 305 is provided with a guide rail, and the guide rail is provided linearly in a direction along the center line. The guide rail meshes with the guide groove 303b, and the inner sleeve 303 can move in the direction along the center line A1 and cannot rotate about the center line A1.

  As described above, when the height adjusting motor 304 is rotated and the outer sleeve 302 is rotated by the torque of the pinion 307, the inner sleeve 303 does not rotate around the center line A1, but rises in the direction along the center line A1. Or descend. That is, the height adjustment mechanism 301 includes a rack and pinion mechanism 308 that converts the rotational movement of the pinion 307 into the linear movement of the inner sleeve 303. The rack and pinion mechanism 308 includes a pinion 307, a rack 302b, guide grooves 302a and 303b, a guide rail 303a, a guide rail for the guide portion 305, and the like. Whether the inner sleeve 303 is raised or lowered is determined by the twisting direction of the guide groove 302a, the twisting direction of the guide rail 303a, and the rotation direction of the pinion 307. When the height adjusting motor 304 stops, the inner sleeve 303 also stops.

  A rotary blade motor 240 is attached to the lower end of the inner sleeve 303, that is, the end on the bottom 201a side. For this reason, when the inner sleeve 303 is raised, lowered, and stopped, the rotary blade motor 240 and the rotary blade 244 move in the direction along the center line A1. That is, the mower main body 200 can adjust the distance between the ground surface A2 and the rotary blade 244, that is, the height.

  Further, a height adjustment sensor 309 is provided in the interior 203 of the housing 205. The height adjustment sensor 309 is a sensor that detects the rotation direction and rotation angle of the outer sleeve 302 with respect to the reference position of the outer sleeve 302, and the detection signal of the height adjustment sensor 309 is input to the control unit 220. .

  In the self-propelled mower 10, the user can set the target height of the rotary blade 244 with respect to the ground A2 by operating the input unit 150 of the operation terminal unit 100 or the main body side operation unit 290. The rack and pinion mechanism 308 determines the amount of movement of the inner sleeve 303 according to the amount of rotation of the outer sleeve 302. Therefore, the control unit 220 calculates the actual height of the rotary blade 244 based on the rotation direction and rotation angle of the outer sleeve 302, and the control unit 220 rotates the height adjustment motor 304 based on the calculation result. The direction and the rotation angle are controlled to bring the actual height of the rotary blade 244 closer to the target height.

  The mower main body 200 can detect the distance from the bottom 201a to the motor case 246 if the bottom 201a is provided with the distance sensor 270a or the laser distance sensor 270i. Then, the controller 220 may indirectly calculate the height of the rotary blade 244 from the distance from the bottom 201a to the motor case 246 and control the rotation direction and rotation angle of the adjustment motor 304.

  In the mower main body 200 according to the fifth embodiment, the rotary blade motor 240 and the rotary blade 244 are provided outside the housing 205, that is, below the bottom 201a. Is the same. The configuration of the rotary blade motor 240 shown in FIG. 11 is the same as the configuration of the rotary blade motor 240 shown in FIG. Furthermore, when the mower main body 200 is viewed in plan, the height adjustment mechanism 301 is arranged in the arrangement region of the rotary blade 244.

  The mower main body 200 according to the fifth embodiment can change the height of grass cutting with respect to the ground A2 by rotating the height adjusting motor 304 and adjusting the height of the rotary blade 244. Accordingly, it is possible to suppress uncut grass that grows on the ground surface A2, and the mowing workability is improved. In addition, the user does not have to raise, lower and stop the rotary blade 244 by himself, and the troublesome mowing work can be eliminated. Note that the user can set the height of the rotary blade 244 with respect to the ground surface A2 by operating the input unit 150 or the main body side operation unit 290 of the operation terminal unit 100.

  Furthermore, in the mower main body 200 according to the fifth embodiment, the center of gravity W1 is arranged below the center line B1 as shown in FIG. The rotary blade motor 240 and the rotary blade 244 are disposed below the center of gravity W1. In FIG. 11, as an example, the center of gravity W <b> 1 is arranged at the approximate center of the bottom 201 a of the main body chassis 201 in the front-rear direction and the left-right direction of the mower main body 200. The center of gravity W <b> 1 is disposed between the traveling motor 230 and the height adjustment mechanism 301 in the front-rear direction of the mower main body 200.

  In the mower main body 200 of the fifth embodiment, the same effects as those of the mower main body 200 of the first embodiment can be obtained with respect to the same parts as those of the mower main body 200 of the first embodiment. Moreover, the mower main body 200 of Embodiment 5 can perform the control examples 1-6. Furthermore, when a signal is detected from the sensor, the mower main body 200 according to the fifth embodiment stops at least one of the traveling motor 230 or the rotary blade motor 240 and stops the rotating adjustment motor 304. Control can be executed. Here, the control for stopping the adjustment motor 304 includes the control in which the control unit 220 stops immediately after receiving the signal of each sensor and the state in which the rotary blade 244 is stored in the housing 205 inside 203 such as the center of the housing 205. And a control for stopping the adjustment motor 304 after the operation.

  In addition, when the moving motor 182 is stopped in a state where a part of the rotary blade 244 is outside the arrangement region of the main body chassis 201 and a signal is received from the sensor when cutting or the like is performed, the moving motor The moving motor 182 may be stopped again after the rotary blade 244 is activated and operated until the rotary blade 244 is stored in the interior 203 of the housing 205 such as the center of the housing 205. Therefore, it is possible to prevent the rotating rotary blade 244 from moving up and down, and to prevent the rotary blade 244 from coming into contact with gravel, rocks and the like and being damaged.

  The behavior in this embodiment includes the movement range or travel range of the mower main body, the inclination angle of the mower main body, the acceleration of the mower main body, the distance between the mower main body and the ground, the external force applied to the mower main body, the mower main body Including angular velocity, sound generated around the mower body, etc.

  The correspondence between the matters described in the present embodiment and the configuration of the present invention will be described. The traveling motor 230 corresponds to the traveling power source and the first electric motor of the present invention, and the left drive wheel 283 and the right drive are driven. The wheel 284 corresponds to the drive wheel of the present invention, the rotary blade motor 240 corresponds to the rotary blade power source and the second electric motor of the present invention, and the sensor unit 270 and the control unit 220 are the behavior of the present invention. The control unit 220 corresponds to the detection unit, and the control unit 220 corresponds to the control unit of the present invention. Furthermore, the reference lines E1, E3 and the vertical line E2 correspond to the reference line in the present invention, and the display unit 140 and the main body side display unit 293 correspond to the notification unit of the present invention. The gyro sensor 270m corresponds to the angular velocity sensor of the present invention. In the present invention, the behavior of the mower main body is detected except for the inclination angle of the mower main body with respect to the ground, the angular velocity of the mower main body around the reference line, the sound generated around the mower main body, and the driving force generated by the driving wheel. The control unit makes a judgment based on the fact that the main body of the mower moves with the external force. The sound in the present invention includes a voice generated by a person. The predetermined direction in the present invention includes a horizontal direction along the front and rear of the mower main body, a horizontal direction along the left and right of the mower main body, and a vertical direction with respect to the ground.

  It goes without saying that the present invention is not limited to the first to fifth embodiments described above, and various modifications can be made without departing from the scope of the invention. For example, the rotary blade motor is not limited to a disk motor, and may have a structure in which a stator and a rotor are arranged inside and outside in a radial direction centered on a center line. Further, either a motor with a brush or a brushless motor may be used as the rotary blade motor.

  Furthermore, in Embodiments 1 to 5, the driving power source that transmits torque to the drive wheels includes an engine in addition to the electric motor. The engine is a power source that converts thermal energy generated by burning fuel into kinetic energy, and the engine includes a gasoline engine, a diesel engine, a liquefied natural gas engine, and the like. And the 1st clutch which connects or interrupts | blocks separately the power transmission path | route from an engine to a left drive wheel and a right drive wheel is provided.

  Further, since the engine rotation direction is constant, a switching mechanism for switching the rotation direction between forward and reverse may be provided. As such a switching mechanism, a planetary gear mechanism can be used. Furthermore, the power source for the rotary blade that rotates the rotary blade includes an engine other than the electric motor. An engine that transmits torque to the drive wheels and a rotary blade engine may be provided separately, or may be a common engine. In this case, a second clutch that connects or disconnects the power transmission path between the engine and the rotary blade is provided. Furthermore, it is also possible to provide a transmission for controlling the rotational speed of the drive wheel and a transmission for controlling the rotational speed of the rotary blade.

  Furthermore, the sensors, switches, and elements included in the sensor unit are provided on the control board, the surface or inner surface of the cover 202, the lower surface or inner surface of the main body chassis 201, and the like according to the application.

  DESCRIPTION OF SYMBOLS 10 ... Self-propelled mower, 100 ... Operation terminal part, 140 ... Display part, 181 ... Moving device, 200 ... Mower main body, 220 ... Control part, 230 ... Motor for driving, 240 ... Motor for rotary blades, 244 ... Rotating blade 241, rotor, 270 sensor unit, 270b acceleration sensor, 270g ultrasonic sensor, 270h infrared sensor, 270m gyro sensor, 270n sound collecting element, 283 left drive wheel, 284 right drive Wheel, 293 ... main body side display section, 301 ... height adjustment mechanism, E1, E3 ... reference line, E2 ... vertical line.

Claims (18)

A self-propelled mower having a mower body that travels with the torque of a driving power source transmitted to drive wheels,
A power source for a rotary blade for rotating a rotary blade provided in the mower body;
A behavior detector for detecting the behavior of the mower body;
A controller that stops at least one of the traveling power source or the rotary blade power source when the behavior of the mower main body exceeds a predetermined range;
A self-propelled mower. The driving power source is a first electric motor that is supplied with electric power and generates torque,
The self-propelled mower according to claim 1, wherein the rotary blade power source is a second electric motor that is supplied with electric power and generates torque.   The self-propelled mower according to claim 2, wherein the second electric motor is a disk motor including a disk-shaped rotor that rotates with a magnetic field formed by energization.   The self-propelled mower according to any one of claims 1 to 3, wherein the behavior detection unit detects a state in which the mower main body is inclined at a predetermined angle or more with respect to the ground or a vertical line.   The self-propelled mower according to claim 4, wherein the behavior detection unit detects a state in which the mower main body is inclined at least 20 degrees with respect to the ground or a vertical line.   The self-propelled mower according to claim 4 or 5, wherein the behavior detection unit includes an acceleration sensor that detects an acceleration of the mower main body.   The self-propelled mower according to claim 4 or 5, wherein the behavior detection unit includes an infrared sensor that detects a distance between the mower body and the ground.   The self-propelled mower according to claim 4 or 5, wherein the behavior detection unit includes an ultrasonic sensor that detects a distance between the mower body and the ground.   The self-propelled mower according to claim 1, wherein the behavior detecting unit detects a state in which the main body of the mower moves with an external force other than a driving force generated by the driving wheel.   The self-propelled mower according to claim 9, wherein the behavior detection unit includes an angular velocity sensor that detects an angular velocity of the mower body around a reference line in a predetermined direction.   The self-propelled mower according to claim 1, wherein the behavior detection unit detects the behavior of the mower main body based on sound generated around the mower main body.   The self-propelled mower according to claim 11, wherein the behavior detection unit is a microphone that detects the sound.   The notification unit according to any one of claims 1 to 12, further comprising a notification unit that informs a user of the mower body that at least one of the driving power source or the rotary blade power source is stopped by the control unit. The self-propelled mower according to item 1.   The self-propelled mower according to claim 13, wherein the notifying unit notifies by sound that at least one of the traveling power source or the rotary blade power source has been stopped by the control unit.   The self-propelled mower according to claim 14, wherein the notification unit includes a speaker. A height adjustment mechanism for moving the rotary blade in the height direction of the mower main body is provided,
The self-propelled mower according to any one of claims 1 to 15, wherein the behavior detection unit stops the height adjustment mechanism when a state exceeding the predetermined range is detected. A moving device is provided for moving the rotary blade in a horizontal direction;
The self-propelled mower according to any one of claims 1 to 6, wherein the behavior detecting unit stops the moving device when it is detected that the state is in a state exceeding the predetermined range.   An operation terminal unit is provided that can communicate with the mower body and transmits a signal for controlling the power source for traveling and the power source for the rotary blade to the mower body. The self-propelled mower according to any one of claims 1 to 17.

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