JPS58146206A - Sensor structure of mower - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a cutting lawn mower, and more specifically, the present invention relates to a lawn mower that detects the boundary between an unmowed area and an already mowed area and moves along the boundary while cutting the grass on the uncut area. mow. Concerning a self-traveling lawn mower with tracing control.

This is the first agricultural machine to have such a tracing control means.

There are combine harvesters that cut along this line using a contact sensor that comes into contact with the culm, but conventionally, lawn mowers cut the grain along the grain culm at the boundary between uncut and mown areas. However, there is no sensor that can stably detect this when it comes into contact with extremely low uncut grass (therefore, there is no sensor structure or tracing means for determining this boundary, and the sensor must be artificially maneuvered to follow the boundary). It was.

SUMMARY OF THE INVENTION In view of the current situation, an object of the present invention is to provide a cutting lawn mower that travels along boundaries.

In order to achieve this object, firstly, in the present invention, an arm is extended forward from at least one of the left and right sides of the cutting blade portion, and a grounding wheel is held on this arm. 1 A light emitting part and a light receiving part are arranged side by side with an interval in the left and right direction to constitute an uncut grass detection sensor, and a plurality of uncut grass detection sensors are arranged side by side on the left and right at substantially the same height as each other. By adopting a configuration in which the turf is fixed to the arm, regardless of the unevenness of the ground, the turf detection sensor always blocks the light emitting element from the uncut turf and the photo sensor, while the mown turf remains unobstructed. It is possible to place it within the correct height range from the ground, and it is now possible to detect without touching the grass, so it is possible to reliably determine whether the grass is mown or not. and when an obstacle hits the ground contact wheel.

The arm can be prevented from coming into contact with the sensor and being damaged.

Based on a combination of output signals from the plurality of grass detection sensors, the steering wheel is steered in a direction in which only the grass detection sensor located away from the cutting blade on either the left or right side of the cutting blade exists on the mown ground. By being equipped with a control device, the mowing blade section is controlled so that it is always located on the unmown side of the border), making the mowing 1j of the mowing blade section effective for mowing unmown fields. became available for use.

An embodiment will be described below based on one drawing.

FIG. 1 is a side view of the entire lawnmower, and shows the traveling body (1
The lawn mowing device (4) is suspended between the front and rear wheels (2+, +3) of the lawn mower (4), and the front wheels are provided with a hydraulic cylinder (5) for steering. Fig. 2 shows the hydraulic circuit of the hydraulic cylinder (5), and the front wheel (2), which is the steering wheel, is steered by the hydraulic cylinder (5), and this hydraulic cylinder (5) is connected to the electromagnetic valve (
6) and an electromagnetic valve (61), which is connected to a hydraulic pump (8) via a branch valve (7) that always branches and sends a fixed amount of pressure oil.

@Note: This lawn mowing device (4) has a main body (a) with a disc-shaped cutting blade inside, a running vehicle body +11
A bending link (+01) for hanging the 1z1 body (9) from the ground;

(S) is attached to the left and right sensor arms 11
4) , +141. The left and right sensor arms f141, (141 are connected to a rear arm (16) which is fixed in a forward protruding posture at a position corresponding to both ends of the cutting blade of the main body (9), and a rear end thereof is connected to the front end of the rear arm (16) so as to be movable up and down. The front end of the #fl arm (15) has a cylindrical shape to which the holding part flEu of the forearm (151) for adjusting the height is fixed with a screw (19) so that the height can be adjusted freely. A section has been established.

The forearm (1) and the rear arm (161) are biased downward by a spring (2), so that the grounding wheels (71) always follow the ground.

In this way, the forearm (15) has a ground wheel (171) with seven supporting members, and two turf detection sensors (Si
, (S) are fixed. The pair of right and left turf detection sensors (Si, fsi) are attached to the IfT arm (hanging member C1 fixed to the IfT arm 151 and hanging down).

Each of these turf detection sensors (St is a light emitting part (231) and a light receiving part (2
4) The height position is adjusted by the grounding wheel f171 so that the uncut grass blocks the light between the two, and the cut grass has a height that does not block the light.

FIG. 4 shows a control circuit for pre-operating the left and right solenoids (25a) and (25b) of the electromagnetic valve (6) for steering the steered wheels.

Sensor 轡4 is a pair of turf detection sensors attached to the right arm (15) and sensor (si, ts2 is attached to the left arm (15), respectively.From the right side, they are (SQ, (Si, f~, Along with +S^,
Also, each knot circuit □□□)... is connected to each sensor (匈...
This is to prepare a signal that is an inversion of the output high-low (i) signal.

These sensors are high on the unmowed side, ie, in a state where light is blocked.

To explain the control method of this control circuit, as shown in FIG. 5, first, the area around the lawn to be mowed is manually mowed and defined as an already mown area (Al).

Next, if you place the lawn mower along one side of the unmowed field and run it automatically, the lawn mower will automatically perform reciprocating mowing, such as turning the lawn mower in the opposite direction and continuing mowing on the mowed land. It is a control circuit.

In other words, □□□ in Fig. 4 is a control circuit for traveling along the boundary between uncut ground and mowed land, and 1281 is a control circuit for traveling around mowed land. Control circuit ( To explain the operation of 8), the flip-flop circuit (29) is as follows.

The aircraft (1) is biased toward the unmowed land side, and the sensor (4~
gh signal to either the left or right solenoid (258).

(25b) F/I 1m One aircraft (
1) A gate (31a) through which a high signal passes so as to create a solenoid (25a) that steers to the left when there is a boundary on the left side, and a solenoid (25b) that steers to the right when there is a boundary on the left side.

Only one of (31b) is open (Tanu's).

Now, when the right side of the aircraft (1) follows the boundary, the sensor on the left side of the aircraft (~, +s, 7 is on the uncut road, both are on the side, and the boundary is the sensor (snow and +s2)
During this time, the flip-flop (29) is set by the high signal from the gate (3) 1, the gate (36b) opens and the gate (36a) closes. If it goes too far to the left, the high signal from the sensor (St high output high)
8b) and steering to the right solenoid (25
Activate b) and one aircraft heads to the right. On the other hand, if the aircraft is too close to the mowed field, that is, to the right, the sensor will turn OFF, and the high signal from the gate (34) will be connected to the two ORs.
Pass through the gates (37a) and (38a) and activate the solenoid (25a) to steer to the left.

(Tra), (Trb) These are transistors that increase the signal current by 11 J to drive the entertainment node.

On the other hand, if the left side of the aircraft runs along the boundary, flip-flop + 29 + high from IT Agate 321
It is reset by the h signal, and the gate (36a) opens and the gate (36b) becomes closed, and the gate (36a) opens.
By (31'll and (35)), the steering wheel (2) is steered as in 1[ ].

Next, we will explain the control circuit (28) for the time of rotation.1
When the mowed land for circulation + AIK aircraft (1) reaches, the sensor (
All signals are turned OFF, and the copying control circuit is unable to output any high signals. At this time, gates (43) and (44) are both opened, and the outputs of the flip-flops (29) are Solenoid (25a), (
25b).

This flip-flop age determines which direction the aircraft should turn.

Suppose that the right side of the 1st aircraft il+ is traveling along the boundary and reaches the mowed area 1AI. At this time, the sensor (
Since only the high signal was turned off, the flip-flop was set by the high signal from the gate (40), so the solenoid (25a) steered to the left by the high signal from the gate (43).
will be made. In this way, the machine turns around to the unmowed land side, and first travels so that the left side of the machine (tl) runs along the boundary.

Conversely, when the left side of the aircraft tl+ runs along the boundary, the flip-flop C is reset by the high signal of the gate (4υ), so the output h from the gate (441)
In response to the igh signal, the aircraft il+ similarly turns to the unmowed land side. The output of the gate (4z) which outputs a high signal during rotation is input to the trigger terminal of the flip-flop device of the copying control circuit, and is used to invert the output at the rising edge of the output signal of this gate (42). That is, 1 After going around the gate (36a).

(36b) needs to be switched to open side, but game)
cll) Also, the switching is carried out in advance until the state of this fugo flip-flop is determined by the high signal of Cade (Incorporated).

The control circuit (5)) of this embodiment is just an example and can be further optimized, and such control can be easily performed by programming using a microprocessor. It is also possible to provide a sensor only on one side and perform circular mowing control in which the machine moves along the periphery of the mowed field.

[Brief explanation of the drawing]

The drawings show an embodiment of the sensor structure of the lawn mower according to the present invention, FIG. 1 is a side view of the lawn mower as a whole, and FIG. 2 is a hydraulic circuit of the steering wheel. Fig. 3 is a front view of the machine, Fig. 5 is a control circuit, and Fig. 5 is a diagram showing the running order of lawn mowing. 171・ Grounding wheel, (14)... Arm, (S1~s
4)... Grass detection sensor, @... Control device, (2)...
- Steering wheel, m - Light emitting part, (241... Light receiving part.

Claims (1)

[Claims] An arm is extended forward from at least one of the right and left sides of the cutting blade section, and is capable of moving up and down, and a grounding wheel is held on this arm, and a light emitting section and a light receiving section are spaced apart from each other in the left and right direction. The plurality of uncut grass detection sensors are arranged side by side at substantially the same height as each other and are fixed to the arm, and Based on the combination of output signals from the grass detection sensors, there is a control device that steers the steering wheel in a direction in which only the grass detection sensors that are away from the mowing blade on either the left or right side of the distributing blade are on the cut ground. It is equipped with Sakiri Hiroshi's Platon 4F-41-