JP6619325B2 - 芝刈機 - Google Patents
芝刈機 Download PDFInfo
- Publication number
- JP6619325B2 JP6619325B2 JP2016252092A JP2016252092A JP6619325B2 JP 6619325 B2 JP6619325 B2 JP 6619325B2 JP 2016252092 A JP2016252092 A JP 2016252092A JP 2016252092 A JP2016252092 A JP 2016252092A JP 6619325 B2 JP6619325 B2 JP 6619325B2
- Authority
- JP
- Japan
- Prior art keywords
- machine
- lawn
- battery
- auxiliary
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 241001494496 Leersia Species 0.000 claims description 78
- 230000004308 accommodation Effects 0.000 claims description 45
- 238000005520 cutting process Methods 0.000 claims description 30
- 238000001514 detection method Methods 0.000 claims description 26
- 238000011084 recovery Methods 0.000 claims description 16
- 244000025254 Cannabis sativa Species 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 230000010365 information processing Effects 0.000 claims 1
- 238000003860 storage Methods 0.000 description 74
- 239000000463 material Substances 0.000 description 24
- 238000004891 communication Methods 0.000 description 14
- 238000002485 combustion reaction Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000000926 separation method Methods 0.000 description 6
- 238000002360 preparation method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 239000000446 fuel Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
- A01D43/063—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material in or into a container carried by the mower; Containers therefor
- A01D43/0631—Control devices specially adapted therefor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
- A01D43/063—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material in or into a container carried by the mower; Containers therefor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/71—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis with means for discharging mown material
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/76—Driving mechanisms for the cutters
- A01D34/78—Driving mechanisms for the cutters electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/66—Arrangements of batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/04—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt taking- up the sweepings, e.g. for collecting, for loading
- E01H1/047—Collecting apparatus characterised by the hopper or by means for unloading the hopper
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
- H01M10/448—End of discharge regulating measures
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D2101/00—Lawn-mowers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0405—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
- B60K2001/0438—Arrangement under the floor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Sustainable Energy (AREA)
- Sustainable Development (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Architecture (AREA)
- Manufacturing & Machinery (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Electrochemistry (AREA)
- Harvester Elements (AREA)
Description
乗用芝刈機10による芝刈りは、例えば、図8に示すように、芝草が群生する所定の作業エリア200内を所望の作業ルート201を走行することにより実施される。
乗用芝刈機10では、刈芝収容用補機70の作業用本機20からの離脱動作を実行するにあたり、その離脱の可否を判定する離脱判定処理が実行される。
切り離しが完了すると、補機制御装置104は、刈芝収容用補機70の自律走行を開始し、その後は、設定された走行ルートに従って左右の走行駆動装置80が補機制御装置104によって個別に制御される。これにより、刈芝収容用補機70は、図5に示されている単機で、図9または図10に示すように、設定された走行ルート(往路、復路)300に従って刈芝廃棄場所202へ向けて公知の技術によって自律走行する。旋回を含む刈芝収容用補機70の走行方向の変更は、左右の走行駆動装置80の駆動速度差によって行われる。
20 :作業用本機
31 :クラッチ
38 :運転座席
40 :刈刃装置
44 :回転軸
45 :ベルト伝動機構
48 :刈刃
50 :排出ダクト
52 :接続ダクト
54 :本機制御装置
56 :無線通信機
58 :バッテリ
60 :操作部
66 :シャッタ
68 :シャッタクチュエータ
70 :刈芝収容用補機
80 :走行駆動装置
84 :後輪持上げアクチュエータ
88 :刈芝収納容器
90 :刈芝収納室
90A :収容物排出開口
92 :開閉プレート(開閉扉)
98 :ダンプアクチュエータ
100 :開閉アクチュエータ
104 :補機制御装置
106 :GPS
108 :台車角センサ
110 :無線通信機
112 :バッテリ
114 :バッテリ残量センサ
120 :圧力センサ
122 :カメラ
124 :警告器
130 :ラッチ装置
132 :フック部材
134 :ラッチアクチュエータ
136 :係合用開口
138 :検出スイッチ
140 :接続用部材
200 :作業エリア
201 :作業ルート
202 :刈芝廃棄場所
203 :刈芝
Claims (12)
- 移動中に刈り取った刈芝を一時的に収容可能な芝刈機であって、
作業用本機と、
前記作業用本機によって刈り取られた前記刈芝を収容すると共に、前記作業用本機から離脱することにより、前記作業用本機と所定の刈芝廃棄場所との間を走行可能な刈芝収容用補機と、
前記刈芝収容用補機の走行に供される走行駆動装置と、
前記刈芝収容用補機に搭載され、前記走行駆動装置に電力を供給するバッテリと、
前記バッテリのバッテリ残量を検出するバッテリ残量センサと、
前記バッテリ残量に基づき前記刈芝収容用補機の前記作業用本機からの離脱の可否を判定する制御装置と、
前記芝刈機の現在の位置情報を生成する自己位置検出装置とを備え、
前記制御装置は、移動停止中の前記芝刈機の前記位置情報に基づく現在位置と、前記刈芝廃棄場所の位置とに基づき、前記刈芝収容用補機の走行に必要とされる必要バッテリ残量を設定し、前記バッテリ残量が前記必要バッテリ残量以上である場合に、前記刈芝収容用補機の作業用本機からの離脱を許可することを特徴とする芝刈機。 - 前記制御装置は、移動停止中の前記芝刈機の現在位置及び前記刈芝廃棄場所の位置から、前記作業用本機と所定の刈芝廃棄場所との間の往復に用いる走行ルートを設定し、前記走行ルートの長さに基づき前記必要バッテリ残量を設定することを特徴とする請求項1に記載の芝刈機。
- 前記制御装置は、移動停止中の前記作業用本機の現在位置と前記刈芝廃棄場所との間に存在する障害物の位置情報を取得し、前記障害物を回避するように前記走行ルートを設定することを特徴とする請求項2に記載の芝刈機。
- 前記刈芝収容用補機は、前記刈芝廃棄場所において前記刈芝の取り出し動作を実行し、
前記制御装置は、前記刈芝収容用補機の前記走行ルートでの走行に必要とされる第1のバッテリ残量と、前記刈芝の取り出し動作に必要とされる第2のバッテリ残量と、予め設定された予備的なバッテリ残量との和に基づき前記必要バッテリ残量を設定することを特徴とする請求項2または請求項3に記載の芝刈機。 - 前記制御装置は、前記必要バッテリ残量の設定に、前記刈芝収容用補機に収容された刈芝の重量を考慮する請求項4に記載の芝刈機。
- 前記刈芝収容用補機における前記刈芝の回収状況を検出する回収状況検出センサを更に備え、
前記制御装置は、前記バッテリ残量に基づき前記刈芝収容用補機の前記作業用本機からの離脱を許可すると判定した場合、前記回収状況検出センサを無効とするように制御することを特徴とする請求項1から請求項5の何れか一項に記載の芝刈機。 - 前記刈芝収容用補機における前記刈芝の回収状況を検出する回収状況検出センサを更に備え、
前記自己位置検出装置は、前記回収状況検出センサの検出結果に基づき起動することを特徴とする請求項1から請求項5の何れか一項に記載の芝刈機。 - 前記制御装置は、前記バッテリ残量に基づき前記刈芝収容用補機の前記作業用本機からの離脱を許可しないと判定した場合、前記バッテリ残量が前記必要バッテリ残量に達するまで前記バッテリの充電を実行することを特徴とする請求項1から請求項7の何れか一項に記載の芝刈機。
- 前記制御装置は、前記バッテリを第1の電流値に基づき充電する通常充電モードと、前記バッテリを前記第1の電流値よりも大きい第2の電流値に基づき充電する急速充電モードとを実行可能であり、前記バッテリ残量に基づき前記刈芝収容用補機の前記作業用本機からの離脱を許可しないと判定した場合には、前記急速充電モードを実行することを特徴とする請求項8に記載の芝刈機。
- 前記作業用本機に対して前記刈芝収容用補機を切り離し可能に連結する連結装置を更に備え、
前記制御装置は、前記バッテリ残量に基づき前記刈芝収容用補機の前記作業用本機からの離脱を許可すると判定した場合、前記刈芝収容用補機を離脱させるように前記連結装置の動作を制御することを特徴とする請求項1から請求項9の何れか一項に記載の芝刈機。 - 前記作業用本機に設けられ、芝刈りを実行する刈刃装置を更に備え、
前記制御装置は、前記バッテリ残量が前記必要バッテリ残量以上の場合に、前記刈刃装置を停止させるように前記刈刃装置を制御することを特徴とする請求項1から請求項10の何れか一項に記載の芝刈機。 - 発光、音声出力、及び画像表示の少なくとも1つに基づき前記制御装置による前記判定の結果を作業者に対して報知する報知装置を更に備えることを特徴とする請求項1から請求項11の何れか一項に記載の芝刈機。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016252092A JP6619325B2 (ja) | 2016-12-26 | 2016-12-26 | 芝刈機 |
US16/472,095 US11197421B2 (en) | 2016-12-26 | 2017-12-12 | Work equipment |
EP17885697.7A EP3542611B1 (en) | 2016-12-26 | 2017-12-12 | Work machine |
CN201780080902.2A CN110167334A (zh) | 2016-12-26 | 2017-12-12 | 工作设备 |
PCT/JP2017/044603 WO2018123568A1 (ja) | 2016-12-26 | 2017-12-12 | 作業機 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016252092A JP6619325B2 (ja) | 2016-12-26 | 2016-12-26 | 芝刈機 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018102204A JP2018102204A (ja) | 2018-07-05 |
JP6619325B2 true JP6619325B2 (ja) | 2019-12-11 |
Family
ID=62708223
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016252092A Expired - Fee Related JP6619325B2 (ja) | 2016-12-26 | 2016-12-26 | 芝刈機 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11197421B2 (ja) |
EP (1) | EP3542611B1 (ja) |
JP (1) | JP6619325B2 (ja) |
CN (1) | CN110167334A (ja) |
WO (1) | WO2018123568A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020153371A1 (ja) * | 2019-01-22 | 2020-07-30 | 株式会社ナイルワークス | ドローンシステム、ドローン、移動体、動作決定装置、ドローンシステムの制御方法、および、ドローンシステム制御プログラム |
CN113271772B (zh) * | 2019-01-22 | 2022-10-04 | 株式会社尼罗沃克 | 无人机系统和无人机系统的控制方法 |
CN110286670A (zh) * | 2019-04-09 | 2019-09-27 | 丰疆智能科技股份有限公司 | 多台自动收割机的行驶路径规划系统及其方法 |
WO2024190893A1 (ja) * | 2023-03-16 | 2024-09-19 | 本田技研工業株式会社 | 芝刈機、芝刈システムおよび貯留装置 |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2717810B2 (ja) * | 1988-08-16 | 1998-02-25 | 本田技研工業株式会社 | 自走型作業ロボット |
DE59104864D1 (de) * | 1991-06-14 | 1995-04-13 | Mohr Hermann Masch | Bodenbearbeitungsmaschine und Fahrwerk. |
DE29521988U1 (de) * | 1994-02-28 | 1999-02-25 | Sperber Maschinenbau GmbH & Co., 90765 Fürth | Fahrbare Anhängevorrichtung mit einem Sammelbehälter für Mähgut, Kehrgut o.dgl. |
JP3776040B2 (ja) | 2001-12-28 | 2006-05-17 | 株式会社クボタ | 作業機の集草構造 |
JP4257457B2 (ja) * | 2004-06-23 | 2009-04-22 | 井関農機株式会社 | 葉茎収穫機 |
JP4343781B2 (ja) * | 2004-06-25 | 2009-10-14 | 本田技研工業株式会社 | 芝刈機 |
JP2006034432A (ja) * | 2004-07-23 | 2006-02-09 | Funai Electric Co Ltd | 自走式クリーナユニット |
JP2006042604A (ja) * | 2004-07-30 | 2006-02-16 | Kubota Corp | 乗用型草刈り機 |
JP4557257B2 (ja) * | 2005-05-17 | 2010-10-06 | 株式会社リコー | 画像形成装置 |
US8033086B2 (en) * | 2007-05-01 | 2011-10-11 | Yanmar Co., Ltd. | Lawn mower with grass collection box |
JP5060466B2 (ja) | 2008-12-24 | 2012-10-31 | 株式会社クボタ | 草刈り機の集草装置 |
JP2010243884A (ja) * | 2009-04-08 | 2010-10-28 | Konica Minolta Business Technologies Inc | 自走式画像形成装置 |
US20120095638A1 (en) * | 2010-10-14 | 2012-04-19 | Noel Wayne Anderson | Waste management system |
JP5445443B2 (ja) * | 2010-12-24 | 2014-03-19 | 井関農機株式会社 | 草刈機、及び草刈機のコレクタ取り外し方法 |
JP5729157B2 (ja) * | 2011-06-21 | 2015-06-03 | 井関農機株式会社 | 草刈機 |
JP2013031389A (ja) * | 2011-08-01 | 2013-02-14 | Original Soft:Kk | 自動芝刈り機及びその制御方法 |
JP2013048614A (ja) * | 2011-08-31 | 2013-03-14 | Mamiya Op Co Ltd | 刈かすの収集排出装置 |
JP2013113874A (ja) * | 2011-11-25 | 2013-06-10 | Riso Kagaku Corp | 画像形成装置 |
JP6166155B2 (ja) | 2013-11-11 | 2017-07-19 | 株式会社クボタ | 乗用草刈機 |
JP2016114984A (ja) * | 2014-12-11 | 2016-06-23 | 福田 敏男 | 作業車両 |
US10981465B2 (en) * | 2017-09-01 | 2021-04-20 | Kabushiki Kaisha Toyota Chuo Kenkyusho | System, and method for swapping self driving energy module for an energy management system |
US10980173B2 (en) * | 2017-09-13 | 2021-04-20 | Black & Decker Inc. | Riding mower with removeable battery module |
-
2016
- 2016-12-26 JP JP2016252092A patent/JP6619325B2/ja not_active Expired - Fee Related
-
2017
- 2017-12-12 CN CN201780080902.2A patent/CN110167334A/zh active Pending
- 2017-12-12 EP EP17885697.7A patent/EP3542611B1/en active Active
- 2017-12-12 US US16/472,095 patent/US11197421B2/en active Active
- 2017-12-12 WO PCT/JP2017/044603 patent/WO2018123568A1/ja unknown
Also Published As
Publication number | Publication date |
---|---|
US20190313580A1 (en) | 2019-10-17 |
EP3542611A1 (en) | 2019-09-25 |
WO2018123568A1 (ja) | 2018-07-05 |
EP3542611A4 (en) | 2019-12-25 |
JP2018102204A (ja) | 2018-07-05 |
EP3542611B1 (en) | 2020-11-04 |
CN110167334A (zh) | 2019-08-23 |
US11197421B2 (en) | 2021-12-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6619325B2 (ja) | 芝刈機 | |
JP6663839B2 (ja) | 芝刈機及び芝刈機の運転方法 | |
US11197422B2 (en) | Work equipment with travel unit lifting device | |
US11267385B2 (en) | Work equipment | |
US11197423B2 (en) | Work equipment with container lifting device | |
US12017849B2 (en) | Lighting system for a refuse vehicle | |
JP5687130B2 (ja) | 消耗材の自動供給システム | |
JP6787825B2 (ja) | 遠隔作業システム | |
JPH05208704A (ja) | 容器を空ける装置 | |
JP6797054B2 (ja) | 遠隔除染システム | |
JP2011055757A (ja) | コンバイン |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20181127 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190820 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20191018 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20191029 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20191114 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6619325 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
LAPS | Cancellation because of no payment of annual fees |