JP6815276B2 - 草刈機 - Google Patents
草刈機 Download PDFInfo
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- JP6815276B2 JP6815276B2 JP2017102819A JP2017102819A JP6815276B2 JP 6815276 B2 JP6815276 B2 JP 6815276B2 JP 2017102819 A JP2017102819 A JP 2017102819A JP 2017102819 A JP2017102819 A JP 2017102819A JP 6815276 B2 JP6815276 B2 JP 6815276B2
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- cutting blade
- vehicle speed
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- rotation speed
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- 230000007246 mechanism Effects 0.000 claims description 35
- 238000001514 detection method Methods 0.000 claims description 25
- 244000025254 Cannabis sativa Species 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 9
- 230000007423 decrease Effects 0.000 description 8
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 7
- 230000007935 neutral effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
-
- 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
- A01D34/66—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 with two or more cutters
- A01D34/667—Means for directing the cut crop
- A01D34/668—Means for directing the cut crop rotating
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- 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
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- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1886—Controlling power supply to auxiliary devices
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D2101/00—Lawn-mowers
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/15—Agricultural vehicles
- B60W2300/156—Ridable lawn mowers
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- 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
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Harvester Elements (AREA)
Description
このような実情から、習熟した運転技術を必要とせずに、指示された作業要求を満たす草刈作業の実施が可能な草刈機が要望されている。
(1)上述した実施形態では、駆動輪ユニット2を駆動する可変速駆動機構は、左後車輪2aを駆動する左モータ21と、右後車輪2bを駆動する右モータ22とを有する左右独立モータ方式で構成されていた。これに代えて、可変速駆動機構は、1つの共通走行用モータと、共通走行用モータからの動力を変速して左後車輪2aに伝達する左無段変速装置と、共通走行用モータからの動力を変速して右後車輪2bに伝達する右無段変速装置とから構成することも可能である。
2a :左後車輪
2b :右後車輪
3 :モーアユニット
4 :インバータ駆動モジュール
4A :走行制御部
4B :刈刃制御部
5 :入力信号処理ユニット
10 :機体
15 :人為車速操作具
15a :左操縦レバー
15b :右操縦レバー
16 :PTOレバー
20 :バッテリ
21 :左モータ
22 :右モータ
23 :駆動機構
30 :刈刃
31 :駆動機構
32 :刈刃モータ
33 :刈刃動力伝達機構
41 :インバータ駆動信号生成部
42 :インバータ回路
51 :モード設定部
52 :制御テーブル
53 :車速指示値算出部
54 :車速制御目標値算出部
55 :刈刃制御目標値算出部
56 :刈刃負荷算出部
57 :最高車速値変更部
70 :モード選択部
74 :刈刃速度検出部
80 :操作検出部
80a :操作量検出センサ
80b :操作量検出センサ
73 :刈刃SW
Claims (5)
- 可変速駆動機構によって駆動される駆動輪ユニットと、
刈刃駆動機構によって回転駆動される刈刃を有するモーアユニットと、
車速ゼロ位置から最高車速位置までの間を変位操作される人為車速操作具と、
前記人為車速操作具の操作位置を検出する操作検出部と、
前記人為車速操作具の前記操作位置に基づいて、最高車速を含む車速指示値を生成する車速指示値算出部と、
複数の制御モードから使用される制御モードを選択するモード選択部と、
前記制御モード毎に用意された、最高車速値と刈刃回転速度値とを含む制御パラメータを規定する制御テーブルと、
前記車速指示値と前記制御テーブルとに基づいて車速制御目標値を算出する車速制御目標値算出部と、
前記車速制御目標値に基づいて前記可変速駆動機構を制御する走行制御部と、
前記制御テーブルに基づいて前記刈刃の回転速度制御目標値を算出する刈刃制御目標値算出部と、
前記回転速度制御目標値に基づいて前記刈刃駆動機構を制御する刈刃制御部と、
前記刈刃の回転速度である刈刃回転速度に基づいて、前記制御テーブルにおける前記最高車速値を変更する最高車速値変更部と、を備えた草刈機。 - 前記刈刃回転速度が速くなるほど、前記最高車速値が増加する低刈刃回転速度領域と、前記刈刃回転速度が速くなっても、前記最高車速値が一定である高刈刃回転速度領域が設定されている請求項1に記載の草刈機。
- 前記制御モードには、高い刈草能力を得るためのフルパワーモードと、省エネと低騒音とのためのエコモードとが含まれており、前記フルパワーモードでは、前記エコモードに比べて、前記高刈刃回転速度領域での前記最高車速値が高く設定されている請求項2に記載の草刈機。
- 前記刈刃制御目標値算出部は、前記刈刃の回転負荷に依存して、前記回転速度制御目標値を算出する請求項1から3のいずれか一項に記載の草刈機。
- 前記可変速駆動機構及び前記刈刃駆動機構は、バッテリを駆動源とする電動モータが用いられている請求項1から4のいずれか一項に記載の草刈機。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017102819A JP6815276B2 (ja) | 2017-05-24 | 2017-05-24 | 草刈機 |
US15/835,692 US10477759B2 (en) | 2017-05-24 | 2017-12-08 | Grass mower |
EP17206517.9A EP3406127B1 (en) | 2017-05-24 | 2017-12-11 | Grass mower |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017102819A JP6815276B2 (ja) | 2017-05-24 | 2017-05-24 | 草刈機 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018196354A JP2018196354A (ja) | 2018-12-13 |
JP6815276B2 true JP6815276B2 (ja) | 2021-01-20 |
Family
ID=60654877
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017102819A Active JP6815276B2 (ja) | 2017-05-24 | 2017-05-24 | 草刈機 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10477759B2 (ja) |
EP (1) | EP3406127B1 (ja) |
JP (1) | JP6815276B2 (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11437936B2 (en) * | 2018-07-16 | 2022-09-06 | Briggs & Stratton, Llc | Outdoor power equipment with distributed motor controllers |
US20200305341A1 (en) | 2019-03-29 | 2020-10-01 | Deere & Company | Riding lawn equipment engine speed control module |
CN110006467A (zh) * | 2019-04-21 | 2019-07-12 | 杭州晶一智能科技有限公司 | 割草机器人基于电机电流的草况识别方法 |
JP2021168601A (ja) * | 2020-04-14 | 2021-10-28 | 株式会社 神崎高級工機製作所 | 芝刈車両の制御システム |
CN111837588B (zh) * | 2020-08-07 | 2021-10-26 | 格力博(江苏)股份有限公司 | 割草车系统、割刀转速设置方法及割草车系统管理方法 |
JP7390998B2 (ja) * | 2020-09-16 | 2023-12-04 | 株式会社クボタ | 草刈装置 |
CN114246051B (zh) * | 2020-09-25 | 2023-09-08 | 南京泉峰科技有限公司 | 割草机及其控制方法 |
US11345351B2 (en) * | 2020-11-02 | 2022-05-31 | Deere & Company | System and method for adaptive PTO droop |
WO2023114941A1 (en) * | 2021-12-16 | 2023-06-22 | Ariens Company | Electric utility vehicle eco-mode selection and operation |
JP2023182153A (ja) | 2022-06-14 | 2023-12-26 | 株式会社クボタ | 電動作業車 |
US11944038B1 (en) * | 2023-08-21 | 2024-04-02 | Dimaag-Ai, Inc. | Electric lawnmowers with interchangeable mowing units and methods of operating thereof |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6269617B1 (en) * | 2000-05-19 | 2001-08-07 | Daniel R. Blanchard | Lawn mower with laser cutting apparatus |
US8207693B2 (en) * | 2007-09-11 | 2012-06-26 | Hydro-Gear Limited Partnership | Controller assemblies for electric drive utility vehicles |
US8668036B2 (en) * | 2007-09-11 | 2014-03-11 | Hydro-Gear Limited Partnership | Control systems and methods for electric drive utility vehicles |
US8706297B2 (en) * | 2009-06-18 | 2014-04-22 | Michael Todd Letsky | Method for establishing a desired area of confinement for an autonomous robot and autonomous robot implementing a control system for executing the same |
WO2011086745A1 (ja) * | 2010-01-13 | 2011-07-21 | 株式会社Ihi | 芝刈り車両 |
US9125341B2 (en) * | 2011-01-19 | 2015-09-08 | Yanmar Co., Ltd. | Mower deck with relative blade speed control for uniform discharge of mown grass |
JP2012187025A (ja) | 2011-03-09 | 2012-10-04 | Kubota Corp | 乗用作業車 |
JP5715855B2 (ja) * | 2011-03-09 | 2015-05-13 | 株式会社クボタ | 乗用作業車 |
US8966870B2 (en) * | 2011-10-26 | 2015-03-03 | Accelerated Systems Inc. | Methods of controlling a lawn mower having electric drive and blade motors |
JP2013188161A (ja) * | 2012-03-13 | 2013-09-26 | Kanzaki Kokyukoki Manufacturing Co Ltd | 芝刈車両 |
EP2639128B1 (en) | 2012-03-13 | 2023-09-06 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Work vehicle |
JP6121213B2 (ja) * | 2013-03-28 | 2017-04-26 | 株式会社クボタ | 乗用作業機及びその運転方法 |
JP6321970B2 (ja) | 2014-01-20 | 2018-05-09 | 株式会社クボタ | 芝刈機 |
-
2017
- 2017-05-24 JP JP2017102819A patent/JP6815276B2/ja active Active
- 2017-12-08 US US15/835,692 patent/US10477759B2/en active Active
- 2017-12-11 EP EP17206517.9A patent/EP3406127B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP3406127A1 (en) | 2018-11-28 |
US20180338417A1 (en) | 2018-11-29 |
US10477759B2 (en) | 2019-11-19 |
JP2018196354A (ja) | 2018-12-13 |
EP3406127B1 (en) | 2021-10-06 |
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