JP2017118842A - Self-travelling lawn mower - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely perform stop operation of power supply to a motor by a manual stop switch operation part, in the case of installing the stop switch operation part for stopping power supply to the motor by operation by an operator.SOLUTION: The self-travelling lawn mower 1 includes' a motor for driving the wheels and the blade loaded on the body 2; a motor power control system for supplying power to the motor; a manual stop switch operation part 101 provided on the upper face of the body 2; and a plurality of switches which are each operated by the manual stop switch operation part 101. The motor power control system is structured to stop power supply to the motor when at least one of the plurality of switches performs in the switch operation from a first state to a second state.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a self-propelled lawn mower that operates by driving a motor with electric power of a storage battery.

  As a lawn mower for mowing lawn and weed growing on the ground, a self-propelled lawn mower that automatically runs in a lawn mowing area partitioned by a wire or the like to mow the lawn or the like has become popular. The self-propelled lawn mower is equipped with a wheel motor for driving the wheels and a cutting blade motor for driving the mowing blade for lawn mowing, and is equipped with a storage battery that supplies electric power to these motors and autonomously runs with a control device. To control.

  In this type of self-propelled lawn mower, a stop switch that stops power supply to the motor when operated by an operator is provided on the upper surface of the main body. When this stop switch is pressed, the motor Need to stop.

  In addition, general self-propelled lawn mowers have a built-in storage battery that cannot be easily attached or detached, and cannot be operated immediately because charging is required when the remaining capacity of the storage battery is low. . For this reason, a structure has been considered in which the storage battery is detachably attached to the main body to facilitate replacement of the storage battery and can be shared with the storage battery of other cordless power tools. If the work is performed, there is a risk of intrusion of rainwater and dust.

  Patent Document 1 below discloses control of a self-propelled lawn mower. Patent Document 2 below discloses a configuration of a charging device for a self-propelled device.

JP-A-5-23002 JP 2007-336672 A

  The present invention has been made in recognition of the above-described situation, and its purpose is to provide a manual stop switch operating unit for stopping the power supply to the motor by being operated by an operator. An object of the present invention is to provide a self-propelled lawn mower with improved reliability in stopping operation of power supply to a motor by operating a stop switch operation unit.

  Another object of the present invention is to provide a storage battery housing part for housing a storage battery. When the storage battery housing part is not completely sealed, the power supply to the motor is stopped and rainwater and dust are collected. It is an object of the present invention to provide a self-propelled lawn mower capable of avoiding the operation under the condition that it easily enters the main body and preventing rainwater and dust from entering the main body.

A first aspect of the present invention is a self-propelled lawn mower that operates by driving a motor with the power of a storage battery, a motor mounted on a main body, a motor power control system that supplies power to the motor, A manual stop switch operating portion provided on the upper surface of the main body, for stopping power supply to the motor, and a plurality of switch portions respectively operated by the manual stop switch operating portion;
The motor power control system stops power supply to the motor when at least one of the plurality of switch units performs a switching operation from the first state to the second state.

  In the first aspect, when all of the plurality of switch sections perform a switching operation from the second state to the first state, the motor power control system can supply power to the motor. Good.

  In the first aspect, it is preferable that a stop state release operation unit for at least one of the plurality of switch units to perform a switching operation from the second state to the first state is provided separately from the manual stop switch operation unit.

  In the first aspect, the plurality of switch sections may be provided at positions separated from each other.

  The plurality of switch portions may be disposed on both sides of the main body in the width direction.

  In the first aspect, the plurality of switch portions may be operated via a transmission member interlocked with the manual stop switch operation portion.

  In the first aspect, the motor power control system includes a drive power supply circuit that receives power supply from the storage battery, and a motor drive circuit that converts the drive voltage of the drive power supply circuit and supplies the converted voltage to the motor. It is good to be.

  The operation states of the plurality of switch units may be input to the drive power supply circuit or input to a main control unit that controls the motor drive circuit.

  In the first aspect, the main body includes a storage battery storage unit that stores the storage battery, and when the storage battery storage unit is not in a sealed state, power supply to the motor by the motor power control system is stopped. It is good to have a configuration to do.

A second aspect of the present invention is a self-propelled lawn mower that operates by driving a motor with electric power of a storage battery, a motor mounted on a main body, a motor power control system that supplies electric power to the motor, A manual stop switch operating portion provided on the upper surface of the main body, for stopping power supply to the motor, and a switch portion operated by the manual stop switch operating portion;
The main body has a storage battery housing portion for housing the storage battery, and when the storage battery housing portion is not in a sealed state, power supply to the motor by the motor power control system is stopped. .

  A main body cover is attached to the upper part of the main body so as to be freely opened and closed. When the manual stop switch operation unit is operated, the main body cover is opened, and the storage battery housing unit is not sealed. It is good that the cover cannot be closed.

  The said storage battery accommodating part has a container part and an accommodating part lid | cover, and it is good in the structure which cannot close the said main body cover in the state which the said accommodating part lid | cover is not closed.

  A seal member may be interposed between the container portion and the storage portion lid.

  The main body cover may be provided with an operation convex portion that operates the switch portion when the main body cover is closed.

  When the storage battery housing part is not in a sealed state, the switch part may not perform a switch operation, and power supply to the motor by the motor power control system may be stopped. .

  It should be noted that any combination of the above-described constituent elements, and those obtained by converting the expression of the present invention between methods and systems are also effective as aspects of the present invention.

  According to the present invention, when a manual stop switch operation unit for stopping the power supply to the motor by being operated by an operator is provided, the plurality of switch units respectively operated by the manual stop switch operation unit When at least one of the switches performs the switching operation from the first state to the second state, the power supply to the motor is stopped, so that the reliability of the power supply stop operation can be improved.

  In addition, when the storage battery housing part is provided in the main body to house the storage battery, the power supply to the motor is stopped when the storage battery housing part is incompletely sealed, and rainwater and dust easily enter the body. Operation under conditions can be avoided. For this reason, it is possible to prevent rainwater and dust from entering the main body.

The perspective view seen from the back of the state which opened the main body cover of the self-propelled lawn mower which concerns on embodiment of this invention. The perspective view seen from the front of the state which closed the main body cover of the said self-propelled lawn mower. The top view of the state which removed the main body housing of the said self-propelled lawn mower. FIG. 4 is a cross-sectional view taken along line AA in FIG. 3 (a vertical cross-sectional view passing through the center position of the self-propelled lawn mower). The expanded sectional view of the storage battery and storage battery vicinity vicinity in the said self-propelled lawn mower. The expanded sectional view of the switch part vicinity act | operated by a manual stop switch operation part in the width direction both sides of the main body of the said self-propelled lawn mower. FIG. 3 is an enlarged cross-sectional view of the manual stop switch operation unit and the vicinity of the switch unit with a main body cover closed. Similarly the expanded sectional view of the state which opened the main body cover. The block diagram which shows the various functional components with which the main body of the said self-propelled lawn mower is equipped. The block diagram which shows the circuit structure mainly including the motor power control system of the said self-propelled lawn mower. Explanatory drawing of the use environment of the self-propelled lawn mower. Schematic which shows the said self-propelled lawn mower, a charging base, and an AC adapter.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same or equivalent component, member, etc. which are shown by each drawing, and the overlapping description is abbreviate | omitted suitably. Further, in the embodiment, description will be made assuming that the front, rear, left, right, and up and down directions are directions shown in the drawing. In addition, the embodiments do not limit the invention but are exemplifications, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention.

  Prior to detailed description of the self-propelled lawn mower 1 according to the embodiment of the present invention using FIGS. 1 to 9, a use environment of the self-propelled lawn mower 1 and a configuration for charging will be described. FIG. 10 is an explanatory diagram of the use environment of the self-propelled lawn mower 1, and FIG. 11 is a schematic diagram showing the self-propelled lawn mower 1, the charging base (charging station) 50, and the AC adapter 60. Although details of the self-propelled lawn mower 1 will be described later, the self-propelled lawn mower 1 includes a main body 2 having left and right wheels (rear wheels) 3A and 3B as driving wheels and a cutting blade 4, and a storage battery housing of the main body 2. And a storage battery (battery pack) 30 that is detachably attached to the unit 5. The self-propelled lawn mower 1 is operated by the electric power of the storage battery 30, and when the remaining capacity of the storage battery 30 decreases, the self-propelled lawn mower 1 self-travels to the charging base 50 and charges the storage battery 30. The storage battery 30 that can be attached to and detached from the self-propelled lawn mower 1 can preferably be shared with other types of electric working machines (for example, a hedge trimmer).

  A guide wire (guidance wire) 80 shown in FIG. 10 is connected to the charging base 50 and is disposed (for example, embedded) in order to demarcate a traveling area of the self-propelled lawn mower 1, that is, a lawn mowing area. A current is supplied to the guide wire 80 from the charging base 50, and the self-propelled lawn mower 1 generates a magnetic field generated by the current flowing through the guide wire 80 by using a guide wire sensor (for example, a magnet such as a coil disposed before and after the main body 2). Detection means, which will be described later with reference to FIG. The charging base 50 is installed at a corner of the lawn mowing area and connected to the AC adapter 60 by a cable 70. One end of the cable 70 is detachable from the output terminal of the AC adapter 60, and the other end is detachable from the input terminal of the charging base 50. The AC adapter 60 is connected to an external AC power source such as a commercial AC power source, and converts an AC voltage (for example, 100 V) supplied from the external AC power source into a DC voltage (for example, 21 V). The DC voltage output from the AC adapter 60 is transmitted to the charging base 50 through the cable 70 and is output between the two DC output terminals 51 and 52 of the charging base 50. The output voltage of the charging base 50 is preferably 25 V or less, so that the circuit components of the self-propelled lawn mower 1 that receives the output voltage of the charging base 50 can be made inexpensive with a withstand voltage of 25 V or less. .

  The self-propelled lawn mower 1 will be described in detail with reference to FIGS. FIG. 1 is a rear perspective view of the self-propelled lawn mower 1 with the main body cover 33 opened, FIG. 2 is a front perspective view of the main body cover 33 closed, and FIG. FIG. 4 is a cross-sectional view taken along line AA in FIG. As shown in these drawings, the main body 2 of the self-propelled lawn mower 1 includes a main body chassis 31, a main body housing 32 that surrounds the main body chassis 31, a main body cover 33 that can be freely opened and closed on the upper portion of the main body 2, and driving wheels. Large-diameter rear wheels 3A and 3B, and small-diameter front wheels 3C and 3D provided so as to be able to rotate or swing along the traveling direction, and further include various functional parts shown in FIG. Although described later, FIG. 9 mainly shows a motor power control system that supplies power to the left wheel motor 22A that drives the left and right rear wheels 3A and 3B, the right wheel motor 22B, and the cutting blade motor 22C that drives the cutting blade 4. ing.

  The entire upper portion of the self-propelled lawn mower 1 is covered by a main body housing 32 attached to and supported by the main body chassis 31. A main body cover 33 capable of covering the upper opening of the main body housing 32 is attached to the upper side of the main body housing 32 so as to be openable and closable around a rotation shaft on the front side. The main body cover 33 is made of a transparent resin member, and the dial knob 39 and the display / keyboard substrate 44 shown in FIG. 3 can be accessed by opening the main body cover 33. The display / keyboard substrate 44 is mounted with a display 44a as a display unit and a keyboard 44b as operation information input means. An opening 32d that is substantially rectangular when viewed from the front is provided in front of the main body housing 32, and the DC output terminals 51 and 52 of the charging base 50 are in contact with the charging terminals (power receiving terminals) 10a and 10b through the opening 32d during charging. It becomes possible. The terminal 10a is a positive terminal and the terminal 10b is a negative terminal.

  As shown in FIG. 3, the main body chassis 31 has a convex tip and is narrowed down in a triangular shape when viewed from above, and the front end portion of the main body chassis 31 is located inside the opening 32 d, and the left side surface thereof. Charging terminals 10a and 10b are provided on the right side surface. Fenders 32a and 32b for covering the upper portions of the front wheels 3C and 3D are formed on the left and right sides of the opening 32d of the main body housing 32, respectively. An operation unit 101 of a manual stop switch 100 that is operated by an operator to forcibly stop the self-propelled lawn mower 1 is provided at the upper rear side of the main body housing 32. The configuration of the manual stop switch 100 will be described later with reference to FIGS. 6, 7A, and 7B.

  The main body chassis 31 is narrowed down in a triangular shape as viewed from above, and the mounting arms 34A and 34B are provided so as to extend from the slope to the left and right sides. Front wheels 3C and 3D are pivotally supported on the mounting arms 34A and 34B, respectively, and are held so that the directions of the front wheels 3C and 3D can freely follow in accordance with the moving direction of the self-propelled lawn mower 1. Rear wheels 3 </ b> A and 3 </ b> B are provided on the rear side of the main body chassis 31. Here, large-diameter wheels are used for the rear wheels 3A and 3B, and they are driven by independent driving wheel motors (left wheel motor 22A and right wheel motor 22B). The two wheel motors can be controlled by the main board 40 by being driven synchronously or asynchronously. For example, the self-propelled lawn mower 1 moves straight forward or backward by driving the rear wheels 3A and 3B synchronously, and drives in a predetermined direction by driving the rear wheels 3A and 3B to cause a rotational difference. The lawn mower 1 can be turned.

  Ends of leaf springs (not shown) provided on the inner wall portion of the main body housing 32 to support the main body housing 32 above the horizontal portions of the mounting arms 34A and 34B extending to the left and right sides of the main body chassis 31. Concave portions 35A and 35B are provided for accommodating the portions movably within a predetermined range. Also in the vicinity of the rear side end portion of the main body chassis 31, a recess 35D (in the vicinity of the left end portion) that accommodates an end portion of a leaf spring portion (not shown) provided on the inner wall portion of the main body housing 32 so as to be movable within a predetermined range. A recess is not shown).

  In the vicinity of the center of the main body chassis 31, the height of the cutting blade 4 from the ground, that is, the cutting height adjustment for adjusting the cutting height is adjusted by moving the cutting blade motor 22 that rotationally drives the cutting blade 4. A mechanism 36 is provided. The trimming height adjusting mechanism 36 has a motor cylinder portion 37 with the cutting blade motor 22 attached to the inside so as to be located near the center lower side of the main body chassis 31, inside the cylindrical portion 38 fixed to the main body chassis 31. It is provided so as to be rotatable in a spiral shape. By rotating a dial knob 39 formed on the upper surface of the motor cylinder portion 37, the height of the motor cylinder portion 37 with respect to the main body chassis 31, that is, the height of the cutting blade motor 22C and the cutting blade 4 attached to this output shaft. Can be variably adjusted. In a state where the main body cover 33 is opened, the dial knob 39 can be rotated by an operator.

  The rotary cutting blade 4 rotating at a predetermined distance approximately parallel to the ground rotates on the same axis as the center of rotation of the dial knob 39, and the cutting blade motor 22C is seen in the front and rear direction of the main body chassis 31. , 3D and the rear wheels 3A, 3B. The outer edge position of the cutting blade 4 is arranged so as to be within the range of a virtual rectangle connecting the center positions of the front wheels 3C and 3D and the rear wheels 3A and 3B. Further, the outer edge position of the main body housing 32 indicated by the dotted line in FIG. 3 is set to be located sufficiently outside the outer edge position of the cutting blade 4, and a sufficient clearance between the cutting blade 4 and the main body housing 32 is ensured.

  The front lower end 32c of the main body housing 32 is configured to have a gap of a predetermined distance from the ground, and the lawn or the like that has entered the main body housing 32 from the gap is disposed below the main body chassis 31. It is cut by the cutting blade 4.

  As shown in FIGS. 4 and 5, a storage battery housing part 5 having a substantially rectangular parallelepiped space for storing the storage battery 30 in a replaceable manner is provided on the rear side of the main body chassis 31. The storage battery storage unit 5 includes a synthetic resin container 46 integrally fixed to the main body chassis 31 and a storage connected to the container 46 via a hinge 45 so that the opening of the container 46 can be opened and closed. And a part lid 47. In the container part 46, the storage battery 30 can be arrange | positioned so that attachment or detachment is possible. A battery connection that can be connected to each terminal of the attached storage battery 30 (+ terminal, − terminal, C + terminal, 5V terminal, LD terminal, T terminal, LS terminal of the battery pack in FIG. 9) inside the container portion 46. A terminal 42 (shown in FIGS. 8 and 9) is provided. As shown in FIG. 3, a display / keyboard board 44 with a display 44a such as a liquid crystal display panel and a keyboard 44b disposed on the upper side is attached to the upper surface of the housing lid 47, and a main switch SW1 is provided. . The operator can set a lawn mowing schedule by operating the keyboard 44b. The main board 40 is disposed adjacent to the front side of the storage battery housing 5.

  FIG. 5 shows an enlarged cross section of the main body chassis 31, the main body housing 32, and the like in the vicinity of the storage battery housing portion 5 having a space for storing the storage battery 30. The housing lid 47 is fixed by a lid fixing bolt 48 as a fixing means that is screwed into a nut portion formed on the opening end surface of the container portion 46. An elastic packing (O-ring) 49 is provided as a sealing member between the container lid 47 and the container 46 (in FIG. 5, the packing 49 is disposed in the annular groove on the opening end surface of the container 46). In the state in which the accommodating portion lid 47 is closed and the lid fixing bolt 48 is tightened, the packing 49 is crushed so as to be in close contact with the accommodating portion lid 47 and the container portion 46 to ensure a sealing property. The lid fixing bolt 48 is rotatable with respect to the housing portion lid 47, but has a mounting structure that cannot be easily removed from the housing portion lid 47.

  The head of the lid fixing bolt 48 has a shape that protrudes above the surface of the housing lid 47. As shown in FIG. 5, in a state where the accommodating portion lid 47 is not completely closed, the lid fixing bolt 48 is above the position where the accommodating portion lid 47 is completely closed and the container portion 46 is sealed. For this reason, the abutment rib 33a formed on the lower surface of the main body cover 33 interferes with the head of the lid fixing bolt 48, and the main body cover 33 cannot be closed. Further, in a state in which the container lid 46 is closed by completely closing the housing lid 47 with the lid fixing bolt 48, the head of the lid fixing bolt 48 is lowered to a position where it does not interfere with the contact rib 33a. Can do.

  As shown in FIGS. 6, 7A, and 7B, the manual stop switch 100 includes a switch operation unit 101, a switch lever 102 integrated with the switch operation unit 101, and a push-down operation of the switch operation unit 101 (that is, rotation of the switch lever 102). A pair of tongue-like operation projections 103A, 103B integrally formed on the lower surface of the main body cover 33 driven in the opening direction by the switch, and a switch portion corresponding to the pair of tongue-like operation projections 103A, 103B (specifically, Is a micro switch) MS1A, MS1B. The switch lever 102 and the tongue-like operation projections 103 </ b> A and 103 </ b> B of the main body cover 33 constitute a transmission member that interlocks with the switch operation unit 101. The switch operation unit 101, the transmission member, and the switch units MS1A and MS1B are provided in the main body housing 32, and the switch units MS1A and MS1B are connected to the main board 40 of the main body chassis 31 by wiring (not shown). As shown in FIG. 1, the pair of tongue-like operation convex portions 103A and 103B are provided on both sides in the width direction (near both ends) of the lower surface of the main body cover 33, and the main body cover 33 is closed in the switch portions MS1A and MS1B. It is being fixed to the main body housing 32 in the left-right inner position of the main body housing 32 so that it may be act | operated by the tongue-like operation convex part 103A, 103B sometimes.

  The switch lever 102 is rotatably supported by a pin 104 provided in the main body housing 32, and a push-up portion 102a of the main body cover 33 is provided at an end opposite to the operation portion 101, and an unlocking portion is provided at an intermediate portion. 102b is formed (provided). In order to hold the main body cover 33 in a closed state, a claw-like engaging portion 105 having a convex shape on the back side of the paper surface is formed on the lower surface of the main body cover 33, and the main body cover 33 is closed. Then, the claw-shaped locking part 105 is engaged with a locking part (not shown) of the main body housing 32 to hold the closed state of the main body cover 33. The lock release portion 102b provided on the switch lever 102 bends the claw-like lock portion 105 in a direction to release from the lock portion of the main body housing 32 (front side on the paper surface) when the switch operation portion 101 is pushed down. The engagement between the two is released, and the main body cover 33 is pushed up and is opened.

  In the state in which the main body cover 33 shown in FIG. 7A is properly closed (when the upper opening of the main body housing 32 is closed with no lifting at the left and right ends of the main body cover 33), the claw-like locking portion 105 is The closed state of the main body cover 33 is maintained by engaging with the engaging portion of the housing 32, and the tongue-like operation convex portions 103A and 103B are inserted into the front surfaces of the switch portions MS1A and MS1B. Both MS1A and MS1B are turned on (ON: first state). As will be described later with reference to FIGS. 8 and 9, power supply to the left wheel motor 22A, the right wheel motor 22B, and the cutting blade motor 22C is permitted under the condition that both the switch units MS1A and MS1B are on.

  When the operator depresses the switch operating portion 101 of the manual stop switch 100, the engagement between the claw-like engaging portion 105 of the main body cover 33 and the engaging portion on the main body chassis 31 side is released, and the end of the switch lever 102 is As a result of the push-up portion 102a pushing up the main body cover 33, the main body cover 33 is opened as shown in FIG. 7B, and the tongue-like operation convex portions 103A and 103B are pulled out upward from the front surfaces of the switch portions MS1A and MS1B. The switch units MS1A and MS1B are both turned off (OFF: second state). As will be described later with reference to FIGS. 8 and 9, to improve reliability, power supply to the left wheel motor 22A, the right wheel motor 22B and the cutting blade motor 22C is stopped when at least one of the switch units MS1A and MS1B is off. To do. For example, when the main body cover 33 is not properly closed and the left and right end portions of the main body cover 33 are lifted, at least one of the switch portions MS1A and MS1B remains off, so that the main body cover 33 is not completely closed. The self-propelled lawn mower 1 can be prevented from operating in a difficult state. Further, even if one of the switch units MS1A and MS1B is short-circuited, the normal switch unit is turned off, so that the operation stop operation can be performed. The operator lowers the main body cover 33 and pushes it from above while the lower end of the upper claw locking portion 105 is in contact with the main body housing 32, so that the upper nail locking portion 105 is bent back and returns to the main body. The main body cover 33 is brought into a closed state by engaging with the locking portion of the housing 32. When the main body cover 33 is closed, both the switch portions MS1A and MS1B are turned on again by the tongue-like operation convex portions 103A and 103B, and the lower surface of the main body cover 33 operates the push-up portion 102a to rotate the switch lever 102. The state shown in FIG. 7A is obtained. Note that even if only the manual stop switch 100 for bringing the self-propelled lawn mower 1 to the stop state is operated to return to the state of FIG. 7A, the force to push down the main body cover 33 does not work, so the main body cover 33 is closed. It will not be canceled. That is, the stop state is released only by operating the main body cover 33, which is a member different from the manual stop switch 100, and the main body cover 33 acts as an operation unit for releasing the stop state different from the manual stop switch 100. To do.

  FIG. 8 shows various functional components provided in the main body 2 of the self-propelled lawn mower 1. A circuit portion excluding the motors 22A, 22B, and 22C and the motor drive circuits (drivers) 18, 19, and 20 shown in FIG. 9 is mounted on the main board 40 attached to the main body chassis 31 side. Removable charging terminals 10a and 10b that can be connected to and disconnected from the DC output terminals 51 and 52 of the base 50, and terminals (output voltage terminals and identification terminals) of the storage battery 30 that is a battery pack mounted in the storage battery housing 5. A battery connection terminal 42 to be connected is connected to the main board 40. The main switch SW1 is inserted in the connection line of the battery connection terminal 42 and the main board 40. Further, a left wheel motor 22A, a right wheel motor 22B, and a cutting blade motor 22C are connected to the main board 40 via motor drive circuits 18, 19, and 20, and first and second guide wire sensors S1 and S2. The lift sensor S3, the tilt sensor S4, the manual stop switch 100, and the display / keyboard board 44 are connected.

  FIG. 9 is a circuit configuration mainly showing a motor power control system of the self-propelled lawn mower 1. The self-propelled lawn mower 1 has charging terminals 10a and 10b on the main body 2 that can be connected to and disconnected from the DC output terminals 51 and 52 of the charging base 50 of FIG. DC21V input from the charging base 50 to the charging terminals 10a and 10b is supplied to the circuit to be discriminated 11 and the step-up / step-down circuit 13 as a charging circuit, and is also supplied to the control power circuit 14 through the backflow prevention diode D1. Note that the control power supply circuit 14 is also supplied with an output voltage (for example, DC 18 V) of a drive power supply circuit 17 to be described later through a backflow prevention diode D2.

  The to-be-determined circuit 11 is provided to allow the charging base 50 to determine that the main body 2 of the self-propelled lawn mower 1 is connected to the charging base 50, and does not operate with the power of the storage battery 30. In addition, the operation is performed by supplying power from the charging base 50, and even when the discharge of the storage battery 30 progresses and so-called battery runs out (remaining capacity is substantially zero), the charging base 50 side can make a determination. The determined circuit 11 is a predetermined CR time constant circuit, for example. When the DC output terminals 51 and 52 of the charging base 50 are short-circuited, the charging base 50 does not recognize that the main body 2 of the self-propelled lawn mower 1 is connected and may stop its operation. it can.

  The control power supply circuit 14 receives DC21V between the charging terminals 10a and 10b or DC18V output from the drive power supply circuit 17 described later, and supplies DC5V to a control unit (microcomputer) 15 as a main control unit. Specifically, it is a DC-DC converter (voltage conversion means). Even when the storage battery 30 runs out of power, power is supplied from the charging base 50 to the control power supply circuit 14 when connected to the charging base 50, and the control unit 15 can execute control for charging. That is, when the storage battery 30 runs out of power, power supply via the storage battery 30 (power supply from the drive power supply circuit 17) to the control power supply circuit 14 is eliminated to reduce power consumption to zero. In addition, when connected to the charging base 50, the control by the control unit 15 for charging can be performed without any trouble.

  The step-up / step-down circuit 13 boosts or lowers the DC 21 V between the charging terminals 10 a and 10 b according to the rated output voltage of the storage battery 30, and charges the storage battery 30 with a charging voltage that matches the rated output voltage of the storage battery 30. (Voltage conversion means). The step-down / step-down circuit 13 performs step-down operation when, for example, when the rated output voltage of the storage battery 30 is 18V and the exhaustion is severe, it is desired to charge slowly, or when a storage battery lower than 18V can be used and, for example, it is desired to charge a storage battery of 14V Done. When the storage battery 30 is mounted in the storage battery housing portion 5 of the main body 2 shown in FIG. 4 and the like, each terminal of the storage battery 30 (+ terminal, −terminal, C + terminal, 5V terminal, LD terminal, T terminal, LS shown in FIG. 9). Terminal) is connected to the battery connection terminal 42 of the main body 2 (each terminal for battery connection). The control unit 15 receives an identification signal of the type (rated output voltage, etc.) of the storage battery 30 from the T terminal so that the step-up / step-down circuit 13 performs a charging operation with a voltage that matches the rated output voltage of the mounted storage battery 30. Control. Identification of the type of the storage battery 30 by the control unit 15 is performed every time the storage battery 30 is mounted or each time the charging base 50 and the main body 2 are connected. Here, the case where the rated output voltage of the storage battery 30 is two types of 36V and 18V is assumed. When the rated output voltage of the storage battery 30 is 36V, the step-up / step-down circuit 13 boosts and outputs the DC 21V between the charging terminals 10a and 10b to a DC voltage slightly higher than 36V. When the rated output voltage of the storage battery 30 is 18V, the step-up / step-down circuit 13 steps down the DC 21V between the charging terminals 10a and 10b to a direct current voltage slightly higher than 18V and outputs it.

  The drive power supply circuit 17 is a DC-DC converter capable of at least stepping down, and outputs a drive voltage equal to or lower than the rated output voltage of the storage battery having the lowest rated output voltage among the storage batteries 30 that can be attached to the self-propelled lawn mower 1. . Here, the drive power supply circuit 17 converts the output voltage of the storage battery 30 into a stable DC voltage of 18V and outputs it. The output voltage of the drive power supply circuit 17 is supplied to the control power supply circuit 14 via the backflow prevention diode D2, and to the left wheel driver 18, the right wheel driver 19 and the cutting blade driver 20 as motor drive circuits, respectively. Supplied. The left wheel driver 18, the right wheel driver 19, and the cutting blade driver 20 convert the drive voltage of the drive power supply circuit 17 and supply it to the motors 22A, 22B, and 22C, respectively, and are connected in a three-phase bridge. And a plurality of (six in the illustrated example) switching elements such as FETs and IGBTs. The left wheel driver 18 supplies power to the left wheel motor 22A that rotationally drives the left wheel 3A, for example, by PWM control. The right wheel driver 19 supplies power to the right wheel motor 22B that rotationally drives the right wheel 3B by, for example, PWM control. The cutting blade driver 20 supplies power to the cutting blade motor 22C that drives the cutting blade 4 by, for example, PWM control. The left wheel motor 22A, the right wheel motor 22B, and the cutting blade motor 22C are preferably brushless motors. The left wheel driver 18, the right wheel driver 19, and the cutting blade driver 20 are controlled by the control unit 15. Specifically, each driver (motor drive circuit) has a plurality of switching elements, and each switching element is PWM-controlled by the control unit 15, for example.

  As shown in FIG. 10, a guide wire 80 (guide wire) is connected to the charging base 50 in order to define the lawn mowing area of the self-propelled lawn mower 1. The guide wire 80 encloses the lawn mowing area including the charging base 50, and the self-propelled lawn mower 1 is premised on automatically traveling inside the area surrounded by the guide wire. The first and second guide wire sensors S1 and S2 shown in FIG. 8 are, for example, coils disposed before and after the main body 2, and receive the AC electrical signal of the guide wire and output it to the main board 40, thereby mowing the lawn. The control unit 15 shown in FIG. 9 mounted on the main board 40 recognizes the boundary of the region, and controls the direction of the self-propelled lawn mower 1 through the left wheel motor driver 18 and the right wheel motor driver 19. And the rotation direction of the right wheel motor 22B, the rotation speed control, and the like.

  When the main body 2 of the self-propelled lawn mower 1 is lifted, the lift sensor S3 shown in FIG. 8 detects this and outputs it to the main board 40. The control unit 15 controls the left wheel motor 22A and the right wheel motor. 22B and the cutting blade motor 22C are stopped. The tilt sensor S4 detects when the self-propelled lawn mower 1 is tilted more than a predetermined angle with respect to the ground, and outputs this to the main board 40 so as not to enter the tilted surface. Then, the control of the right wheel motor 22B is changed to change the traveling direction, and the inclination sensor S4 tries to return to the normal value. When the inclination sensor S4 further detects that the threshold value exceeds the predetermined angle, the left wheel motor 22A, the right wheel motor 22B, and the cutting blade motor 22C are stopped. The display / keyboard board 44 is an input device for information on lawn mowing. When the main body cover 33 is opened, the display / keyboard board 44 is arranged on the outer surface of the main body housing 32 so that the operator can operate it manually. A work area and the like are set. The power supply to the sensors S1 to S4, the display / keyboard substrate 44, and the like is performed from the control power supply circuit 14.

  The manual stop switch 100 is a manual stop means for stopping the self-propelled lawn mower 1 during automatic traveling or lawn mowing by manual operation, and has a switch operation unit 101 on the upper surface of the main body housing 32. As described with reference to FIGS. 7A and 7B, if the switch operation unit 101 is not operated and the main body cover 33 is normally closed, both the switch units MS1A and MS1B are turned on (first state). An AND gate G1 (logical product circuit) as a switch state detection circuit detects that both of the switch units MS1A and MS1B are ON, and an output signal that is active (high level) of the AND gate G1 is supplied to the drive power supply circuit 17. It is output and power supply to the left wheel motor 22A, the right wheel motor 22B, and the cutting blade motor 22C is permitted.

  When the main body cover 33 is not normally closed (for example, when one end of the main body cover 33 is lifted), all the switch portions cannot be turned on, so the left wheel motor 22A, the right wheel motor Power supply to 22B and the cutting blade motor 22C is not allowed. For this reason, it is possible to avoid the disadvantage of operating the self-propelled lawn mower 1 while the closed state of the main body cover 33 is incomplete, and rainwater and dust enter the main body 2 from the position where the main body cover 33 is opened. This can be prevented in advance.

  When the switch operation unit 101 is pushed down by an operator, the holding of the main body cover 33 is released and the main body cover 33 is opened. Therefore, both of the switch units MS1A and MS1B are turned off (second state), and the OR gate G2 (logical sum circuit) having an inverting input as the switch state detection circuit of FIG. 9 is replaced with at least one of the switch units MS1A and MS1B. An output signal that is detected to be off and the OR gate G2 becomes active (high level) is output to the drive power supply circuit 17 to supply power to the left wheel motor 22A, the right wheel motor 22B, and the cutting blade motor 22C. Shut off (stop). The specific configuration of the switch state detection circuit that detects the on / off state of the switch units MS1A and MS1B can be changed as appropriate.

  Since the manual stop switch 100 has a plurality of switch parts MS1A and MS1B, even if one of the switch parts causes a short circuit failure, the push-down operation of the switch operation part 101 (opening of the body cover 33) is a normal switch part. It can be detected when is turned off.

  Further, the state in which the storage unit lid 47 of the storage battery storage unit 5 is not completely closed, that is, the state in which the storage unit storage unit 5 is not sealed due to insufficient tightening and fixing of the storage unit lid 47 to the container unit 46 by the lid fixing bolt 48. Then, the abutment rib 33a formed on the lower surface of the main body cover 33 interferes with the head of the lid fixing bolt 48, and the main body cover 33 cannot be closed, and as a result, the switch portions MS1A and MS1B cannot be turned on. For this reason, it is possible to avoid the disadvantage of operating the self-propelled lawn mower 1 in a state where the storage battery housing part 5 is not sealed, and rainwater and dust enter the storage battery housing part 5 that is not sealed, and further storage battery storage. It is possible to prevent rainwater and dust from entering the main body 2 via the part 5.

  In the configuration of the self-propelled lawn mower 1 described above, when performing lawn mowing work, first, the storage battery 30 as a battery pack is attached to the inside of the storage battery housing 5 provided in the main body chassis 31, and the housing lid 47 is closed. Then tighten the lid fixing bolt 48. Thereafter, the main switch SW1 is turned on, the keyboard 44b of the display / keyboard board 44 is operated, the self-propelled lawn mower 1 is set in the standby state, and the main body cover 33 is closed. At this time, as shown in FIG. 7A, the tongue-like operation convex portions 103A and 103B of the main body cover 33 are inserted into the front surfaces of the switch portions MS1A and MS1B of the manual stop switch 100, and both the switch portions MS1A and MS1B are turned on (ON : First state), and the self-propelled lawn mower 1 starts autonomous traveling and lawn mowing work.

  When charging the storage battery 30 mounted inside the storage battery housing 5 of the main body 2, the self-propelled lawn mower 1 is connected to the charging base 50 (the main body side charging terminals 10 a and 10 b are connected to the DC output terminal 51 of the charging base 50. , 52), the charging base 50 determines that the self-propelled lawn mower 1 is connected from the discriminated circuit 11 and supplies a DC voltage of 21 V to the self-propelled lawn mower 1. In the main body 2, the step-up / step-down circuit 13 charges the storage battery 30 with a DC voltage suitable for the rated output voltage (36 V or 18 V) of the storage battery 30 in accordance with a command from the control unit 15 that has identified the rated output voltage of the storage battery 30.

  After the charging is completed, the self-propelled lawn mower 1 is detached from the charging base 50 and performs an automatic traveling operation and a lawn mowing operation that are input from the display / keyboard board 44 or predetermined by the control unit 15. The self-propelled lawn mower 1 automatically returns to the charging base 50 when the requested lawn mowing operation is completed or when the remaining capacity of the storage battery 30 is reduced, and charging is performed automatically. Is called. Note that the threshold value for determining that the remaining capacity of the storage battery 30 has decreased is changed according to the rated output voltage of the connected storage battery 30 (for example, a predetermined ratio to the rated output voltage). That is, when the rated output voltage of the storage battery 30 is 36 V, the control unit 15 determines that the remaining capacity has decreased at a higher voltage than when the rated output voltage of the storage battery 30 is 18 V, and performs the feedback operation to the charging base 50. Start.

  In addition, in order to continue the mowing operation by replacing the charged storage battery 30 with the charged storage battery 30 instead of the remaining storage battery 30, the storage battery 30 needs to be replaced. In this replacement of the storage battery 30, the operator pushes down the switch operation unit 101 of the manual stop switch 100 to open the main body cover 33, loosens the lid fixing bolt 48 that tightens the storage unit cover 47 of the storage battery storage unit 5, and loosens the container unit 46. This is performed by unscrewing the nut portion formed on the opening end surface of the, and opening the accommodating portion lid 47. After the new storage battery 30 is mounted in the storage battery housing portion 5, the opening of the container portion 46 is closed with the housing portion lid 47. At this time, the lid fixing bolt 48 is not sufficiently tightened and the container portion 46 is not sealed. The head position of the lid fixing bolt 48 is high, interferes with the contact rib 33a of the main body cover 33, and the main body cover 33 cannot be closed. Therefore, the switches MS1A and MS1B remain off (not turned on), and the power supply to the left wheel motor 22A, right wheel motor 22B and cutting blade motor 22C by the drive power supply circuit 17 is cut off (stopped). State is maintained. Therefore, the driving | running | working of the self-propelled lawn mower 1 in the state in which the storage battery accommodating part 5 is not sealed can be prevented beforehand.

  After the replacement of the storage battery 30, if the lid fixing bolt 48 is correctly tightened and the container portion 46 is sealed, the contact rib 33a of the main body cover 33 and the head of the lid fixing bolt 48 do not interfere with each other. The main body cover 33 can be normally closed. As a result, both the switch units MS1A and MS1B are turned on, and the drive power supply circuit 17 allows power supply to the left wheel motor 22A, right wheel motor 22B, and cutting blade motor 22C.

  According to the present embodiment, the following effects can be achieved.

(1) The manual stop switch 100 provided on the upper side of the main body 2 of the self-propelled lawn mower 1 is provided with a plurality of switch units MS1A and MS1B that are respectively operated by a pressing operation of the switch operation unit 101 (opening of the main body cover 33). The motor power control system shown in FIG. 9 (including at least the drive power supply circuit 17 and the drivers 18, 19, 20 in this embodiment) has at least one of the plurality of switch units MS1A, MS1B turned on (first state). ) To off (second state), the power supply to the motors 22A, 22B, and 22C is stopped. For this reason, even if any one of the switch parts causes a short-circuit failure, the push-down operation of the switch operation part 101 (opening of the main body cover 33) can be detected by turning off the normal switch part. Therefore, the operation of the self-propelled lawn mower 1 can be reliably stopped by the manual stop switch 100.

(2) When all of the plurality of switch units MS1A and MS1B included in the manual stop switch 100 perform switching operation from OFF to ON, the motor power control system can supply power to the motor. For this reason, when the main body cover 33 is not normally closed (for example, when one end of the main body cover 33 is lifted), all the switch portions cannot be turned on, so that the motors 22A, 22B, and 22C are turned on. The power supply is not allowed. For this reason, it is possible to avoid the disadvantage of operating the self-propelled lawn mower 1 while the closed state of the main body cover 33 is incomplete, and rainwater and dust enter the main body 2 from the position where the main body cover 33 is opened. This can be prevented in advance.

(3) The main body 2 has a storage battery housing part 5 for housing the storage battery 30, and when the storage battery housing part 5 is not in a sealed state, power is supplied to the motors 22A, 22B, 22C by the motor power control system. Therefore, it is possible to avoid the inconvenience of operating the self-propelled lawn mower 1 in a state in which the storage battery housing part 5 is not sealed, and rainwater and dust enter the storage battery housing part 5 that is not sealed. Can prevent rainwater and dust from entering the main body 2 via the storage battery housing 5.

(4) On / off information of a plurality of switch units MS1A and MS1B is input to the drive power supply circuit 17 included in the motor power control system via the switch state detection circuit (AND gate G1 and OR gate G2), and is self-propelled. The lawn mower 1 is in an operation-permitted state or stopped, and is controlled without using the control unit 15. For this reason, the self-propelled lawn mower 1 can be stopped even if a malfunction occurs in the control unit 15.

(5) The supply voltage from the storage battery 30 is converted into a drive voltage of, for example, 18V by the drive power supply circuit 17 and supplied to the left wheel driver 18, the right wheel driver 19, and the cutting blade driver 20. The storage battery 30 having a plurality of types of rated output voltages can be used without changing the control of the wheel driver 19 and the blade driver 20.

(6) Even when the storage battery 30 with a high rated output voltage such as 36V is used, it is converted into a drive voltage of 18V by the drive power supply circuit 17 and supplied to each driver, so that 36V is supplied as it is. , Low-speed rotation control becomes possible. That is, when the storage battery 30 having a high rated output voltage is used, the low-speed rotation control may be difficult due to the restriction on the minimum switching time of the switching element of each driver, but in this embodiment, the output voltage of the storage battery 30 is By converting the drive voltage to 18V and supplying it to each driver, even when the rated output voltage of the storage battery 30 is high, low-speed rotation control can be suitably performed. In particular, the self-propelled lawn mower 1 needs to be performed at a low speed, such as running a wheel, and it is significant to perform detailed control of low-speed rotation.

(7) Since the self-propelled lawn mower 1 uses a plurality of motors, a large number of switching elements are required for driving the motor, and it is expensive to make each switching element a high withstand voltage element capable of handling 36V. However, in the present embodiment, by converting the output voltage of the storage battery 30 into a drive voltage of 18V and supplying it to each driver, each switching element can be made an inexpensive element with a low withstand voltage, Cost is low.

(8) Since the main body 2 has the circuit 11 to be discriminated, the charging base 50 can recognize that the self-propelled lawn mower 1 has been connected, and it is possible to make an unexpected occurrence such as a short circuit between the DC output terminals 51 and 52. Can determine the situation.

(9) Even when the storage battery 30 is dead, power is supplied from the charging base 50 to the control power supply circuit 14 when connected to the charging base 50, and the control unit 15 can execute control for charging. Therefore, even if the storage battery 30 runs out of battery, the charging operation can be started by connecting the self-propelled lawn mower 1 to the charging base 50.

(10) The self-propelled lawn mower 1 has a step-up / down circuit 13 as a charging circuit in the main body 2, and the voltage supplied from the charging base 50 by the step-up / down circuit 13 is a DC voltage corresponding to the rated output voltage of the storage battery 30. Therefore, the storage battery 30 having a rated output voltage of 36V can be reliably fully charged.

(11) In the self-propelled lawn mower 1, a detachable part is required in the secondary side circuit, and the DC output voltage from the charging base 50 is required to be 42 V or less. By providing the voltage circuit 13, the output voltage of the charging base 50 can have a large margin with respect to 42 V, which is advantageous in design, and the self-propelled lawn mower 1 to which the output voltage of the charging base 50 is applied. The circuit component can be made into an inexpensive component with a low withstand voltage, and the cost is low. In addition, since the output voltage of the charging base 50 is low, in the self-propelled lawn mower 1, DC5V as a power source for the control unit 15 can be created by a single-stage power circuit (control power circuit 14). Therefore, the number of parts can be reduced compared to the case where a power supply circuit having two or more stages is required to create DC5V.

(12) The AC adapter 60 may be highly versatile with an output voltage of about DC 21 V, which is advantageous for cost reduction.

(13) Since the storage battery 30 is charged by the step-up / down circuit 13, the storage battery 30 having a plurality of types of rated output voltages can be charged.

(14) The conventional self-propelled lawn mower has a built-in dedicated storage battery, and when the remaining capacity of the built-in storage battery is reduced, it cannot be operated for charging. The traveling lawn mower 1 has a structure in which a storage battery 30 is detachably attached to the storage battery housing part 5 of the main body 2, and when the remaining capacity of the storage battery 30 is reduced, it is replaced with a charged storage battery. The mowing work can be continued.

(15) Since the storage battery 30 is a battery pack that can be shared by other types of electric work machines, the operator can use the storage battery 30 between the self-propelled lawn mower 1 and other types of electric work machines. It is possible and convenient.

  The present invention has been described above by taking the embodiment as an example. However, it is understood by those skilled in the art that various modifications can be made to each component and each processing process of the embodiment within the scope of the claims. By the way. Hereinafter, modifications will be described.

  In the above embodiment, the storage battery housing part 5 has the container part 46 and the housing part lid 47, and the container part 46 is fastened to the container part 46 with a lid fixing bolt 48 as a fixing means. Although the structure is hermetically sealed, the housing portion lid 47 may be attached to the container portion 46 in close contact with a latch as a fixing means.

  In the above embodiment, the output signal of the switch state detection circuit (AND gate G1 and OR gate G2) indicating the operation state of the plurality of switch units included in the manual stop switch 100 is supplied to the drive power supply circuit 17, and the drive power supply circuit 17 The power supply to each of the motors 22A, 22B, and 22C is stopped or enabled. However, the output signal of the switch state detection circuit is supplied to the control unit 15, and the motor drive circuit (driver 18) is supplied via the control unit 15. , 19, 20) to stop or enable power supply to the motors 22A, 22B, 22C. In this case, the operation states of the plurality of switch units are input to the motor drive circuit via the control unit 15.

  In the above embodiment, the case where the charging base 50 and the AC adapter 60 are separate has been described. However, the charging base 50 incorporates the function of the AC adapter 60 (the function of converting AC voltage into DC voltage). Also good. In the embodiment, the step-up / step-down circuit 13 is exemplified as the charging circuit. However, from the viewpoint of reliably charging the storage battery 30 with the rated output voltage of 36 V, the charging circuit only needs to have at least a boosting function. When driving the cutting blade motor 22C with the output voltage of the drive power supply circuit 17, it is not necessary to change the control when the rated output voltage of the storage battery 30 changes, so the cutting blade motor 22C may be a brush motor. The self-propelled lawn mower 1 may alternatively be equipped with three or more types of storage batteries having different rated output voltages. The specific numerical values exemplified in the embodiment, for example, the rated output voltage of the storage battery 30, the output voltage of the charging base 50, and the upper limit value thereof are merely examples for explanation, and are appropriately set according to the actual use environment. Is.

DESCRIPTION OF SYMBOLS 1 Self-propelled lawn mower, 2 Main body, 3A, 3B Rear wheel, 4 Cutting blade, 5 Storage battery accommodating part, 10a, 10b Charging terminal, 11 Circuit to be discriminated, 13 Buck-boost circuit, 14 Power supply circuit for control, 15 Control part , 17 Drive power supply circuit, 18 Left wheel driver, 19 Right wheel driver, 20 Cutting blade driver, 22A Left wheel motor, 22B Right wheel motor, 22C Cutting blade motor, 30 Storage battery (battery pack), 31 Body chassis, 32 Body housing , 33 Main body cover, 40 Main board, 42 Battery connection terminal, 44 Display / keyboard board, 45 Hinge, 46 Container part, 47 Housing part lid, 48 Volt, 49 Packing, 50 Charging base, 60 AC adapter, 70 Cable, 80 Guide wire (guide wire), 100 Manual stop switch, 101 switch H operation part, 102 switch lever, 103A, 103B tongue-like operation convex part, 104 pins, 105 claw-like locking part, D1, D2 backflow prevention diode, G1 AND gate, G2 OR gate, MS1A, MS1B switch part.

Claims (15)

A self-propelled lawn mower that operates by driving a motor with electric power of a storage battery,
A motor mounted on the main body,
A motor power control system for supplying power to the motor;
A manual stop switch operating section provided on the upper surface of the main body for stopping power supply to the motor;
A plurality of switch units each operated by the manual stop switch operation unit,
The motor power control system stops the power supply to the motor when at least one of the plurality of switch units performs a switching operation from the first state to the second state. Machine.   The power supply to the motor by the motor power control system is enabled when all of the plurality of switch units perform a switching operation from the second state to the first state. Self-propelled lawn mower.   The stop state canceling operation unit for at least one of the plurality of switch units to perform a switching operation from the second state to the first state is provided separately from the manual stop switch operation unit. Self-propelled lawn mower.   The self-propelled lawn mower according to any one of claims 1 to 3, wherein the plurality of switch portions are provided at positions separated from each other.   5. The self-propelled lawn mower according to claim 4, wherein the plurality of switch portions are disposed on both sides in the width direction of the main body.   The self-propelled lawn mower according to any one of claims 1 to 5, wherein the plurality of switch units are operated via a transmission member that is linked to the manual stop switch operation unit.   The motor power control system includes a drive power supply circuit that receives power supply from the storage battery, and a motor drive circuit that converts a drive voltage of the drive power supply circuit and supplies the converted voltage to the motor. Item 7. The self-propelled lawn mower according to any one of items 1 to 6.   8. The self-propelled lawn mower according to claim 7, wherein operating states of the plurality of switch units are input to the drive power supply circuit or a main control unit that controls the motor drive circuit. Machine.   The said main body is equipped with the storage battery accommodating part which accommodates the said storage battery, and when the said storage battery accommodating part is not the sealing state, the electric power supply to the said motor by the said motor power control system is stopped, It is characterized by the above-mentioned. Item 9. The self-propelled lawn mower according to any one of items 1 to 8. A self-propelled lawn mower that operates by driving a motor with electric power of a storage battery,
A motor mounted on the main body,
A motor power control system for supplying power to the motor;
A manual stop switch operating section provided on the upper surface of the main body for stopping power supply to the motor;
A switch unit operated by the manual stop switch operation unit,
The main body has a storage battery housing portion for housing the storage battery, and when the storage battery housing portion is not in a sealed state, power supply to the motor by the motor power control system is stopped. Self-propelled lawn mower.   A main body cover is attached to the upper part of the main body so as to be freely opened and closed. When the manual stop switch operation unit is operated, the main body cover is opened, and the storage battery housing unit is not sealed. The self-propelled lawn mower according to claim 9 or 10, wherein the cover cannot be closed.   The self-propelled lawn mower according to claim 11, wherein the storage battery housing part has a container part and a housing part lid, and the main body cover cannot be closed when the housing part lid is not closed.   The self-propelled lawn mower according to claim 12, wherein a seal member is interposed between the container part and the housing part lid.   The self-propelled type according to any one of claims 11 to 13, wherein the main body cover is provided with an operation convex portion that operates the switch portion when the main body cover is closed. Lawn mower.   When the storage battery housing portion is not in a sealed state, the switch portion cannot perform a switch operation, and power supply to the motor by the motor power control system is in a stopped state. The self-propelled lawn mower according to any one of claims 9 to 14.

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