JPH0585206U - Self-propelled lawn mower - Google Patents

Abstract

(57) [Summary] [Purpose] It is an object of the present invention to provide a self-propelled lawnmower that is highly energy efficient, has a long service life, has a small effect on the environment due to noise, and can be unmanned. [Structure] In a self-propelled lawnmower that travels along a set route by detecting a conductor fixed on the ground and increases or decreases the time required to make one turn according to the amount of mowing work, Measure the time it takes to travel the set distance or the time taken from a certain point in the travel route to go around the travel route to return to the fixed point, and if the time is less than the set time, for cutting blades and driving wheels A control device for stopping the electric motor for a certain period of time is provided.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a self-propelled lawn mower that is fixedly mounted on the ground and runs along a conductor such as an induction wire that emits an induction wave.

[0002]

[Prior Art]

 Conventional self-propelled lawnmowers are designed to stop operating when the switch is turned off. As a related technique, there is Jitsukai Sho 57-67505.

[0003]

[Problems to be solved by the device]

 After the work is completed, if the switch-off operation is not performed as described above, the following problems remain. (1) Since the grass must travel again where the grass has been mowed, wasteful energy is consumed and wasteful energy is consumed. (2) The life of the machine becomes short. (3) The environmental impact of noise increases. (4) A person must check the end of the work and turn it off.

[0004]

[The purpose of the device]

 Therefore, paying attention to the fact that the mowing time is shortened when the grass is mowed so that it does not need to be mowed, and by detecting it and eliminating wasteful mowing work, high energy efficiency is achieved. The objective is to provide a self-propelled lawnmower that has a long life, has little impact on the environment due to noise, and can be unmanned.

[0005]

[Means for Solving the Problems]

 In order to solve the above-mentioned problems and achieve the purpose, the time required to detect the dielectric fixed on the ground and travel along the set route and to make one turn around the route according to the amount of mowing work increases or decreases. In a traveling lawnmower, the device according to claim 1 of the present application is provided with a monitor device for detecting the voltage of an electric motor for driving a wheel that changes the frequency of ON-OFF according to the traveling speed, the set distance and the set distance. It has a memory that stores the set time and a timer that measures the running time.The running distance is integrated from the running time measured by the timer and the voltage detected by the monitor device, and the integrated running distance becomes the set distance. When the time required to reach it is shorter than the set time, it is equipped with a control device that issues a stop signal to the driving device of the moving wheel and the cutting blade to stop them for a certain period of time.

The invention according to claim 2 has a fixed-point detection sensor for detecting that the lawnmower has passed a certain point in the route, and a timer for measuring the running time from the time of passing the fixed point. When the time until the vehicle passes again is within the set time, it is characterized by having a control device that issues a stop signal to the driving device of the moving wheel and the cutting blade to stop them for a certain period of time.

According to a third aspect of the present invention, in the self-propelled lawn mower according to the first or second aspect of the present invention, the control device has a timer capable of setting a working time zone, and after a certain period of stop, the timer is set. The feature is that the operation is restarted only during the set work hours.

According to a fourth aspect of the present invention, in the self-propelled lawn mower according to the first or second aspect of the present invention, a timer for setting a work start time in the control device is provided, and the timer is set after stopping for a predetermined time. The feature is that the operation is restarted after the set work start time.

[0009]

[Action]

 In the self-propelled lawnmower according to the first aspect of the present invention, the traveling route for one round of the lawn is stored in the memory as the set distance, and the minimum time required for the traveling route for one round is A slightly longer time than that is stored as a set time in the memory. When actually performing the mowing work, the traveling distance is integrated from the traveling speed and the elapsed time, and the elapsed time at the time when the vehicle has traveled one round is compared with the set time. , Stop the drive of the cutting blades and driving wheels and keep them stopped for a period of time until the lawn grass extends to the state where mowing is required.

In the self-propelled lawnmower according to the second aspect of the present invention, a portion that does not get in the way is provided in the traveling route, and for example, a reflector is provided, and the traveling route is returned from the fixed point to the fixed point. The minimum time required until or slightly longer than that is stored in the memory as the set time. When actually performing a mowing operation, the time taken to make a round from a fixed point to a fixed point is measured, the elapsed time is compared with the set time, and if one round is made earlier than the set time, the cutting blade and drive wheel drive device Stop and keep it stopped for a period of time in which the turfgrass extends until it needs to be mowed.

Further, by applying the invention according to claim 3 or 4, it is possible to avoid an inconvenient time as a point of time for restarting after a lapse of a certain time.

[0012]

Embodiment 1 FIGS. 1, 2 and 3 show a self-propelled lawnmower to which the inventions according to claims 1 and 3 are applied. In FIG. 1 showing a horizontal sectional view, a front side of a main body base 1 is shown. And a pair of left and right driving wheels 2 and 3 on the rear side, and a pair of left and right driven wheels 4 on the rear side. The left driving wheel 2 is interlocked with the left driving wheel driving electric motor 6 via the left reduction gear mechanism 5, and the right driving wheel 3 is drivingly connected to the right driving wheel driving electric motor 8 via the right reduction gear mechanism 7. It is connected.

Electric motors 10, 11 for cutting blade drive are fixed to the left and right at an intermediate portion in the front-rear direction of the main body base 1, and the rotary shafts 12, 13 of the electric motors 10, 11 penetrate the main body base 1. The blades 14 and 15 extend downward and are provided with cutting blades (blades) 14 and 15, respectively. The electric motors 10 and 11 for driving both cutting blades are arranged at positions displaced from each other in the front-rear direction, whereby the cutting widths of the two cutting blades 14 and 15 partially overlap (S) in the left-right direction. .. A battery 20 is mounted between the cutting blade driving electric motors 10 and 11 and is connected to the traveling electric motors 6 and 8 and the cutting blade driving electric motors 10 and 11.

A photoelectric sensor 30 for detecting the presence or absence of turfgrass is arranged in the front part of the main body base 1. The photoelectric sensor 30 is composed of a light emitting element 30a and a light receiving element 30b. The cutting blades 14 and 15 are arranged opposite to each other with a height adjustable between the cutting blades 14 and 15. The light from the light emitting element 30a is received by the light receiving element 30b, and when the grass is located between the two elements 30a and 30b, the light is blocked, and thereby the presence of the grass is sensed.

In FIG. 2, which is a partially cutaway side view of FIG. 1, a main body case 36 that covers the main body base 1 is integrally provided with spherical portions 36a and 36b, which are two-tiered front and rear, and are provided on the surface thereof. The solar cell T is attached to substantially the entire surface of the solar cell T. The solar cell T is connected to the battery 20 and the generated electric power is stored in the battery 20.

The lower surface of the main body base 1 is provided with an induction radio wave detection sensor 40 for guiding the lawnmower to travel on a predetermined course. In FIG. 3, one pair of left and right radio wave detection sensors 40 are provided at one end of the lawn mower in the left-right direction, and a guide wire Q is laid in advance on the ground in the course of the lawn mower. An electric current with a constant frequency is applied, which causes radio waves of constant strength to be generated. Both radio wave detection sensors 40 detect the strength of the radio wave emitted from the turf guidance wire Q.

Each of the moving wheel drive electric motors 6 and 8 is provided with a monitor device 37 or 38 for measuring the voltage value thereof, and the energization time thereof corresponds to the traveling distance. By measuring, the energization time can be calculated as a function of mileage.

In FIG. 4 showing a block diagram of the control device 32, the control device 32 includes a CPU 50, an input interface 51 for supplying various input signals, an output interface 52 for supplying various control signals to various controlled objects, and various It has a memory 53 for storing information and a timer 54, and an input signal from the voltage monitoring devices 37, 38 is input to the input interface 51 for stop control of the electric motors 6, 8, 10, 11. Turning on the electric motors 10 and 11 for driving the cutting blade. An input signal from the photoelectric sensor 30 is input for OFF control, and an input signal from the radio wave detection sensor 40 is input as an input signal for steering control.

The memory 53 stores a set distance L0 corresponding to one round of the traveling route, and a set time T0 that is slightly longer than the minimum time required to go around the set distance L0. The CPU 50 integrates the traveled distance according to the energization time from the monitor devices 37 and 38, and resets the integration when the integrated traveled distance L reaches the set distance L0. The timer 54 compares the elapsed time T from the previous reset at the time of resetting with the set time T0, and when the time T is smaller than the set time T0, the drive wheel drive electric motors 6 and 8 and the cutting blade drive electric motor 10 are set. , 11 is programmed to issue an output signal that shuts off the output signals. The timer 54 is also set so as to maintain the stopped state for a certain period of time after the stop.

Further, a timer 59 for setting a working time zone is also built in the control device 32. The timer 59 is connected to an operation panel 67 in the main body case 36 as shown in FIG. By operating 67, the electric motors 6, 8, 10, 11 can be set so that the electric motors 6, 8, 10, 11 can be operated only during an arbitrarily set time period. A cover 66 that can be opened and closed is provided on the upper side of the operation panel 67.

The control signal from the CPU 50 is output from the output interface 52, and the following various signals are output as the control signal in addition to the stop signal. Depending on the input signal from the photoelectric sensor 30, the cutting blade control signals for controlling the electric motors 10 and 11 for driving the cutting blades on and off via the cutting blade timer 35 and the input signal from the radio wave detection sensor 40 are used. A steering control signal or the like is output to the electric motors 6 and 8 for driving the driving wheels.

Regarding the cutting blade on / off control system, both cutting blade driving motors 10 and 11 are activated when the light of the photoelectric sensor 30 is cut off, and when the detection of turfgrass is completed, the timer 35 causes The electric motors 10 and 11 for driving the cutting blade are stopped after at least L / V has elapsed after the cutoff was completed. In FIG. 2, L is the distance from the position of the photoelectric sensor 30 to the rear end of the rear cutting blade 14, and V is the traveling speed of the lawn mower.

Regarding the steering control system, the input values from the left and right radio wave sensors 40 are compared in the control device 32, and control signals are sent to the left and right moving wheel drive electric motors 6 and 8 so that the difference therebetween becomes zero. Output. For example, when the input signal of the right radio wave sensor 40 is weaker than the input signal of the left radio wave sensor 40, it means that the right radio wave sensor 40 is moving away from the guide line Q to the right side. According to the difference, the rotation speed of the right-side moving wheel driving electric motor 8 is made higher than the rotation speed of the left-side moving wheel driving electric motor 6 to steer leftward.

The stop control of the operation will be described with reference to the flowchart of FIG. 6. When the operation is started in step 1, the integrated traveling distance L and the traveling time T are reset to be 0, and the step is performed. Go to 2.

In step 2, the running time T is integrated by the timer 54, and the running distance L 2 is integrated in step 3 from the energization time detected by the voltage monitoring devices 37 and 38, and the process proceeds to step 4.

In step 4, it is determined whether or not the cumulative traveling distance L is larger than the set distance L0. If NO, the process returns to step 2, and if YES, it is assumed that the set distance L0 has been reached. Proceed to.

In step 5, it is judged whether or not the traveling time T 1 when the integrated traveling distance L reaches the set distance L 0 is shorter than the set time T 0. If NO, it takes more time than the set time T. Therefore, the process returns to step 1 and the integration is reset. In the case of YES, it means that the reaping work does not take much time and there is no need to continue the work, so the process proceeds to step 6.

In step 6, a stop signal is issued to each of the electric motors 6, 8, 10 and 11 to stop them, and the process proceeds to step 7.

In step 7, it is determined whether or not a fixed time has elapsed. If NO, the process returns to step 7 again, and if YES, the process proceeds to step 8.

In step 8, it is determined whether or not it is the working time zone set by the timer 59 for the working time zone. If NO, the process returns to step 8 again, and if YES, the process goes to step 9. Then, the cutting blade and the electric motors for driving the driving wheels 6, 8, 11, and 12 are operated, and the process returns to step 1.

That is, when the traveling distance after the reset reaches one set traveling route, the accumulated traveling distance is reset, and at the time of the reset, the elapsed time from the previous reset is calculated and the elapsed time is calculated. If it is within the set time, it is judged that it is not necessary to continue the mowing work, and the mowing blade and the electric motors 6, 8, 10, 11 for driving the wheel are stopped. Then, after a certain period of time, the work is restarted only when it is in the operation time period, and the work is restarted while avoiding the sleep time period.

Regarding steering control during traveling, in FIG. 3, radio waves emitted from the induction wire Q are detected by the radio wave sensors 40, respectively, and if there is a difference in strength between the radio waves, the difference is set to 0. As described above, the rotation speeds of the left and right electric motors 6 and 8 for driving wheels are controlled. As a result, the electric wire Q is always steered so as to be located at the center position between the left and right radio wave sensors 40, 40.

Regarding the control of the cutting blade during traveling, in FIG. 2, when the photoelectric sensor 30 detects grass, the cutting blade driving electric motors 10 and 11 are driven to perform the cutting operation. Even after the completion of sensing by the sensor 30, the cutting blade is driven during the L / V to eliminate uncut residue. The speed is lower when the cutting blade is driven than when it is not driven. In other words, it takes time to make a round in the grass condition where the grass is tall and has a high density, and the cutting operation is repeated, but when the grass is short and the density is low, it takes time to make a round. It gets shorter.

[0034]

Second Embodiment FIG. 5 shows a flow chart in the case where only the device of claim 1 is applied. Only step 8 for judging whether it is within the operating time zone in FIG. Is the same as in FIG.

[0035]

Third Embodiment FIGS. 7 to 9 show a self-propelled lawnmower to which the inventions described in claims 2 and 4 are applied, and monitor devices 37 and 38 in the embodiments of FIGS. 1 to 3 are shown. The parts have the same structure except the items related to the program of the working time zone, the same parts are denoted by the same reference numerals, and detailed description thereof will be omitted.

In FIG. 7, a reflection-type fixed-point detection photoelectric sensor 60 is provided downward at the center of the front end of the main body base 1, while a fixed point is provided at one location of the traveling route in FIG. The reflection plate 61 is set by the photoelectric sensor 60 for fixed point detection so that the passage of the reflection plate 61 can be detected.

FIG. 10 is a block diagram of the control device 32, which has a CPU 50, an input interface 51, an output interface 52, a memory 53, timers 54 and 64, and the like. The memory 53 stores a set time T0, which is the minimum time required to complete one round of the traveling route from when the vehicle passes the fixed point to when the vehicle passes the fixed point again or a slightly longer time. The photoelectric sensor 60 for detecting a fixed point detects a fixed point, and when the fixed point is input, the timer 54 starts counting. Then, the time until the next fixed point is detected is integrated, and if the integrated time T is smaller than the set time T0 stored in the memory 53, the blade for cutting blades and driving wheels is driven via the output interfence 52. It is programmed to issue a stop signal to the electric motors 6, 8, 10 and 11. Further, the timer 54 is set so as to maintain the stopped state for a certain time after the stop.

Further, as described above, the timer 64 for setting the operation start time is also built in the control device 32, and the timer 64 is connected to the operation panel 67 in the main body case 36 as shown in FIG. By operating the operation panel 67, the electric motors 6, 8, 10, 11 can be set so that they can be operated only at an arbitrarily set time. A cover 66 that can be opened and closed is provided on the upper side of the operation panel 67.

The operation will be described with reference to the flowchart of FIG. 12. In step 1, the fixed point detection photoelectric sensor 60 determines whether or not the fixed point is passed. If NO, the process returns to step 1 again, and if YES. If so, go to step 2.

In step 2, the timer 54 is reset, then the process proceeds to step 3, the elapsed time is integrated by the timer 54, and the process proceeds to step 4.

In step 4, it is determined whether or not the fixed point is passed again. If NO, the process returns to step 3 to continue the integration of the elapsed time T, and if YES, the process proceeds to step 5.

In step 5, it is judged whether or not the integrated time T at the time when the fixed point is passed again is smaller than the set time T 0 stored in the memory 53 in advance. If NO, the process goes to step 2. Return and reset again. If YES, the process proceeds to step 6, where a stop signal is sent to the electric motors 6, 8, 10, 11 for driving the cutting blade and the driving wheels to stop the operation, and the process proceeds to step 7.

In step 7, it is determined whether or not a certain period of time is counted by the timer 54. If NO, the process returns to step 7, and if YES, the process proceeds to step 8.

In step 8, it is determined whether or not the work start time set by the work start time setting timer 64 is reached, and if NO, the process returns to step 8 again, and if YES, the process proceeds to step 9. Then, the cutting blade and the electric motors for driving the driving wheels 6, 8, 11, and 12 are operated, and the process returns to step 1.

That is, after passing through the fixed point, the time during which the circuit makes one round again to the fixed point is integrated, and if the integrated time is within the set time, it is determined that there is no need to continue the cutting operation, and the cutting blade is determined. , The drive wheel drive electric motors 6, 8, 10, 11 are stopped. Then, after a certain period of time, the work is restarted only when it is the operation start time, and the work is restarted by avoiding the unfavorable time to start the work.

[0046]

[Other Examples]

 (1) FIG. 11 shows a flow chart in the case where only the device of claim 2 is applied. Only the step 8 for judging whether it is the operation start time in FIG. It is similar to FIG. (2) In calculating the mileage, not only the energization time of the moving wheel drive electric motor, but also both the voltage and the current are measured, and changes in the rotation speed of the moving wheel drive electric motors 6 and 8 are also taken into consideration. And the accuracy is improved.

[0047]

[Effect of the device]

 As described above, according to the invention of claim 1 or 2, it takes time to travel a set distance such as one round of the travel route or from a certain point in the travel route to one round of the travel route to return to the fixed point. When the time is measured and the time is less than the set time, the cutting blade and the electric motor for driving the drive wheels are stopped for a certain period of time. Work can be prevented from being performed. As a result, it is possible to provide a self-propelled lawnmower that can save wasteful energy consumption, has high energy efficiency, has a long life, has less environmental impact due to noise, and can be unmanned.

According to the second aspect of the present invention, in addition to the above effects, the vehicle can be stopped at a fixed point, so that the vehicle can be stopped for a fixed time accurately at a predetermined place, and a stop place that does not disturb the user can be obtained. Can be selected.

Further, as in the invention as claimed in claim 3 or 4, by making it possible to select a time point at which the operation is restarted, it is possible to set a time that is not convenient for starting the operation, such as a sleeping time period or a sprinkler operation time. It can be avoided and the impact on the environment can be further reduced.

[Brief description of drawings]

FIG. 1 is a horizontal sectional view of a self-propelled lawn mower to which the device according to claims 1 and 3 of the present application is applied.

2 is a partially cutaway side view of FIG. 1. FIG.

FIG. 3 is a front view of the self-propelled lawnmower of FIG. 1.

FIG. 4 is a block diagram of a control device corresponding to FIG.

FIG. 5 is a flow chart corresponding to the device according to claim 1.

FIG. 6 is a flow chart corresponding to the device according to claim 3.

FIG. 7 is a horizontal cross-sectional view of a self-propelled lawnmower to which the device according to claims 2 and 4 of the present application is applied.

8 is a partially cutaway side view of FIG. 7. FIG.

9 is a front view of the self-propelled lawn mower of FIG. 7. FIG.

10 is a block diagram of a control device corresponding to FIG. 7. FIG.

FIG. 11 is a flow chart corresponding to the device of claim 3;

FIG. 12 is a flow chart corresponding to the device of claim 4.

[Explanation of symbols]

 1 Main body base 2 Left driving wheel 3 Right driving wheel 6,8 Driving wheel driving electric motor 10,11 Cutting blade driving electric motor 14,15 Cutting blade 20 Battery 32 Control device 37 Monitoring device 38 Monitoring device 40 Inductive radio wave detection sensor 53 Memory 54 Timer 59 Timer 60 Photoelectric sensor for fixed point detection 64 Timer

Claims (4)

[Scope of utility model registration request] 1. A self-propelled lawn mower in which the time required to travel a set route by detecting a fixed object fixed on the ground and to make one turn around the route increases or decreases according to the amount of reaping work. A monitor device for detecting the energization time of the electric motor for use, a memory for storing a set distance and a set time for the set distance, and a timer for measuring the running time, and the running time measured by the timer and the monitor The running distance is integrated from the energization time detected by the device, and when the time required for the integrated running distance to reach the set distance is shorter than the set time, the driving wheels and the cutting blade drive are stopped for a certain period of time. A self-propelled lawn mower characterized by having a control device for issuing a stop signal. 2. A self-propelled lawnmower in which the time required to detect a dielectric fixed on the ground and travel along a set route and to make one turn around the route increases or decreases according to the amount of mowing work There is a fixed point detection sensor that detects that the lawn mower has passed the fixed point of, and a timer that measures the running time from the point of passing the fixed point, and when the time until the fixed point is passed again is within the set time A self-propelled lawn mower characterized by comprising a control device for issuing a stop signal for stopping a driving wheel and a cutting blade drive device for a predetermined time. 3. The self-propelled lawnmower according to claim 1 or 2, further comprising a timer having an operating time zone set in the control device, and only when the operating time zone set in the timer is set after a certain period of stoppage. A self-propelled lawn mower characterized by restarting operation. 4. The self-propelled lawnmower according to claim 1 or 2, further comprising a timer for setting an operation start time in the control device, and the operation is performed after the operation start time set in the timer is stopped after a predetermined time. A self-propelled lawn mower characterized by being restarted.