JP2731679B2 - Mower of boundary detection device - Google Patents

Mower of boundary detection device

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JP2731679B2
JP2731679B2 JP23666492A JP23666492A JP2731679B2 JP 2731679 B2 JP2731679 B2 JP 2731679B2 JP 23666492 A JP23666492 A JP 23666492A JP 23666492 A JP23666492 A JP 23666492A JP 2731679 B2 JP2731679 B2 JP 2731679B2
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grass
detecting
boundary
means
presence
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JPH0678603A (en
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上田  吉弘
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株式会社クボタ
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【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【産業上の利用分野】本発明は、草存否検出用の信号を車体前方側の草に投射してその存否を検出する草存否検出センサーによって、車体横幅方向に沿って所定間隔毎に草の有無を検出する草有無検出手段と、その草有無検出手段の情報に基づいて未処理作業地と処理済作業地との境界を判別する境界判別手段とが設けられた草刈機の境界検出装置に関する。 BACKGROUND OF THE INVENTION This invention is a signal for detecting grass presence of the vehicle body front side by a projection to grass presence detecting sensor for detecting the presence or absence in the grass, the grass at predetermined intervals along the vehicle width direction grass detecting means for detecting the presence or absence relates boundary detecting apparatus of the boundary determining means and is provided mower to determine the boundary between untreated work locations and processed work locations based on the information of the grass detecting means .

【0002】 [0002]

【従来の技術】この種の草刈機の境界検出装置は、例えば、草としての芝を刈る作業を人手を介さずに行うための自走式の芝刈り作業車に用いられるものであり、そのために例えば反射型のフォトインタラプタにて構成される草存否検出センサーが、草存否検出用の光信号の投射方向を車体横幅方向に沿って変化させながら車体前方側の草に投射し、その反射光が存在すれば草有り状態を検出する一方反射光が無ければ草無し状態を検出していた。 BACKGROUND OF THE INVENTION boundary detector of the type of mower, for example, those used in self-propelled lawn mowing vehicle for performing a work of cutting the grass as grass without human intervention, therefore grass presence detection sensor constituted by a reflection type photo-interrupter for example is projected on the grass of the vehicle body front side while changing the projection direction of the optical signal for detection grass existence along the vehicle body width direction, the reflected light There while reflected light to detect the grass there state has detected the grass without state unless if present. そして、その草有無状態の車体横幅方向に沿った所定間隔毎の検出結果から、例えば、未処理作業地において最も処理済作業地側に位置する草有り位置と処理済作業地において最も未処理作業地側に位置する草無し位置との中間の位置を、未処理作業地と処理済作業地の境界として判別するようにしていた。 And that the detection result of the predetermined intervals along the vehicle width direction of the grass presence status, for example, the most outstanding work in most grass located processed working point side where the positional and processed work locations in untreated work areas an intermediate position between the grass without position located land side, had to be determined as a boundary of the treated work areas to untreated work locations.

【0003】但し、従来では、上記草存否検出センサーは、車体前方側の草の中に突っ込んだ状態でその草の有無を検出するように構成されていた。 [0003] However, conventionally, the grass presence detection sensor has been configured to detect the presence or absence of grass in a state rammed in the grass of the vehicle body front side.

【0004】 [0004]

【発明が解決しようとする課題】そのため、上記従来技術では、切れ草等が草存否検出センサーの検出面に付着することがあり、その場合にはその草有無検出信号が常時オンつまり草有りとなるか、あるいは常時オフつまり草無しとなる。 THE INVENTION Problems to be Solved Therefore, in the conventional art, it may cut grass or the like from adhering to the detection surface of the grass presence detection sensor, in which case the O and there always on, i.e. grass that grass presence detection signal made or, or in a normally off clogging grass no. そして、前者の場合には、車体前方側がすべて未処理作業地である、即ち、前記境界が車体前方側にはなくそれよりも処理済作業地側に外れて位置していると誤検出される結果、この境界検出情報に基づいて操向制御を行うと、必要以上に処理済作業地側に位置ずれして有効な草刈り作業を行えない一方、後者の場合には、車体前方側がすべて処理済作業地である、即ち、前記境界が車体前方側にはなくそれよりも未処理作業地側に外れて位置していると誤検出される結果、この境界検出情報に基づいて操向制御を行うと、必要以上に未処理作業地側に位置ずれして刈り残しを発生することになる。 Then, in the former case, the vehicle front side are all outstanding work place, i.e., the boundary is detected erroneously as being located off the processed working point side than not in the vehicle body front side result, this when on the basis of the boundary detection information performs steering control, while misaligned in the processed working point side than necessary not be a valid mowing, in the latter case, the vehicle front side are all processed a work area, i.e., a result of the boundary is detected erroneously as being located off the untreated working point side than not in the vehicle body front side, performs steering control on the basis of the boundary detection information When it will occur leaving cutting misaligned untreated working point side more than necessary. 最終的には、両者共に、車体が作業地外に飛び出して他物と接触し車体等が損傷するおそれもあった。 Finally, in both cases, a vehicle body or the like in contact with other object vehicle body protrudes out of working place there is also a risk of damage.

【0005】又、草存否検出センサーの車体横幅方向に沿った所定間隔毎の検出位置を、例えばモータ等からの駆動力によって操作される機械的な移動機構によって変更させる構成の場合には、上記切れ草等の付着によって上記機械的な移動機構の動作負荷が増大してセンサーの移動が正常に行われないばかりでなく、負荷が過大なときにはその機械的機構あるいはモータが損傷する可能性もあった。 [0005] Further, in the case of a configuration in which the detected position of the predetermined intervals along the vehicle width direction of the grass presence detection sensors, for example, be altered by mechanical movement mechanism which is operated by a driving force from a motor or the like, the movement sensors operating load of the mechanical movement mechanism is increased by attachment of the grass such as expired not only not successful, when the load is too large there is also a possibility that the mechanical mechanism or motor damage It was.

【0006】そこで、これらの不具合を回避させるために、草有無検出信号の常時オン又は常時オフ状態が一定時間以上継続する場合には検出異常とみなして走行を停止させ、センサーの清掃をしてから再び自動走行を開始させるようにしている。 [0006] Therefore, in order to avoid these problems, to stop the running is regarded as detection abnormality if always on or always off state of the grass presence detection signal continues for a predetermined time or more, and a sensor cleaning and so as to start the automatic running again from. しかし、この場合には、センサーの検出異常のたびに作業が中断されるので、作業能率が低下するという別の問題点が発生することになる。 However, in this case, since the work each time the sensor detects abnormality is interrupted, so that another problem that the working efficiency is lowered.

【0007】本発明は、上記実情に鑑みてなされたものであって、その目的は、切れ草等の付着によって草有無検出の誤検出が発生することを防止して境界検出の精度を確保するとともに、切れ草等のからまりによる草有無検出のための移動操作手段の誤動作や損傷を回避させた草刈機の境界検出装置を得ることにある。 [0007] The present invention, which has been made in view of the above circumstances, and its object is to prevent the by attachment, such as cutting grass erroneous detection grass presence detecting generating ensure the accuracy of the boundary detection together, is to obtain the boundary detector of the mobile mowing machine is avoid a malfunction or damage of the operating means for the grass presence detection by entanglement such as cutting grass.

【0008】 [0008]

【課題を解決するための手段】本発明による草刈機の境界検出装置の第1の特徴構成は、草を下方側に案内して草の上方への突出を制限する草高さ制限手段が機体前部に設けられ、前記草有無検出手段が、前記草高さ制限手段の上部で且つその前端部よりも後方側位置に設けられている点にある。 The first characterizing feature of the mower boundary detecting apparatus according to the present invention, in order to solve the above-mentioned object, the grass height restrictions means aircraft to guide the grass on the lower side to limit the projecting upward grass provided on the front, the grass detecting means is in a point provided on and rearward position than the front end portion at the top of the grass height limit means.

【0009】又、第2の特徴構成は、前記草有無検出手段が、前記草存否検出センサーを機体横幅方向に沿って移動操作するための移動操作手段を備えるように構成されている点にある。 [0009] The second characterizing feature, the grass detecting means is in that it is configured with a moving operation means for moving operating the grass presence detection sensor along the fuselage width direction .

【0010】 [0010]

【作用】本発明の第1の特徴構成によれば、車体前方側の草が車体前部に設けられた草高さ制限手段の前端部に達するとその下方側に案内されて上方への突出が制限されるので、草高さ制限手段の上部で且つその前端部よりも後方側位置に設けられた草有無検出手段を構成する草存否検出センサーは、草に直接接触することがなくしかも草に対して距離を離して位置することになり、例えば切れ草等がその検出面に付着してその草有無検出が誤検出することもなく境界検出を適正に行うことができる。 According to the first characterizing feature of the the present invention, the protruding grass vehicle front side is guided on its lower side and reaches the front end of the grass height restriction means provided at a front portion of the vehicle body upward since but are not limited to, grass grass presence detection sensor and than the front end thereof at the upper constituting the grass detecting means provided on the rear side position of the height limit means, moreover grass without direct contact with the grass with respect to the distance it will be positioned away, e.g. cutting grass and the like can be appropriately performed boundary detection without erroneously detected its grass presence detecting adhering to the detection surface thereof.

【0011】又、第2の特徴構成によれば、草存否検出センサーを機体横幅方向に沿って移動操作するための移動操作手段が、上記草存否検出センサーと同様に、草に直接接触することがなくしかも草に対して距離を離して位置することになるので、例えばその操作機構への切れ草等のからまりによって移動時の負荷が大きくなりその移動操作が不正常になるという不具合が回避されて境界検出を適正に行えるとともに、過大な負荷時での例えば操作機構等の損傷も防止することができる。 [0011] Further, according to the second characterizing feature, the moving operation means for moving operation grass existence detection sensor along the fuselage lateral width direction, similarly to the grass presence detection sensors, that direct contact with the grass it means positioned at a distance with respect to addition grass without, for example, avoid the problem that the load is increased the movement operation when the mobile is always incorrect by entanglement of the cutting grass and the like to the operation mechanism are together properly perform boundary detection, it is possible to prevent damage such as, for example, the operation mechanism when an excessive load.

【0012】 [0012]

【発明の効果】従って、本発明の第1の特徴構成によれば、切れ草等の付着による草有無検出の誤検出を有効に防止して境界検出の精度を確保し、もって、境界検出情報に基づく草刈機の操向制御を適正に実行できるものとなる。 Effect of the Invention] Accordingly, first, according to the characteristic configuration of the present invention, and effectively prevent the erroneous detection of the grass presence detection by adhesion, such as cutting grass to ensure the accuracy of the boundary detection, with the boundary detection information becomes where a proper execution of the steering control of the mower based.

【0013】又、第2の特徴構成によれば、切れ草等のからまりによる草有無検出のための移動操作手段の誤動作や損傷を有効に回避させて装置信頼性を向上し、もって、上記第1の特徴構成による効果を一層高めることができる。 [0013] Further, according to the second characterizing feature, and effectively to avoid malfunction or damage to the moving operation means for grass presence detection by entanglement such as cutting grass improved device reliability, with the above the effect of the first characterizing feature can be further enhanced.

【0014】 [0014]

【実施例】以下、本発明を草刈機としての芝刈り作業車に適用した実施例について図面に基づいて説明する。 EXAMPLES The following examples of application to the lawn mowing vehicle of the present invention as lawn mower will be described based on the drawings.

【0015】図4乃至図6に示すように、エンジンEを搭載した車体Vの下部に芝刈り用の回転刃体2を取付けるとともに、車体Vの前後部に、操向用の遊転前輪1F [0015] As shown in FIGS. 4 to 6, is attached to the rotary blade body 2 for mowing the lower portion of the vehicle body V equipped with the engine E, the front and rear portions of the vehicle body V, idler wheels 1F for steering
と、駆動ケース3を介してエンジンEの駆動力が伝達される左右一対の駆動後輪1L,1Rとを取付けて芝刈り作業車を構成してある。 When a pair of left and right rear drive wheels 1L driving force of the engine E is transmitted through the drive case 3, it is constituted lawn mowing vehicle mounted and 1R. 前記前輪1Fは、これを直接操向するステアリングギア1Aと、自動操向用のステアリングモータM1と、ステアリングモータM1の駆動力をステアリングギア1Aに伝達するモータギア1Bとからなる操向機構を介して前記車体Vに取付けてあり、又、 The front wheel 1F includes a steering gear 1A for steering this directly, the steering motor M1 for automatic steering via the steering mechanism consisting of a motor gear 1B for transmitting the driving force of the steering motor M1 to the steering gear 1A is attached to the vehicle body V, also,
前輪1Fの回転軸部には、その回転数を検出するエンコーダ14が設けられている。 The rotation shaft of the front wheels 1F, the encoder 14 for detecting the rotational speed is provided. 又、前記車体Vには、作業車の走行時の現在方位を検出するために、トロイダルコアを用いたフラックスゲート方式の地磁気センサS0が設置されている。 Further, the on the vehicle body V in order to detect the current heading at the time of travel of the work vehicle, a geomagnetic sensor S0 fluxgate method using a toroidal core is provided.

【0016】前記車体Vの前方下部には、前輪1Fが位置する部分以外の車体前方側下部を覆うガード板11がその下面を水平方向に沿うような状態で設けられ、このガード板11により、上方に伸びる芝の先端側が車体V [0016] lower front part of the vehicle body V is a guard plate 11 which covers the front side of the vehicle body lower portion other than the portion front wheels 1F is located is provided in a state along the lower surface in the horizontal direction, by the guard plate 11, body V is the tip side of the grass extending upward
の走行に伴って進行方向に押されてガード板11の下側に入り込む状態となる。 With the traveling pushed the traveling direction in a state that enters the lower side of the guard plate 11. 従って、ガード板11が、芝つまり草を下方側に案内して芝つまり草の上方への突出を制限する草高さ制限手段を構成する。 Therefore, the guard plate 11, constitute a grass height restriction means grass clogging grass is guided to the lower side to limit the protrusion of the upper grass i.e. grass. 前記ガード板11 The guard plate 11
の上部でかつその前端部よりも後方側位置に、図2にも示すように、左右一対の円筒体12が、車体Vに固定された軸受部13によって縦軸芯回りに揺動自在に且つ落下しないように支持された状態で設けられている。 The top and and rearward position than the front end portion of, as shown in FIG. 2, a pair of left and right cylinder 12 is swingably vertical axis direction by a bearing 13 secured to the vehicle body V and It is provided in the supported state so as not to fall. そして、この左右一対の円筒体12夫々の下部前面側に、互いの検出方向が所定角度(例えば15度)をなすように設定された一対の反射式フォトインタラプタでなる2つの芝高さ検出センサS1,S2あるいはS3,S4を分散配置してあり、これら合計4つの芝高さ検出センサS Then, the lower front side of the pair of cylinders 12 each, two grass height detection sensor mutual detection direction is at the set pair of reflective photo interrupter so as to form a predetermined angle (e.g. 15 degrees) S1, S2 or S3, S4 and Yes and distributed, these total of four grass height detection sensor S
1,S2,S3,S4は、後述の揺動機構23によって前記左右一対の円筒体12が揺動されるのに伴って車体Vの横幅方向に沿ってその検出位置を変化させながら、 1, S2, S3, S4 is, while changing its detection position along the width direction of the vehicle body V in association with the pair of right and left cylinder 12 is swung by the swinging mechanism 23 will be described later,
車体前方側に検出用の光信号を発射してその反射光を検出することで未刈り芝の有無を検出する。 And emitting light signals for detecting the vehicle body front side for detecting the presence or absence of non-cut grass by detecting the reflected light. 即ち、反射光があれば芝有り状態を検出する一方、反射光がなければ芝が刈り取られている芝無し状態を検出する。 In other words, while detecting the lawn there status if the reflected light, for detecting the grass without the condition being mowed the absence if grass reflected light. 従って、 Therefore,
前記芝高さ検出センサS1,S2,S3,S4でもって、芝つまり草存否検出用の信号を車体前方側の芝つまり草に投射してその存否を検出する草存否検出センサーが構成される。 With in the grass height detection sensor S1, S2, S3, S4, grass presence detection sensor for detecting the presence or absence is configured to project a signal for turf i.e. grass existence detection lawn i.e. grass vehicle front side.

【0017】前記揺動機構23は、前記左右一対の円筒体12のうちの一方側(右側)の上部側面から車体内方側に突き出たアーム24と、このアーム24の先端部に縦軸芯回りに枢支された転輪24Aに接当するように配置された偏心カム25と、この偏心カム25を回転させるためにその上部に設けたセンサ揺動用モータm等にて構成されている。 [0017] The oscillating mechanism 23 includes an arm 24 projecting to the vehicle body inner side from the upper side of one side (right side) of said pair of cylinders 12, the vertical axis at the distal end of the arm 24 and placed eccentric cam 25 so as to brought into contact with the rotary wheel 24A which is pivotally supported around are composed of the eccentric cam 25 sensor swing motor m or the like provided thereon to rotate the. 尚、前記アーム24は図示しないバネ材等によって前記偏心カム25に接当する方向に付勢されている。 Incidentally, the arm 24 is urged in the direction brought into contact with the eccentric cam 25 by a spring member (not shown) or the like. 又、前記左右一対の円筒体12夫々の上部側面から車体前方側に突き出るようにアーム26が設けられ、これら左右のアーム26の先端部同士がこれらに両端部を枢支されたリンク棒28によって連結されている。 Further, the arm 26 so as to protrude toward the front side of the vehicle body is provided from said pair of cylinders 12 each of the upper side, by a link rod 28 which leading ends are pivotally supported at both ends to these right and left arms 26 it has been linked. 以上の構成により、偏心カム25がセンサ揺動用モータmにて回転されると、右側の円筒体12が車幅方向に揺動するとともに、これに連動して左側の円筒体12 With the above arrangement, when the eccentric cam 25 is rotated by the sensor swing motor m, with the right side of the cylindrical body 12 is swung in the vehicle width direction, the left cylinder in conjunction with this 12
も車幅方向に揺動して、左右一対の芝高さ検出センサS Also swung in the vehicle width direction, a pair of left and right turf height detection sensor S
1,S2或いは芝高さ検出センサS3,S4の夫々の芝有無検出位置が車幅方向に往復移動走査される。 1, S2 or Shibadaka detection sensors S3, S4 turf presence detecting positions of respective is reciprocally moved scanned in the vehicle width direction. 従って、前記揺動機構23が、前記草存否検出センサー即ち芝高さ検出センサS1,S2,S3,S4を車体横幅方向に沿って移動操作するための移動操作手段を構成することになる。 Thus, the swing mechanism 23, constitutes the moving operation means for moving operating the grass presence detecting sensor i.e. Shibadaka detection sensors S1, S2, S3, S4 along the vehicle width direction.

【0018】そして、上記芝有無検出位置は、図2に示すように、前記ガード板11の先端部付近の車幅方向に沿う所定幅W内の芝の有無を検出するように構成されている。 [0018] Then, the lawn presence detection position, as shown in FIG. 2, is configured to detect the presence or absence of grass in a predetermined width W along the vehicle width direction in the vicinity of the distal end portion of the guard plate 11 . つまり、前記揺動機構23により移動走査される芝高さ検出センサS1,S2或いは芝高さ検出センサS That, grass height detection sensor S1 is scanning movement by the swing mechanism 23, S2 or Shibadaka detection sensor S
3,S4の各センサによって、前記ガード板11の下面位置よりも所定高さ上方位置における芝の有無が、前記幅Wを8分割した検出間隔で検出され、これにより一対の芝高さ検出センサS1,S2或いはS3,S4の揺動走査により8個の芝有無データD0〜D7或いはD8〜 3, the S4 each sensor, the presence or absence of grass in a predetermined height position above the lower surface position of the guard plate 11 is detected with the width W at 8 divided detection interval, thereby a pair of turf height detection sensor S1, S2 or S3, S4 8 pieces of turf whether data from the oscillating scanning D0~D7 or D8~
D15が得られる。 D15 is obtained. 各データD0〜D15は、芝有り時に“1”、芝無し時に“0”を示すデジタルデータである。 Each data D0~D15 is, when there is grass "1", which is a digital data indicating "0" at the time of turf without. 尚、上記検出間隔は、前記偏心カム25の回転軸に設けられたポテンショメータGにより前記右側の円筒体12の揺動角度を検出することで定める。 Incidentally, the detection interval is determined by detecting the swing angle of the right side of the cylindrical body 12 by potentiometer G provided on a rotary shaft of the eccentric cam 25. 以上より、前記草存否検出センサー即ち芝高さ検出センサS1,S From the above, the grass presence detecting sensor i.e. Shibadaka detection sensors S1, S
2,S3,S4と前記揺動機構23とによって、車体横幅方向に沿って所定間隔毎に芝つまり草の有無を検出する草有無検出手段22が構成される。 2, S3, by S4 and said rocking mechanism 23, grass detecting means 22 for detecting the presence or absence of grass i.e. grass is configured at predetermined intervals along the vehicle width direction.

【0019】図7及び図8に示すように、前記左右一対の駆動後輪1L,1Rの内側部分には、旋回時に旋回中心側に位置する駆動後輪1L,1Rを地面から浮上させるように下降する下降状態と、旋回が完了した後に前記旋回中心側に位置する駆動後輪1L,1Rを接地させるように上昇する上昇状態とに昇降自在で、且つ、上記下降状態において旋回中心を形成する左右一対の昇降式接地体9を接地機構を介して車体Vに取付けてあり、又、 As shown in FIGS. 7 and 8, the pair of left and right rear drive wheels 1L, the inner portion of the 1R are driven rear wheels 1L positioned on the turning center side during turning, so as to float the 1R from the ground a lowered position for lowering the driving rear wheels 1L positioned in the turning center side after turning is completed, movable up and down in a rising state rises as grounding the 1R, and forms a pivoting center in the lowered position is attached to the vehicle body V to a pair of left and right elevating grounding member 9 through the ground mechanism, also,
上記昇降式接地体9の地面に接地する接地部9Aは、縦軸芯周りに回転自在な状態で昇降式接地体9の基端側によって支持されている。 The grounding unit 9A for contact with the ground of the elevating grounding member 9 is supported in a state of being freely rotatable around the vertical axis by the proximal end side of the elevating tread 9. 前記接地機構は、左右一対のくの字型のリンク4の屈曲部を夫々の支点P1,P2周りに揺動自在に前記駆動ケース3に取付け、リンク4の一端部に昇降式接地体9を、他端部に昇降式接地体9を上方に付勢するスプリング5を取り付けると共に、そのスプリング5の付勢力に抗してリンク4の他端部を前記昇降式接地体9を接地させるように揺動操作するカム機構6とで構成してある。 Said ground mechanism is attached to a swingably the drive case 3 the bent portions of the pair of left and right dogleg shaped link 4 as a fulcrum P1, P2 about respective, a liftable grounding member 9 to one end of the link 4 , is attached a spring 5 for urging the elevating grounding member 9 upward at the other end, the other end of the link 4 against the biasing force of the spring 5 so as to ground the elevating tread 9 It is constituted by a cam mechanism 6 operated to swing. 前記カム機構6は、カム6Aと、 The cam mechanism 6 includes a cam 6A,
カム6Aを回転するための1組のギア7と、このギア7 A pair of gears 7 for rotating the cam 6A, the gear 7
に連結された接地用モータ8とで構成してあり、カム6 Yes constituted by a ground motor 8 coupled to the cam 6
Aが90°回転するたびに、左右一対の昇降式接地体9 Each time the A is rotated 90 °, the pair of left and right elevating tread 9
の夫々が、上記昇降式接地体9側の前記左右一対の駆動後輪1L,1Rを浮上させるように下降する下降状態と、その浮上した駆動後輪1L,1Rを接地させるように上昇する上昇状態とを、交互に繰り返すようになっている。 Increase each is, to increase so as to ground the pair of left and right rear drive wheels 1L of the elevating tread 9 side, and lowered position in which descends so as to float the 1R, the surfaced rear drive wheels 1L, the 1R of and a state, so that the repeated alternately.

【0020】図1に示すように、マイクロコンピュータ利用の制御装置Hが設けられ、この制御装置Hに、前記地磁気センサS0、前記芝高さ検出センサS1,S2, As shown in FIG. 1, the control unit H of the microcomputer utilized is provided to the control device H, the geomagnetic sensor S0, the grass height detection sensor S1, S2,
S3,S4、前記ポテンショメータG、及び前記エンコーダ14からの信号が入力されている。 S3, S4, the potentiometer G, and the signal from the encoder 14 is inputted. 又、前記制御装置Hからは、前記ステアリングモータM1、前記センサ揺動用モータm、及び前記接地用モータ8に対して駆動信号が出力される。 Moreover, from said control device H, the steering motor M1, the drive signal to the sensor swing motor m, and the grounding motor 8 is outputted. 又、上記制御装置Hは情報記憶用のメモリMEMに接続されている。 Further, the control unit H is connected to a memory MEM for information storage.

【0021】前記メモリMEM及び前記地磁気センサS [0021] The memory MEM and the geomagnetic sensor S
0を利用して、作業開始時に作業者により車体Vが向けられる第1作業行程K1の方向、すなわち、未処理作業地Aと処理済作業地Bとの境界Lが示す方向(図3参照)と地磁気センサS0が検出する地磁気の向きJとのなす角度θを基準方位θ 0として前記メモリMEMに記憶することにより、未処理作業地Aと処理済作業地Bとの境界Lが示す方向を基準方位として設定する基準方位設定手段10が構成される。 0 by using the work starting direction of the first working stroke K1 directed vehicle body V by a worker at the time, i.e., the direction indicated by the boundary L of the processed work locations B and untreated work areas A (see FIG. 3) and by storing in the memory MEM as a reference azimuth theta 0 the angle theta between the geomagnetic direction J of the geomagnetic sensor S0 detects the direction indicated by the boundary L of the processed work locations B and untreated work areas a reference orientation setting means 10 for setting the reference direction is formed.

【0022】又、前記制御装置Hを利用して、前記草有無検出手段22の検出情報に基づいて未処理作業地Aと処理済作業地Bとの境界Lを判別する境界判別手段10 [0022] Also, by using the control device H, the boundary determination unit 10 for determining the boundary L of the untreated working areas A and processed work areas B on the basis of the detection information of the grass detecting means 22
0が構成されている。 0 is configured. その境界判別動作について図2の状態を例に説明すれば、前記のようにして得られた8個の芝有無データD0〜D7において、処理済作業地B側に最も近い未処理作業地Aのデータ“1”のビット位置(D3)と未処理作業地A側に最も近い処理済作業地B Will describe the boundary discriminating operation to the state in FIG. 2 as an example, the eight grass existence data D0~D7 obtained as described above, the nearest unprocessed work locations A to the processed work locations B side bit position of the data "1" (D3) and the nearest processed work locations B unprocessed work areas a side
のデータ“0”のビット位置(D2)との中間の位置を、前記境界Lの位置として判別する。 An intermediate position between the bit position (D2) of the data "0", determines the position of the boundary L.

【0023】次に、上記求められた境界Lの位置情報に基づく前記制御装置Hの操向制御について説明すると、 Next, to describe the steering control of the control device H based on the location information of the sought boundary L,
車体横幅方向での適正操向位置として決められている前記一対の芝高さ検出センサS1,S2或いはS3,S4 Vehicle width grass height detection sensor of the pair of which the are determined as proper steering position in the direction S1, S2 or S3, S4
の中央位置、すなわち、8個の芝有無データD0〜D7 Center of, i.e., eight grass existence data D0~D7
(或いはD8〜D15)のうちのビットD3(或いはD Bit D3 (or D of the (or D8 through D15)
11)とビットD4(或いはD12)との中間位置が、 11) and the intermediate position between the bits D4 (or D12) is,
上記判別された境界Lの位置に対して偏位している偏位量が操向位置の位置偏差Xになるので、この位置偏差X Since deviation amount that deviation with respect to the position of the discrimination boundary L becomes the positional deviation X of the steering position, the position deviation X
が零になるように前記ステアリングモータM1を制御して上記適正操向位置が境界Lに沿って走行するように操向制御する。 There the proper steering position by controlling the steering motor M1 such that zero is the steering control so that the vehicle travels along the boundary L. つまり、車体Vが未処理作業地A側にずれている場合には車体Vを処理済作業地B側(図3では進行方向左側)に修正操向させ、車体Vが処理済作業地B In other words, Toe modified steering to the vehicle body V processed work locations B side (traveling in 3 directions left) when the vehicle V is shifted to the untreated work areas A side body V is processed work locations B
側にずれている場合には車体Vを未処理作業地A側(図3では進行方向右側)に修正操向させる。 Is corrected steering unprocessed work areas A side (traveling in FIG right direction) of the vehicle body V in the case are shifted to the side.

【0024】次に、図9に示すフローチャートに基づいて、前記制御装置Hの制御動作について説明する。 Next, with reference to the flowchart shown in FIG. 9, a description will be given of the control operation of the control device H.

【0025】先ず、制御がスタートすると、走行開始時に車体Vが向いた方向を基準方位θ [0025] First, when the control is started, the direction in which the vehicle V is directed in the running at the start of the reference azimuth θ 0に初期設定して記憶するとともに、前輪1Fのステアリング方向をこの基準方位θ 0に合わせる。 With initializing and stored in 0, adjust the steering direction of the front wheels 1F to this reference direction theta 0. 走行を開始すると、一定走行距離毎に芝有無データD0〜D15をサンプリングして更新する。 When you start running, updates by sampling the turf whether data D0~D15 every predetermined travel distance. そして、この芝有無データのうちの境界Lが位置している側のデータD0〜D7に基づいて前述のようにして境界Lの位置を検出し、車体Vの適正操向位置に対する前記位置偏差Xを検出する。 Then, the lawn whether the boundary L of the data based on it are side data D0~D7 that located in the manner described above to detect the position of the boundary L, the positional deviation X for proper steering position of the vehicle body V to detect.

【0026】次に、現在の検出方位θと基準方位θ 0との差より方位偏差Δθ=θ−θ 0を算出する。 Next, the azimuth is calculated deviation Δθ = θ-θ 0 from the difference between the current detected orientation-theta and the reference azimuth theta 0. そして、 And,
上記位置偏差X及び方位偏差Δθ夫々に所定のゲイン係数p及びqを掛け、下式にてステアリング角θ STを求め、このステアリング角θ STでステアリング操作を行う。 Multiplied by a predetermined gain factor p and q s to the positional deviation X and heading deviation Δθ husband, obtains steering angle theta ST using the following equation, performs steering operation in the steering angle theta ST.

【0027】 [0027]

【数1】θ ST =p・X+q・Δθ [Number 1] θ ST = p · X + q · Δθ

【0028】そして、上記一定距離走行毎の芝有無データD0〜D15の更新からステアリング角θ STでのステアリング操作までのフローを、車体Vが枕地を検出するまで繰り返す。 [0028] Then, the flow from the update of the turf whether data D0~D15 the predetermined distance travel each to the steering operation by the steering angle theta ST, repeated until the vehicle V detects the headland. 尚、枕地の検出は、例えば前記芝有無データD0〜D15のすべてが芝無しデータ”0”を検出する状態となったことで判断される。 The detection of the headland, for example all of the turf whether data D0~D15 is determined by a condition that has detected the grass no data "0".

【0029】そして、枕地に達したことが検出されれば、さらに、今まで走行してきた行程が最終行程か否かを判断して最終行程であればそこで作業を終了する一方、最終行程でなければ、前記のように駆動後輪1L, [0029] Then, if it is detected that reaches the headland, further whereas stroke has been traveling until now has finished Therefore work if the last stroke is determined whether the last stroke, the final stroke without it, the rear drive wheels 1L as,
1Rの一方側の昇降式接地体9を旋回中心とし、さらに、旋回方向にステアリング操作しながら、旋回中心でない側の駆動後輪1L,1Rを駆動させて車体Vを未処理作業地B側に旋回させ、再び、一定距離走行毎の芝有無データD0〜D15の更新からステアリング角θ STでのステアリング操作までのフローを、車体Vが枕地を検出するまで繰り返すことになる。 One side of the elevating grounding member 9 of 1R swirling around further, while the steering operation in the turning direction, not turning center side of the rear drive wheels 1L, by driving the 1R untreated work locations B side of the vehicle body V pivoted, again, to repeat the update of the turf whether data D0~D15 at predetermined distance traveling flow up steering operation by the steering angle theta ST, until the vehicle V detects the headland. 尚、上記旋回操作の際、前記地磁気センサS0で車体Vの向きを確認して1 Incidentally, when the rotation operation, in the geomagnetic sensor S0 to confirm the orientation of the vehicle body V 1
80°旋回したかどうかの情報と、前記エンコーダ14 Or a whether information was 80 ° pivot, the encoder 14
にて検出される上記旋回中心でない側の駆動後輪1L, After driving the non aforementioned pivot detected side by wheels 1L,
1Rの走行量とから次の作業行程に向いたことの判別を行う。 And a travel distance of 1R discriminates that facing the next working stroke.

【0030】〔別実施例〕上記実施例では、草存否検出用の信号を車体前方側の草に投射してその存否を検出する草存否検出センサーS1,S2,S3,S4を反射式フォトインタラプタつまり光式に構成したが、光以外の信号、例えば超音波信号を前方側に投射してその反射波を検出する超音波式のセンサー等によって構成してもよい。 [0030] In [Other Embodiment] The above embodiments, grass presence detecting sensor S1 for detecting the presence or absence by projecting a signal for detection grass existence grass of the vehicle body front side, S2, S3, S4 for reflection photointerrupter that has been configured to the optical type, signal other than light, for example an ultrasonic signal may be constituted by ultrasonic sensors for detecting the reflected wave is projected to the front side.

【0031】又、上記実施例では、車体横幅方向に沿って所定間隔毎に草の有無を検出する草有無検出手段22 [0031] Further, in the above embodiment, the grass detecting means 22 for detecting the presence or absence of grass at predetermined intervals along the vehicle width direction
を構成するのに、草存否検出センサーS1,S2,S To construct the grass presence detection sensors S1, S2, S
3,S4を車体横幅方向に沿って移動操作するように構成したが、移動させるのではなく、例えば、所定個数の草存否検出センサーを車体横幅方向に沿って並べたものでもよい。 3, S4 and is configured so as to move the operation along the vehicle body width direction, instead of moving, for example, may be those arranged along the grass presence detection sensor of a predetermined number of the vehicle body width direction.

【0032】又、上記実施例では、芝有無検出手段22 [0032] Further, in the above embodiment, turf detecting means 22
に備えられる移動操作手段23を、草存否検出センサーS1,S2,S3,S4の支持体即ち円筒体12を縦軸芯回りに揺動させる揺動機構によって構成したが、揺動機構ではなく、例えば車体横幅方向に沿って直線的に草存否検出センサーS1,S2,S3,S4の支持体を移動させるような構成でもよい。 The move operation means 23 provided in, is constituted by grass presence detection sensors S1, S2, S3, S4 of the support or oscillating mechanism for oscillating the cylinder 12 to the vertical axis core around rather than swinging mechanism, for example the vehicle width direction along linearly grass presence detection sensors S1, S2, S3, S4 support the may be configured such move.

【0033】又、上記実施例では、草を下方側に案内して草の上方への突出を制限する草高さ制限手段11を、 [0033] Further, in the above embodiment, the grass height restriction means 11 which guides the grass on the lower side to limit the projecting upward grass,
その下面で草を押さえつけるように配置されたガード板によって構成したが、必ずしも板状に構成する必要はなく、例えば、草を通さないほど細かい網が形成された網状体等でもよい。 Is constituted by a guard plate disposed so as to press the grass in its lower surface, not necessarily have to be configured in plate shape, for example, it may be a fine mesh as impervious to grass is formed meshwork like.

【0034】又、上記実施例では、本発明を芝刈り作業車に適用したものを例示したが、これ以外の種々の草刈り機に適用することができる。 [0034] Further, in the above embodiment, the present invention has been illustrated applied to a lawn mowing vehicle, it can be applied to other various mower.

【0035】尚、特許請求の範囲の項に図面との対照を便利にする為に符号を記すが、該記入により本発明は添付図面の構成に限定されるものではない。 [0035] Although referred to code in order to conveniently control the drawing-claims, the present invention by the entry is not intended to be limited to the configuration of the accompanying drawings.

【0036】 [0036]

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】制御構成のブロック図 Block diagram of Figure 1 control configuration

【図2】草有無検出手段の平面図 Figure 2 is a plan view of a grass detecting means

【図3】作業形態の説明図 FIG. 3 is an explanatory view of a working form

【図4】車体の概略平面図 Figure 4 is a schematic plan view of the vehicle body

【図5】車体の概略側面図 FIG. 5 is a schematic side view of the vehicle body

【図6】車体の概略正面図 FIG. 6 is a schematic front view of the vehicle body

【図7】旋回機構の背面図 FIG. 7 is a rear view of the turning mechanism

【図8】旋回機構の動作説明図 [8] diagram for describing operation of the swivel mechanism

【図9】制御作動のフローチャート FIG. 9 is a flowchart of control operations

【符号の説明】 DESCRIPTION OF SYMBOLS

S1,S2,S3,S4 草存否検出センサー 22 芝有無検出手段 A 未処理作業地 B 処理済作業地 L 境界 100 境界判別手段 11 草高さ制限手段 23 移動操作手段 S1, S2, S3, S4 grass existence detecting sensor 22 turf detecting means A raw work locations B processed work locations L boundary 100 boundary determination unit 11 grass height restriction means 23 moves the operating means

Claims (2)

    (57)【特許請求の範囲】 (57) [the claims]
  1. 【請求項1】 草存否検出用の信号を車体前方側の草に投射してその存否を検出する草存否検出センサー(S 1. A grass existence detection sensor for detecting the presence or absence of the signal for detection grass existence by projecting the grass of the vehicle body front side (S
    1,S2,S3,S4)によって、車体横幅方向に沿って所定間隔毎に草の有無を検出する草有無検出手段(2 1, S2, S3, the S4), grass detecting means for detecting the presence or absence of grass at predetermined intervals along the vehicle width direction (2
    2)と、その草有無検出手段(22)の情報に基づいて未処理作業地(A)と処理済作業地(B)との境界(L)を判別する境界判別手段(100)とが設けられた草刈機の境界検出装置であって、 草を下方側に案内して草の上方への突出を制限する草高さ制限手段(11)が機体前部に設けられ、 前記草有無検出手段(22)が、前記草高さ制限手段(11)の上部で且つその前端部よりも後方側位置に設けられている草刈機の境界検出装置。 And 2) untreated work areas (A) and processed work locations and (boundary determination means (100 for determining the boundary (L) with B)) is provided on the basis of the information of the grass detecting means (22) It was a boundary detecting apparatus of mower, to guide the grass downward grass height limit means for limiting the projecting upward grass (11) is provided on the body front, the grass detecting means (22), the upper in and boundary detection device mower provided rearward position than the front end portion of the grass height limit means (11).
  2. 【請求項2】 請求項1記載の草刈機の境界検出装置であって、 前記草有無検出手段(22)が、前記草存否検出センサー(S1,S2,S3,S4)を機体横幅方向に沿って移動操作するための移動操作手段(23)を備えるように構成されている草刈機の境界検出装置。 2. A boundary detection apparatus mower according to claim 1, wherein the grass detecting means (22), along the grass presence detecting sensor a (S1, S2, S3, S4) to the vehicle body width direction moving operation means (23) boundary detecting apparatus mower that is configured with for moving operation Te.
JP23666492A 1992-09-04 1992-09-04 Mower of boundary detection device Expired - Lifetime JP2731679B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP23666492A JP2731679B2 (en) 1992-09-04 1992-09-04 Mower of boundary detection device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP23666492A JP2731679B2 (en) 1992-09-04 1992-09-04 Mower of boundary detection device

Publications (2)

Publication Number Publication Date
JPH0678603A JPH0678603A (en) 1994-03-22
JP2731679B2 true JP2731679B2 (en) 1998-03-25

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JP23666492A Expired - Lifetime JP2731679B2 (en) 1992-09-04 1992-09-04 Mower of boundary detection device

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US7362439B2 (en) 2003-08-01 2008-04-22 Li-Cor, Inc. Method of detecting the condition of a turf grass

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JPH0678603A (en) 1994-03-22

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