WO2015133197A1 - Tondeuse à gazon autopropulsée - Google Patents

Tondeuse à gazon autopropulsée Download PDF

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Publication number
WO2015133197A1
WO2015133197A1 PCT/JP2015/051865 JP2015051865W WO2015133197A1 WO 2015133197 A1 WO2015133197 A1 WO 2015133197A1 JP 2015051865 W JP2015051865 W JP 2015051865W WO 2015133197 A1 WO2015133197 A1 WO 2015133197A1
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WO
WIPO (PCT)
Prior art keywords
self
mower
main body
propelled
propelled mower
Prior art date
Application number
PCT/JP2015/051865
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English (en)
Japanese (ja)
Inventor
弘識 益子
西河　智雅
伊藤　達也
Original Assignee
日立工機株式会社
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Filing date
Publication date
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Publication of WO2015133197A1 publication Critical patent/WO2015133197A1/fr

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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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • 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
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • 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
    • B60L2200/00—Type of vehicles
    • B60L2200/22—Microcars, e.g. golf cars
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • 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
    • 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
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the present invention relates to a self-propelled mower that rotates a driving wheel with the power of a driving source, travels in a work area, and cuts grass with a cutting blade.
  • Patent Document 1 An example of a conventional self-propelled mower is described in Patent Document 1.
  • the self-propelled mower described in Patent Literature 1 includes an engine mounted on the mower main body and drive wheels to which the engine power is transmitted.
  • a steering wheel is provided in the mower main body, and a steering motor for operating the steering wheel is provided.
  • a cutting unit is provided in the mower main body, and the cutting unit has a fixed blade and a reel blade.
  • a hydraulic pump driven by the power of the engine is provided in the mower main body, and the reel blade is rotated by the hydraulic pressure of the hydraulic pump so as to cut grass between the fixed blade and the reel blade.
  • the self-propelled mower can be selected by switching between the unmanned operation mode and the manned operation mode.
  • the unmanned operation mode is self-propelled by rotating the driving wheel with the power of the engine without the operator's operation.
  • a type mower runs in the work area.
  • the self-propelled mower has various sensors such as a GPS sensor and an objective sensor to detect the position of the self-propelled mower in the work area and the positional relationship between the self-propelled mower and surrounding objects. Etc. can be provided.
  • a controller to which detection signals of these sensors are input is provided.
  • a storage unit is connected to the controller, and a work pattern of the self-propelled mower is stored in advance in the storage unit.
  • the work pattern includes a travel route of the self-propelled mower in the work area.
  • a control signal is output from the controller based on a preset work pattern, and the engine, steering motor, cutting unit, and the like are controlled. Then, the driving wheel rotates and the self-propelled mower runs unattended in the work area, and the cutting unit cuts the lawn. Further, when the operation of the steering wheel is controlled based on the travel route of the self-propelled mower, the self-propelled mower travels straight in the work area or travels in a curve.
  • the mower main body travels on the travel route stored in the storage unit in advance. For this reason, when the mower main body completes the mowing work and returns to the return position a plurality of times, the mower main body returns to the return position through the same travel route every time within the work area. As a result, there is a possibility that a drive wheel passes through the work area, that is, a wrinkle is formed.
  • An object of the present invention is to provide a self-propelled grass mower that can suppress wrinkles from remaining in the work area even if the operation of returning the mower main body is performed a plurality of times.
  • One embodiment is a self-propelled mower that rotates a drive wheel with the power of a drive source and causes the mower main body to travel in a work area surrounded by a partition member, provided in the mower main body, And when the partition member is detected by the detection unit, the detection unit that detects the partition member, and is provided in the mower main body and returns when the mower main body returns, a predetermined relationship is established.
  • a behavior control unit configured to change a distance between the mower main body and the partition member at the time of return by setting a behavior of the mower main body at the time of return using a value;
  • the self-propelled mower of the present invention it is possible to suppress the formation of a driving wheel ridge in the work area even if the operation of returning the mower main body is performed a plurality of times.
  • the self-propelled mower 10 shown in FIGS. 1 and 2 travels in the work area E1 and performs mowing.
  • a wire 11 is provided on the ground along the outer peripheral edge of the work area E1.
  • the wire 11 is made of, for example, a conductive metal.
  • the wire 11 may be either a structure buried in the ground or a structure stretched on the ground.
  • the wire 11 shown in FIG. 1 has a quadrilateral shape having two sides 11a and 11b parallel to each other and two sides 11c and 11d parallel to each other when the work area E1 is viewed in plan.
  • a charging base 12 is provided on the ground. In the example of FIG. 1, the charging base 12 is arranged on the ground at a location corresponding to the side 11d.
  • the charging base 12 is connected to a commercial power source, and the charging base 12 includes a first terminal.
  • the charging base 12 includes a signal generator that energizes the wire 11 to generate a signal. When the wire 11 is energized from the signal generator, a magnetic field is formed by the wire 11.
  • the self-propelled mower 10 has a mower main body 13 and a right drive wheel 14 and a left drive wheel 15 provided on the mower main body 13.
  • a first traveling motor 16 that transmits power to the right driving wheel 14 and a second traveling motor 17 that transmits power to the left driving wheel 15 are provided.
  • the first traveling motor 16 and the second traveling motor 17 are both electric motors, and the first traveling motor 16 and the second traveling motor 17 are mounted concentrically on the mower body 13. That is, the axis F ⁇ b> 1 that is the rotation center of the axle of the right drive wheel 14 and the axle of the left drive wheel 15 is arranged in the width direction of the mower main body 13.
  • the mower main body 13 is provided with a power supply unit 18.
  • the power supply unit 18 includes, for example, a secondary battery that can be repeatedly charged and discharged.
  • a lithium ion battery or the like can be used as the power supply unit 18.
  • the power supply unit 18 may be a battery pack that can be attached to and detached from the mower main body 13. Furthermore, the power supply unit 18 has a second terminal, and the second terminal can be connected to the first terminal.
  • the mower main body 13 is provided with a rotary blade motor 20.
  • the rotary blade motor 20 is an electric motor, and a blade blade 19 is attached to the rotation shaft of the rotary blade motor 20.
  • the blade blade 19 includes a disk-shaped blade fixed to the rotating shaft of the rotary blade motor 20 and a plurality of blades provided along the outer peripheral edge of the blade.
  • the blade blade 19 is disposed between the mower main body 13 and the ground when the right driving wheel 14 and the left driving wheel 15 are grounded. Further, an auxiliary wheel 21 is provided on the mower main body 13. The auxiliary wheel 21 can rotate around a support shaft parallel to the axis F ⁇ b> 1, and the auxiliary wheel 21 can rotate around a support shaft perpendicular to the mower main body 13. The auxiliary wheel 21 is disposed in front of the right driving wheel 14 and the left driving wheel 15 in the front-rear direction of the mower main body 13. *
  • a control system of the self-propelled mower 10 will be described with reference to FIG.
  • a control unit 22 is provided in the mower main body 13.
  • the control unit 22 is a microcomputer having an arithmetic processing unit, a memory, an input / output interface, and the like.
  • the memory stores various data and control programs for controlling the behavior and travel route of the self-propelled mower 10, the first travel motor 16, the second travel motor 17, the rotary blade motor 20, and the like. Has been.
  • the power supply unit 18 is connected to the first traveling motor 16 and the second traveling motor 17 via the power supply circuit 23.
  • the power supply circuit 23 is an inverter circuit provided with a switching element.
  • the drive signal output from the control unit 22 is input to the power supply circuit 23, and the first traveling motor 16 and the second traveling motor 17 are separately controlled for rotation, stop, rotation direction, rotation speed, and the like. Is done. Further, a charge amount detection sensor 24 for detecting the charge amount of the power supply unit 18 is provided, and an output signal of the charge amount detection sensor 24 is input to the control unit 22. Further, a first rotation speed sensor 25 that detects the rotation speed of the right drive wheel 14 is provided, and a second rotation speed sensor 26 that detects the rotation speed of the left drive wheel 15 is provided. The signal output from the first rotation speed sensor 25 and the signal output from the second rotation speed sensor 26 are input to the control unit 22. Furthermore, a third rotation speed sensor 27 that detects the rotation speed of the blade blade 19 is provided, and an output signal of the third rotation speed sensor 27 is input to the control unit 22.
  • Two wire detection sensors 28 are provided on the mower main body 13.
  • the two wire detection sensors 28 are arranged at different positions on the center line F2 along the front-rear direction of the mower main body 13.
  • Center line F2 is orthogonal to axis F1 in plan view of self-propelled mower 10.
  • the two wire detection sensors 28 are each provided with a magnetic flux detection coil, and the two wire detection sensors 28 can respectively detect the magnetic field formed by the wire 11.
  • an operation unit 29 is provided in the mower main body 13, and the automatic travel mode is turned on or off when the operator operates the operation unit 29. Further, by operating the operation unit 29, when the automatic travel mode is on, the stop and rotation speed of the blade blade 19 can be set, and the travel speed of the self-propelled mower 10 can be set. .
  • the operation unit 29 includes a liquid crystal display, push buttons, and the like.
  • a display unit 30 is provided in the mower main body 13. Information set by the operation of the operation unit 29 is displayed on the display unit 30.
  • the display unit 30 includes a liquid crystal display, a lamp, and the like.
  • the blades 19 can mow the grass when the rotary blade motor 20 rotates.
  • the travel route of the self-propelled mower 10 in the automatic travel mode is set by the operation of the operation unit 29, the self-propelled grass mower 10 travels along the travel route. For example, by cutting the wire 11 between two parallel sides 11a and 11b in a straight line and turning or turning in front of the wire 11, the entire mowing operation in the work area E1 is performed. Can be done.
  • the self-propelled mower 10 travels in a curve. To do. For example, when the rotational speed of the right drive wheel 14 is higher than the rotational speed of the left drive wheel 15, the self-propelled mower 10 travels in a curve on the left side. On the other hand, when the rotational speed of the left driving wheel 15 is higher than the rotational speed of the right driving wheel 14, the self-propelled mower 10 travels in a curve on the right side.
  • turning means that the center line F2 rotates around the reference point G1 in a state where the self-propelled mower 10 is viewed in plan as shown in FIG. That is, the reference point G1 does not move even when the self-propelled mower 10 turns in a plan view of the self-propelled mower 10.
  • the reference point G1 is an intersection of the axis F1 and the center line F2 in a plan view of the self-propelled mower 10 shown in FIG.
  • the self-propelled mower 10 is turned on in the automatic travel mode, and returns to the charging base 12 when the mowing work in the work area E1 ends.
  • the control unit 22 moves the self-propelled mower 10 to the charging base 12 and performs control for charging the power supply unit 18.
  • step S1 the control unit 22 executes control for causing the self-propelled mower 10 to go straight from the predetermined point X1.
  • the predetermined point X1 is a point at which the mowing work has been completed, or a point at which the control unit 22 has determined that the charge amount of the power supply unit 18 has decreased to a predetermined value or less.
  • the control unit 22 uses the reference point G1 when determining the position or point of the self-propelled mower 10 in the work area E1.
  • the controller 22 determines whether or not the wire 11 has been detected in step S2. If the control unit 22 cannot detect the wire 11, the control of the step S1 is continued.
  • step S3 includes the control value of the distance A for retracting the self-propelled mower 10, the angle d for turning the self-propelled mower 10, and the radius r of the virtual circle R ⁇ b> 2 that curves the self-propelled mower 10.
  • at least one control value is set irregularly (randomly).
  • the control part 22 sets the distance A, the angle d, and the radius r to the relationship of Formula (1) and Formula (2).
  • rb is the radius of the virtual circle R1 centered on the center 12a of the charging base 12.
  • the center 12 a is located on the side 11 d of the wire 11. The significance of setting the distance A and the radius r on the basis of the radius rb will be described later.
  • step S4 following step S3, the control unit 22 performs a control of moving the self-propelled mower 10 linearly by a distance A from the first point H1 and moving to the second point H2 as shown in FIG. Execute.
  • the distance A is shorter than the radius rb. That is, the self-propelled mower 10 moves backward from the first point H1 toward the predetermined point X1.
  • the control part 22 performs control of step S5 following step S4.
  • the control in step S5 is control for turning the self-propelled mower 10 at the second point H2 at an angle d as shown in FIG.
  • the angle d is, for example, an angle formed by the center line F2 before the self-propelled mower 10 turns and the center line F2 after the self-propelled mower 10 turns.
  • the left driving wheel 15 is rotated forward
  • the right driving wheel 14 is rotated reversely
  • the left driving wheel 15 and the right driving wheel 14 are rotated.
  • the self-propelled mower 10 is turned to the right. Note that the position of the reference point G1 does not move even when the self-propelled mower 10 turns.
  • step S6 subsequent to step S5, the control unit 22 executes control for causing the self-propelled mower 10 to travel in a curve with a radius r as shown in FIG.
  • the third point H3, which is the center when the self-propelled mower 10 is traveling in a curve, is on a center line F2 passing through the first point H1 and the second point H2.
  • the first point H1 is located between the second point H2 and the third point H3. That is, the self-propelled mower 10 travels to the left by the control in step S6.
  • the control unit 22 determines whether or not the charging base 12 is detected during the execution of the control in step S6. If the control unit 22 determines No in step S7, whether or not the wire 11 is detected in step S9. Determine whether. If the control unit 22 determines No in step S9, the control of step S6 is continued. In contrast, when the control unit 22 determines Yes in step S9, the control unit 22 returns to step S3.
  • the distance A at which the self-propelled mower 10 moves backward from the first point H1 is set to be less than the radius r of the virtual circle R2. Therefore, when the self-propelled mower 10 travels along a virtual circle R2 centered on the third point H3, the step is performed until the self-propelled mower 10 turns 180 degrees from the second point H2.
  • the wire 11 can be detected in S9.
  • the self-propelled mower 10 detects the wire 11 in step S2, and then the self-propelled mower 10 The vehicle runs to the left around the point H3 and repeats the control for detecting the wire 11 in step S9. In this way, the position of the wire 11 detected in step S9 sequentially moves to the sides 11a, 11c, 11b, and 11d, and the self-propelled mower 10 repeats reverse, turn, and curve travel. That is, the self-propelled mower 10 moves in the work area E1 in the clockwise direction along the wire 11 in FIG. 1, FIG. 5, and FIG. *
  • step S7 if the control part 22 detects the charging base 12 by step S7, it will progress to step S8 and will perform charging operation and will complete
  • step S3 described above the radius r of the virtual circle R2 is set to be less than the radius rb of the virtual circle R1. For this reason, if the control part 22 carries out curve driving
  • step S8 the control unit 22 moves the self-propelled mower 10 to the charging base 12 to connect the second terminal of the power supply unit 18 and the first terminal of the charging base 12, and from the charging base 12 to the power supply unit 18. To charge.
  • the self-propelled mower 10 moves the work area E1 along the wire 11 from the predetermined point X1 shown in FIG. Return to the base 12.
  • the control unit 22 determines the distance A for the self-propelled mower 10 to retreat, the angle d for the self-propelled mower 10 to turn, and the virtual circle R2 when the self-propelled mower 10 travels in a curve.
  • the control values of the radius r at least one control value is set irregularly. For this reason, even if the operation of causing the self-propelled mower 10 to travel within the work area E1 and returning to the charging base 12 is performed a plurality of times, the travel route when the self-propelled mower 10 returns is different each time.
  • the right drive wheel 14 does not pass through the same location in the work area E1
  • the left drive wheel 15 does not pass through the same location, so that it is possible to suppress the formation of wrinkles in the work area E1. For this reason, it can avoid that the appearance and scenery of the work area E1 are impaired.
  • control unit 22 retreats and turns using the distance A and the radius r having a predetermined relationship with respect to the radius rb, and in addition, by turning the self-propelled mower 10 at an angle d,
  • the travel route of the self-propelled mower 10 is set so that the distance between the self-propelled mower 10 and the wire 11 changes irregularly. Therefore, it is possible to reliably suppress the formation of wrinkles in the work area E1.
  • step S3 at least of the distance A by which the self-propelled mower 10 moves backward, the angle d by which the self-propelled mower 10 turns, and the radius r of the virtual circle R2 in which the self-propelled mower 10 curves.
  • One control value is set irregularly. That is, since not all of the travel route of the self-propelled mower 10 is set irregularly, the time until the self-propelled mower 10 is returned from the predetermined point X1 to the charging base 12 can be predicted, and the self-propelled mower The useless traveling operation of the type mower 10 can be omitted.
  • the distance A set in step S3 described above is such that the wire detection sensor 28 detects the wire 11 at the second point H2 when the self-propelled mower 10 moves backward from the first point H1 to the second point H2. It may be set to either a possible value or a value that cannot be detected.
  • the fact that the wire detection sensor 28 cannot detect the wire 11 means that the wire 11 is located outside the range of detection sensitivity of the wire detection sensor 28, and does not mean that the wire detection sensor 28 has failed.
  • the self-propelled mower 10 has the wire detection sensor 28 connected to the wire 11 until the angle at which the curve traveling from the second point H2 has started to reach 180 degrees is reached. This is because the wire 11 is approached to a distance that can be detected.
  • Control Example 2 A control example 2 that can be executed when the self-propelled mower 10 is returned to the charging facility will be described with reference to FIGS. 8 and 9 to 13.
  • the control part 22 performs control of step S11.
  • the control in step S11 is the same as the control in step S1, and is a control in which the self-propelled mower 10 moves straight forward from the predetermined point X1 as shown in FIG.
  • the control unit 22 continues the control in step S11 and executes the determination in step S12.
  • the determination in step S12 is the same as the determination in step S2. If the control part 22 judges No in step S12, it will continue control of step S11. *
  • the control unit 22 determines that the distance A by which the self-propelled mower 10 moves backward in step S13, the self-propelled mower. At least one control value is set irregularly (randomly) out of the angle d for turning the machine 10 and the distance L for making the self-propelled mower 10 travel straight ahead.
  • control unit 22 sets the distances A and L, the angle d, and the radius rb to the relationship of Expression (3) and Expression (4).
  • step S14 the self-propelled mower 10 is moved backward from the first point H1 by a distance A as shown in FIG. 10 and moved to the second point H2.
  • the control part 22 performs control of step S15 following step S14.
  • step S15 the self-propelled mower 10 is turned to the right by the angle d at the second point H2 as shown in FIG. The self-propelled mower 10 does not move the reference point G1 even if the control of step S15 is executed.
  • step S16 following the control of step S15, the control unit 22 moves the self-propelled mower 10 forward by a distance L from the second point H2 to the third point H3 as shown in FIG.
  • step S ⁇ b> 17 the control unit 22 turns the self-propelled mower 10 to the left by the angle d at the third point H ⁇ b> 3 as shown in FIG. 12.
  • step S18 following the control in step S17, the control unit 22 moves the self-propelled mower 10 toward a fourth point H4 that is separated by a distance L from the third point H3.
  • the control unit 22 makes a determination in step S19 after step S18.
  • the determination in step S19 is the same as the determination in step S9.
  • control unit 22 determines whether or not the charging base 12 is detected in step S20.
  • the determination in step S20 is the same as the determination in step S7.
  • the control unit 22 determines No in step S20, the control unit 22 performs the control in steps S17 and S18. That is, the control unit 22 turns the self-propelled mower 10 from the fourth point H4 to the distance L after turning the self-propelled mower 10 to the left by the angle d at the fourth point H4 as shown in FIG. Continue straight ahead for minutes.
  • step S19 the determination in step S19 is performed again. Then, the control unit 22 determines Yes in step S19 and returns to step S13. As described above, the distance A by which the self-propelled mower 10 moves backward is less than the radius rb, and the distance L exceeds the radius rb. Therefore, the control unit 22 determines No in step S20. Then, when the control in steps S17 and S18 is executed, the wire 11 can be detected in step S19, and the process returns to step S13. *
  • control unit 22 repeats the control of step S13 to step S18, the control unit 22 detects the wire 11 in the order of the sides 11a, 11c, 11b, and 11d, and the self-propelled mower 10 is generally a clock. Move around.
  • step S21 is executed, and the control routine of FIG. 8 is terminated.
  • the control in step S21 is the same as the control in step S8. *
  • step S13 the control unit 22 irregularly sets at least one control value among the control values of the distance A, the angle d, and the distance L. For this reason, the effect obtained when the control unit 22 executes the control example 2 is the same as the effect obtained when the control example 1 is executed.
  • FIG. 5 to FIG. 7 and FIG. 9 to FIG. 13 are schematic diagrams, so the size of the self-propelled mower 10, the distance between the self-propelled mower 10 and the wire 11, and the entire wire 11. ,
  • the radius rb with reference to the center 12a of the charging base 12, and the distances L, A and the like of the self-propelled mower 10 are not necessarily in agreement with the description in this specification. *
  • the first traveling motor 16 and the second traveling motor 17 correspond to the drive source and the electric motor of the present invention, and are driven right.
  • the wheel 14 and the left driving wheel 15 correspond to the driving wheel of the present invention
  • the charging base 12 corresponds to the return point of the present invention
  • the mower main body 13 corresponds to the mower main body of the present invention
  • the type mower 10 corresponds to the self-propelled mower of the present invention.
  • the wire 11 corresponds to the partition member of the present invention.
  • the distance A, the distance L, and the radius r correspond to “values having a predetermined relationship with respect to the radius with respect to the return point” in the present invention.
  • the control unit 22 corresponds to the behavior control unit and the charge control unit of the present invention
  • the wire detection sensor 28 and the control unit 22 correspond to the detection unit and the charge base detection unit of the present invention.
  • the present invention includes control for changing the control content of the steps executed in Control Example 1 or Control Example 2.
  • the control unit 22 turns the self-propelled mower 10 to the left in step S ⁇ b> 5 and turns the self-propelled mower 10 in step S ⁇ b> 6 of FIG. 4.
  • the self-propelled mower 10 is caused to travel from the predetermined point X1 along the wire 11 in the work area E1 approximately counterclockwise and returned to the charging base 12. Can do.
  • the control unit 22 turns the self-propelled mower 10 to the left in step S15 and turns the self-propelled mower 10 to the right in step S17 of FIG. Can do.
  • the self-propelled mower 10 is caused to travel from the predetermined point X1 along the wire 11 in the work area E1 approximately counterclockwise and returned to the charging base 12.
  • the side of the wire 11 that is first detected in step S2 of FIG. 4 is not limited to the side 11a, and any of the sides 11b, 11c, and 11d may be detected in step S2.
  • the side of the wire 11 that is first detected in step S12 of FIG. 8 is not limited to the side 11a, and any of the sides 11b, 11c, and 11d may be detected in step S12. *
  • the reference point serving as a reference for determining the position of the self-propelled mower 10 in the work area E1 is not limited to the intersection of the axis F1 and the center line F2, but at the front end or the rear end of the self-propelled mower 10 or the like. There may be.
  • the distance between the self-propelled mower 10 and the wire 11 means the shortest distance from the reference point of the self-propelled mower 10 to the wire 11.
  • the drive source of the present invention includes at least one of an electric motor or an engine.
  • An engine is a power unit that burns fuel and converts its thermal energy into kinetic energy.
  • a transfer that distributes engine power to the right drive wheel and the left drive wheel is provided.
  • a rotation direction switching device capable of rotating the right drive wheel and the left drive wheel independently forward or backward, respectively.
  • the rotation direction switching device may be either a structure having a planetary gear mechanism or a parallel shaft gear structure.
  • the predetermined point and the return point are not limited to meaning to literally indicate one point on the plane.
  • the predetermined point includes a place, a place, and a position having a certain area
  • the return point includes a place, a place, a position, a building, a garage, a warehouse, etc. having a certain area, and there may be a plurality of places. Including. *
  • the partition member in the present invention includes a wire provided on the ground or in the ground, a metal or ferromagnetic pillar provided on the ground or in the ground, a metal or ferromagnetic fence frame provided on the ground, a magnetic field, It includes a conductive member or a ferromagnetic material capable of generating an electric field or electromagnetic waves.
  • the control unit can detect the distance between the mower main body and the partition member based on the output signal of the sensor.
  • the work area in which the self-propelled mower performs the mowing work is not limited to a substantially rectangular shape in plan view, but may be any planar shape such as a circle, an ellipse, or a trapezoid. *
  • the mowing blade includes a rotary blade, a reel blade, and the like in addition to the blade blade.
  • a rotary blade has a structure in which a plurality of blades are attached to a rotating shaft of an electric motor.
  • the reel-type blade includes a cylindrical reel that is rotatable about a horizontal axis, and a plurality of blades attached along the circumferential direction of the reel.
  • the right driving wheel 14 and the left driving wheel 15 described in the embodiment have a role as a steering wheel.
  • a steering wheel may be provided in the mower main body separately from the driving wheel.
  • an actuator for controlling the steering angle of the steered wheels is provided, and the actuator is operated by a signal output from the control unit.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Soil Sciences (AREA)
  • Harvester Elements (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

La présente invention concerne une tondeuse à gazon autopropulsée pouvant supprimer la formation d'ornières de roues motrices dans une zone de travail. Une tondeuse à gazon autopropulsée dans laquelle des roues motrices sont entraînées en rotation par la puissance d'un premier moteur de déplacement (16) et d'un second moteur de déplacement (17), de sorte à entraîner un corps de tonte de gazon dans une zone de travail enserré par un élément de séparation, comporte : un capteur (28) de détection de fil et une unité de commande (22) qui sont prévus sur le corps de tonte de gazon et qui détectent un fil dans un itinéraire de déplacement au moyen duquel le corps de tonte de gazon est déplacé vers un point de retour ; et une unité de commande (22) qui est prévue sur le corps de tonte de gazon et qui modifie la distance entre le corps de tonte de gazon et le fil dans l'itinéraire de déplacement au moyen du réglage du comportement du corps de tonte de gazon dans l'itinéraire de déplacement à l'aide d'une valeur relationnelle prédéfinie par rapport à un rayon relatif au point de retour lorsque le fil est détecté par le capteur (28) de détection de fil et l'unité de commande (22).
PCT/JP2015/051865 2014-03-03 2015-01-23 Tondeuse à gazon autopropulsée WO2015133197A1 (fr)

Applications Claiming Priority (2)

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JP2014-040858 2014-03-03
JP2014040858A JP2015165775A (ja) 2014-03-03 2014-03-03 自走式草刈機

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WO2015133197A1 true WO2015133197A1 (fr) 2015-09-11

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017051662A1 (fr) * 2015-09-24 2017-03-30 日立工機株式会社 Tondeuse à gazon autopropulsée
CN111367268A (zh) * 2018-12-24 2020-07-03 苏州宝时得电动工具有限公司 自动行走设备、及其行走控制方法与装置
CN115542894A (zh) * 2022-08-31 2022-12-30 深圳市正浩创新科技股份有限公司 自移动设备的控制方法、装置、自移动设备和存储介质

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6498627B2 (ja) 2016-03-31 2019-04-10 本田技研工業株式会社 自律走行作業車の制御装置
JP7046366B2 (ja) * 2018-08-10 2022-04-04 和同産業株式会社 自律制御型草刈機
JP7274741B2 (ja) * 2019-08-09 2023-05-17 和同産業株式会社 自律制御型草刈機

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Publication number Priority date Publication date Assignee Title
JPH05158534A (ja) * 1991-12-09 1993-06-25 Kawasaki Heavy Ind Ltd 無人芝刈機
JP3323772B2 (ja) * 1997-02-13 2002-09-09 本田技研工業株式会社 デッドロック防止装置付自律走行ロボット
US20120029753A1 (en) * 2010-07-28 2012-02-02 Johnson David A Robotic mower home finding system
JP2013164743A (ja) * 2012-02-10 2013-08-22 Honda Motor Co Ltd 無人走行作業車の制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05158534A (ja) * 1991-12-09 1993-06-25 Kawasaki Heavy Ind Ltd 無人芝刈機
JP3323772B2 (ja) * 1997-02-13 2002-09-09 本田技研工業株式会社 デッドロック防止装置付自律走行ロボット
US20120029753A1 (en) * 2010-07-28 2012-02-02 Johnson David A Robotic mower home finding system
JP2013164743A (ja) * 2012-02-10 2013-08-22 Honda Motor Co Ltd 無人走行作業車の制御装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017051662A1 (fr) * 2015-09-24 2017-03-30 日立工機株式会社 Tondeuse à gazon autopropulsée
JPWO2017051662A1 (ja) * 2015-09-24 2018-06-07 日立工機株式会社 自走式草刈機及び自走式作業機
CN111367268A (zh) * 2018-12-24 2020-07-03 苏州宝时得电动工具有限公司 自动行走设备、及其行走控制方法与装置
CN115542894A (zh) * 2022-08-31 2022-12-30 深圳市正浩创新科技股份有限公司 自移动设备的控制方法、装置、自移动设备和存储介质

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