WO2016002081A1

WO2016002081A1 - Lawn mower

Info

Publication number: WO2016002081A1
Application number: PCT/JP2014/067963
Authority: WO
Inventors: 誠一郎石島; 山本　和孝; 矢▲崎▼　登; 洋菅原
Original assignee: マミヤ・オーピー株式会社
Priority date: 2014-07-04
Filing date: 2014-07-04
Publication date: 2016-01-07
Also published as: JPWO2016002081A1; JP5879011B1

Abstract

Provided is a lawn mower that can reliably cut along the borderline between an area of lawn that a user wants to cut and an area of lawn that the user does not want to cut, without reducing the travel speed of the lawn mower. A lawn mower (1) that comprises a reel-type cutting blade (19), a fixed blade (20) that is provided so as to approach the cutting blade (19), a hydraulic motor (24) that provides output for rotating the cutting blade (19) around a horizontal axis, and a direction-switching valve (27) that is for controlling the hydraulic motor (24). The direction-switching valve (27) controls the flow of fluid inside the hydraulic motor (24) so as to rotate the cutting blade (19) when the cutting blade (19) is in a rotating state and reverses the flow of fluid inside the hydraulic motor (24) when stopping the cutting blade (19).

Description

lawn mower

The present invention relates to a lawn mower, and more particularly, to a lawn mower that turns a cutting blade using the output of a fluid device such as a hydraulic cylinder.

2. Description of the Related Art Conventionally, there is known a lawnmower that includes a reel-type mowing blade that extends by rotating in a spiral manner, and a fixed blade that is provided close to the mowing blade (for example, Patent Document 1). Such a lawn mower rotates a reel type mowing blade at high speed using a fluid device while moving the mower in a predetermined traveling direction, and mows the lawn between the mowing blade and the fixed blade. Cutting is performed with the turf sandwiched between the blade and a fixed blade fixed to the cutting blade. Thereby, lawn can be mowed along the movement path of the lawn mower.

JP 11-275924 A

However, when it is necessary to clearly cut the boundary between the rough area and the fairway area, for example, when maintaining a golf course, the lawn mower described in Patent Document 1 described above There was a problem that it was difficult to clearly distinguish and cut the boundary with the fairway area. That is, in a golf course, it is necessary to make the turf in the fairway area clearly shorter than the turf in the rough area. Therefore, when mowing the turf of the fairway area, the height of the fixed blade and the cutting blade from the ground is set to a desired height according to the length of the turf of the fairway area, and the turf of the fairway area is mowed, When mowing the grass in the rough area, it is necessary to set the height of the fixed blade and the cutting blade higher from the ground and mow the grass in the rough area, or use a dedicated rough lawn mower. Become. Therefore, if the lawn mower enters the rough area with the fixed blade and the cutting blade set at the height to cut the lawn in the fairway area, the lawn in the rough area becomes shorter than the desired length, and the course manager's There is a problem that it is difficult to set a rough region according to the intention. In order to prevent this, the mower user stops the rotation of the cutting blade when moving from the fairway region to the rough region, so that the grass in the rough region is prevented from being cut unintentionally. We are striving to However, when shifting from the fairway area to the rough area, even if the rotation of the cutting blade is stopped, the cutting blade continues to rotate for a while due to inertia, so the grass in the rough area is unintentionally mowed. The above problem cannot be fundamentally solved simply by stopping the rotation of the blade. This rotation due to the inertia of the cutting blade sometimes reaches nearly 1 second. For example, when the lawnmower is traveling at a speed of 10 km / h, the rough region of about 2 m is trimmed before the cutting blade stops. . Similar problems arise even when high-accuracy position information can be obtained by GPS or the like, automatic driving is possible, or a lawnmower with navigation is used.

In order to solve this problem, the amount of rough area to be trimmed before the mowing blade stops can be reduced by slowing the traveling speed of the lawn mower, but this is not a fundamental solution. A new problem arises that the mowing time becomes longer.

Accordingly, the present invention has been made to solve the above-described problems, and includes a region where the user wants to cut grass and a region where the user does not want to cut grass without reducing the traveling speed of the lawn mower. An object of the present invention is to provide a lawn mower that can surely cut the boundary.

In order to solve the above-described problems, the present invention is a lawnmower including a reel-type mowing blade and a fixed blade provided close to the mowing blade, and the mowing blade is rotated about a horizontal axis. And a fluid control device for controlling the fluid device. The fluid control device rotates the cutting blade by controlling the fluid flow in the fluid device when the cutting blade rotates. When the cutting blade is stopped, the fluid flow in the fluid device is reversed.

In order to solve the above-described problem, the present invention is a lawnmower including a plurality of heads each having a reel-type mowing blade and a fixed blade provided close to the mowing blade. The heads of the lawn mowers are distributed in the front-rear direction of the lawn mower so that the range where each lawn can be mowed is partially overlapped. And a fluid control device for controlling the fluid device. The fluid control device controls the fluid flow in the fluid device when the cutting blade rotates, and cuts the fluid. When rotating the blade and stopping the cutting blade, the fluid flow in the fluid device is reversed.

According to the present invention configured as described above, for example, when mowing the lawn in the fairway area, the fluid control device is operated by the fluid control device to rotate the mowing blade in the forward direction, thereby mowing the lawn in the fairway area. When reaching the end of the fairway area and stopping the cutting blade when moving from the fairway area to the rough area of the lawn mower, the fluid control device reverses the fluid flow in the fluid device and suddenly stops the cutting blade Or reverse rotation. Thereby, when stopping the cutting blade, inertial rotation due to inertia in the forward direction of the cutting blade can be substantially eliminated, and the forward rotation of the cutting blade is surely stopped at the boundary between the fairway region and the rough region. be able to. Therefore, according to the present invention, the boundary between the area where the user wants to mow the lawn (for example, the fairway area) and the area where the user does not want to mow the lawn (for example, the rough area) can be reliably distinguished and mowed.

In the present invention, preferably, the plurality of heads are arranged in two rows, a front row arranged in front of the lawn mower and a rear row arranged in the rear of the lawn mower. Are controlled so as to start mowing the grass after a predetermined time later than the heads constituting the front row.

According to the present invention configured as described above, since the heads constituting the rear row can start mowing the grass later than the heads constituting the front row, when mowing the lawn while advancing the lawn mower, The cutting start positions of the heads constituting the rear row can be aligned with the cutting start positions of the heads constituting the front row.

In the present invention, preferably, the heads constituting the rear row are controlled so as to finish cutting the grass after a predetermined time from the heads constituting the front row.

According to the present invention configured as described above, when mowing the lawn mower while moving forward, the cutting end position of the head constituting the rear row can be aligned with the cutting end position of the head constituting the front row. . Thereby, in a lawn mower in which a plurality of heads are arranged in the front-rear direction, an area where the user wants to mow the lawn (for example, a fairway area) and an area where the user does not want to mow the lawn (for example, a rough area) It is possible to distinguish and trim the boundaries more reliably.

In the present invention, it is preferable that the predetermined time is a time required for the lawn mower to move a distance between the cutting blades of the heads constituting the front row and the cutting blades of the heads constituting the rear row.

In the present invention, preferably, at the time of starting the heads constituting the front row, the heads constituting the rear row are raised, and the heads constituting the rear row when the predetermined time elapses after the heads constituting the front row are started. By lowering, the start of cutting the heads constituting the rear row is delayed.

According to the present invention configured as described above, since the start of cutting of the heads constituting the rear row can be delayed from the head constituting the front row, the rear row is configured when mowing the lawn while moving the lawn mower forward. The cutting start position of the head to be cut can be aligned with the cutting start position of the head constituting the front row.

In the present invention, preferably, when the heads constituting the front row are stopped, the heads constituting the front row are raised, and the heads constituting the rear row when a predetermined time elapses after the heads constituting the front row are stopped. To raise.

Also according to the present invention configured as described above, the cutting end position of the head constituting the rear row can be aligned with the cutting end position of the head constituting the front row.

As described above, according to the present invention, the boundary between the area where the user wants to mow the lawn and the area where the user does not want to mow the lawn can be surely mowed without reducing the traveling speed of the lawn mower. .

It is a block diagram which shows the structure of the lawn mower by embodiment of this invention. It is the side view and top view of a lawnmower according to an embodiment of the present invention. It is principal part side sectional drawing of the head of the lawn mower by embodiment of this invention. It is the side view which showed typically operation | movement of the head of the lawn mower by embodiment of this invention. It is the side view which showed typically operation | movement of the head of the lawn mower by embodiment of this invention.

Hereinafter, a lawnmower according to an embodiment of the present invention will be described with reference to the drawings. A typical lawn mower is designed to perform mowing work while moving forward. For example, when mowing the lawn of a golf course fairway, let the lawn mower regularly perform lawn mowing work so that the lawn of adjacent lines after the lawn is lined in the opposite direction. Is desired. It is desirable to perform lawn mowing work so that the boundary between the green and the rough is as smooth as possible.

In this embodiment, as an example, the current position is measured using GPS data (which may be a differential GPS) of RTK-GPS (Real Time Kinematic GPS) from a base station and communication information. An example of a lawn mower 1 that performs lawn mowing work on a golf course is shown. However, it goes without saying that the present invention can also be applied to a lawn mower that a user rides and operates.

FIG. 1 is a block diagram showing a configuration of a lawn mower according to an embodiment of the present invention. As shown in FIG. 1, the base station 2 includes a GPS receiving device 21 and a transmitting / receiving device 22 corresponding to an RTK-GPS reference station, a GPS antenna 25, and a communication antenna 26. The base station 2 is installed at a point whose longitude, latitude, and height are known. The GPS receiver 21 generates correction information for correcting an error in the position information of the lawn mower 1. This correction information is appropriately transmitted to the lawn mower 1 through the transmission / reception device 22 and the communication antenna 26. The correction information transmission timing is, for example, a timing requested by the lawn mower 1 or a predetermined interval (for example, every 100 ms).

The lawnmower 1 includes a control device 10, a vehicle speed sensor 11, an azimuth angular velocity sensor 12, a drive control unit 13, a GPS antenna 15, and a communication antenna 16.

The control device 10 is an example of the work machine control device of the present invention, and includes a computer device having a communication function, a storage function (internal and external recording devices) and a display function (display), and a predetermined computer program. Composed.

The vehicle speed sensor 11 detects the traveling speed when the lawn mower 1 moves forward or backward. The azimuth angular velocity sensor 12 detects the behavior (dynamics) of the lawn mower 1 such as tilt, turning, and wobbling based on the angular velocity around the three-dimensional axis (roll, pitch, yaw). Data to be measured by the azimuth velocity sensor 12 may be substituted with an accelerometer. Moreover, the

sensors

11 and 12 can be substituted by taking in the measurement results of various instruments included in the lawn mower 1.

The drive control unit 13 controls a work drive mechanism that drives the raising and lowering and operation of the cutting blade provided in the lawn mower 1, and controls a travel drive mechanism that drives the left and right turn, forward, backward, etc. of the lawn mower 1. To do. The drive control unit 13 may be provided separately from the control device 10 as illustrated, but may be realized as a function of the control device 10. The communication antenna 16 enables communication with the communication antenna 26 of the base station 2. The GPS reference signal from the base station 2 received by the communication antenna 16 corrects the GPS data from the GPS antenna 15 and enables accurate position detection. This communication is also used for communication with an operator of the lawn mower 1 and transmission of signals for remote operation of the lawn mower 1.

FIG. 2 is a side view and a top view of a lawnmower according to an embodiment of the present invention. As shown in FIG. 2, the control device 10, the vehicle speed sensor 11, the azimuth angular velocity sensor 12, the drive control unit 13, the travel drive mechanism, and the work drive mechanism described above are built in the body of the lawn mower 1.

The azimuth angular velocity sensor 12 is installed at a position where the behavior of the lawn mower 1 is correctly transmitted. The GPS antenna 15 is provided so as to be approximately at the center of the body of the lawn mower 1, that is, approximately at the center in each of the length direction and the width direction of the body. Further, the communication antenna 16 is attached so as to protrude from the rear surface of the body of the lawn mower 1 so as not to obstruct the reception of the GPS antenna 15.

Further, the lawn mower 1 is provided with a plurality of heads 18 for mowing the lawn. The lawn mower 1 according to this embodiment includes five

heads

18a, 18b,. Of the plurality of heads 18, the three heads 18 a to 18 c are arranged at a predetermined interval on the front side of the lawn mower 1, and the two

heads

18 d and 18 e are on the rear side of the lawn mower 1. Are arranged with a predetermined interval. More specifically, the two

heads

18d and 18e in the rear row are arranged so as to overlap with the distance between the heads 18a to 18c in the front row when the lawnmower 1 is viewed from the front. Therefore, the range in which the turf can be mowed by the three heads 18a to 18c in the front row and the range in which the turf can be mowed by the two

heads

18d and 18e in the rear row are partially overlapped. The lawn between the outer end portion of the head 18a and the outer end portion of the head 18c can be mowed without a gap. In the present embodiment, the lawn mower 1 having five heads 18 will be described in detail as an example, but the present invention may be applied to a lawn mower having only one head. It can be applied to a lawn mower having an arbitrary number of heads such as three or seven.

FIG. 3 is a sectional side view of the main part of the head of the lawn mower according to the embodiment of the present invention. Since the three heads 18a to 18c in the front row and the two

heads

18d and 18e in the rear row have the same structure, hereinafter, the head structure is collectively referred to as “head 18” in detail. Describe.

As shown in FIG. 3, the head 18 includes a reel-type cutting blade 19, a fixed blade 20 provided close to the cutting blade 19, a housing 21 of the head 18, a front guide wheel 22, and a rear guide wheel 23. And. The lower ends of the cutting blade 19 and the fixed blade 20 are separated from the ground by a distance H, and this distance H corresponds to the lawn cutting height.

The cutting blade 19 includes a plurality of blades extending spirally around the horizontal axis, and the outer peripheral side thereof has a sharp shape. The cutting blade 19 is supported with respect to the head 18 so as to be rotatable around the horizontal axis. Further, the fixed blade 20 is fixed to the housing 21, and the sharp tip portion thereof is disposed so as to substantially contact the vicinity of the lower end of the cutting blade 19. In operation, the turf can be cut at a distance H from the ground by sandwiching the turf between the rotating cutting blade 19 and the fixed blade 20.

The head 18 further includes a hydraulic motor for generating power for rotating the cutting blade 19 in the forward direction R _F (counterclockwise in FIG. 3) or the reverse direction R _R (clockwise in FIG. 3) around the horizontal axis. 24 and a direction switching valve 27 for switching the direction in which the fluid in the hydraulic motor 24 flows. Hydraulic motor 24 and the direction switching valve 27, based on the control by the drive controller 13, the flow direction of the fluid flowing inside the hydraulic motor 24 is varied, thereby rotating the cutting blade 19 in the forward direction R _F or reverse R _R . In this embodiment, a pair of hydraulic motors and direction switching valves 27 are provided for one head 18, but the heads 18a to 18c in the front row are controlled by the pair of hydraulic motors and direction switching valves, and the rear row. The

heads

18d and 18e may be controlled by another pair of hydraulic motors and direction switching valves.

FIG. 4 is a side view schematically showing the operation of the head of the lawn mower according to the embodiment of the present invention. Specifically, FIG. 4, mower 1 is a diagram for explaining a rotation direction of the cutting blade 19 when it reaches the boundary between the fairway region A ₁ and the rough area A _2. 4 shows the cutting blades of the heads 18a to 18c arranged in the front row, and the cutting blade 19b shows the cutting blades of the

heads

18d and 18e arranged in the back row. As shown in FIG. 4 (a), lawn mower 1, while running on a fairway area _{A 1,} the

cutting blade

19a, 19b are rotated together in the forward direction _{R F.} Then, the control unit 10 detects that the cutting blade 19a of the front row side has reached the position of the boundary between the fairway region A ₁ and the rough area A _2, the drive control unit 13 controls the direction switching valve 27 reverses momentarily the fluid flow of the hydraulic motor 24 corresponding to the front row side of the cutting blade 19a, by which, as shown in FIG. 4 (b), the force for rotating only in the reverse direction R _R cutting blade 19a generate. And, thereby, as shown in FIG. 4 (c), cutting blade 19a which has passed through the boundary between the fairway region A ₁ and the rough area A ₂ is stopped or reversed without rotating due to inertia. As shown in FIG. 4 (d), the rear row side of the cutting blade 19b is also when it reaches the boundary between the fairway region A ₁ and the rough area A _2, the blade 19b cutting in the same manner in the opposite direction R _R By generating a force that rotates only for a moment, the cutting blade 19b can be stopped without being rotated by inertia. Then, both the cutting blade 19a, after 19b enters the rough area _{A 2,} release by lifting the front row and rear row of the head 18 as shown in FIG. 4 (e) above, the cutting blade 19a ~ 19e from grass .

The timing of stopping the operation of the rear cutting blade 19b may be calculated based on the current position of GPS data or the like, or calculated from the traveling speed and the distance between the cutting blades after the cutting blade 19a is stopped. The operation may be stopped after a lapse of time or a certain set time.

Thus, lawn mower 1, when cutting the grass in the fairway region A ₁ is the cutting edge 19 cutting by operating the directional control valve 27 by the drive control unit 13 is rotated in the forward direction R _F fairway area A ₁ cutting the grass, then the cutting blade 19 has reached the end of the fairway area a _1, the cutting edge 19 cutting the fairway area a ₁ of the lawn mower 1 when moving to the rough area a ₂ when stopping the drive control The part 13 generates a force that reverses the fluid flow in the hydraulic motor 24 and reversely rotates the cutting blade 19. Thus, when stopping the cutting blade 19, cutting can be eliminated inertial rotation due to inertia in the forward direction R _F of the blade 19, the blade 19 cutting ensured at the boundary between the fairway region A ₁ and the rough area A ₂ Can be stopped. Therefore, according to the lawn mower 1, the boundary between the area where the user wants to mow the lawn (fairway area A ₁ ) and the area where the user does not want to mow the lawn (rough area A ₂ ) can be reliably distinguished and mowed. .

FIG. 5 is a side view schematically showing the operation of the head of the lawn mower according to the above embodiment. 5, mower 1 is a diagram for explaining the operation of the cutting blade 19 when moving from the rough area A ₂ in the fairway area A _1.

As shown in FIG. 5 (a), when both the front row side of the cutting blade 19a and the rear-side cutting blade 19b is in a rough area A _2, the

cutting blade

19a and 19b, are separated from the grass to rise, The rotation has stopped. Then, as shown in FIG. 5 (b), when the cutting blade 19a of the front row side reaches the boundary between the rough region A ₂ and fairway area A _1, the drive control unit 13, the fixed blade 20 is high cutting from the ground lowering the distance floating position to the head 18 corresponding to further rotate only in the forward direction R _F blades 19a cutting by operating the hydraulic pump 24 by the directional control valve 27 corresponding to the front row side of the cutting blade 19a. Thus, cutting blade 19a of the front row side starts cutting the grass in the fairway area A _1. And when the cutting blade 19b of the rear row side by further advancing the lawn mower 1 reaches the boundary between the rough region A ₂ and fairway area A _1, as shown in FIG. 5 (d), the drive control unit 13, by operating the hydraulic pump 24 by the directional control valve 27 to rotate the rear row side of the cutting blade 19b in the forward direction R _F. As described above, when the mowing blade 19b on the rear row side starts to mow the lawn behind the mowing blade 19a on the front row side, when the mower 1 is moved forward, The cutting start position of the cutting blade 19b can be aligned with the cutting start position of the front cutting blade 19a. Thereby, in a lawn mower in which a plurality of heads are arranged in the front-rear direction, an area where the user wants to mow the lawn (fairway area A ₁ ) and an area where the user does not want to mow the lawn (rough area A ₂ ). It is possible to distinguish and trim the boundaries more reliably.

The timing of starting the operation of the rear cutting blade 19b may be calculated based on the current position such as GPS data, or the time calculated from the travel speed and the distance between the cutting blades after the cutting blade 19a is operated. Alternatively, it may be operated after a certain set time has elapsed.

As a modification, a configuration for delaying the start timing cutting of the cutting blade 19b of the rear row side, when rotating the cutting blade 19a in the forward direction R _F, a state in which the head 18 is raised with a cutting blade 19b, cutting blade 19b is when it reaches the boundary between the rough region a ₂ and fairway area a _1, may be to lower the rear row side of the head 18 with the cutting blade 19b. Even with such a configuration, it is possible to delay the timing of starting the cutting of the cutting blade 19b on the rear row side.

Further, as a modified example, when the front row side head is lifted, the rear row side head 18 provided with the cutting blade 19b remains lowered when the front row side head is raised as a configuration for delaying the cutting end timing of the rear row side cutting blade 19b. and then, cutting blade 19b is when it reaches the boundary between the rough region a ₂ and fairway area a _1, may be to increase the rear row side of the head 18 with the cutting blade 19b. Even with such a configuration, it is possible to delay the timing of the end of cutting of the cutting blade 19b on the rear row side.

In the above-mentioned example, the lawn mower 1 that performs automatic operation using GPS has been described as an example, but the present invention also applies to a lawn mower that does not perform automatic operation using GPS. Applicable. In this case, when the user performs an operation to stop the rotation of the cutting blade 19, the drive control unit 13 controls the hydraulic control unit 24 to apply a force that reversely rotates the cutting blade 19 for a moment. Let The same operation as in automatic operation can be performed with respect to rotation start / stop, ascent / descent of the front and rear cutting blades.

Moreover, in the above-mentioned example, the lawn mower for a golf course has been described as an example, but the present invention is applied to an apparatus for performing lawn mowing in any place such as an airfield or a soccer field. Can be applied.

As described above, according to the lawnmower 1 according to an embodiment of the present invention, when cutting the grass in the fairway region A ₁ is the cutting edge 19 cutting by operating the hydraulic pump 24 by the directional control valve 27 in the forward direction R _F by rotating, cutting the grass in the fairway area a _1, then reaches the end of the fairway area a _1, stop the cutting blade 19 during the transition from the fairway area a ₁ of the mower 1 to the rough area a ₂ In doing so, the fluid flow in the hydraulic pump 24 can be reversed by the direction switching valve 27 to cause the cutting blade 19 to stop suddenly or to rotate in reverse. Thus, when stopping the cutting blade 19, cutting substantially that can eliminate the inertial rotation due to inertia in the forward direction R _F of the blade 19 ensures that at the boundary between the fairway region A ₁ and the rough area A ₂ The forward rotation of the cutting blade 19 can be stopped. Thus, the fairway area A _1, can be pruned to reliably distinguish the boundary between the rough region A _2.

Further, according to the lawn mower 1, the

heads

18d and 18e constituting the rear row can be started to mow later than the heads 18a to 18c constituting the front row, so that the lawn mower 1 can be moved forward while moving the lawn. When cutting, the cutting start positions of the

heads

18d and 18e constituting the rear row can be aligned with the cutting start positions of the heads 18a to 18c constituting the front row.

Further, according to the lawn mower 1, the

heads

18d and 18e constituting the rear row can be finished mowing after a predetermined time later than the heads 18a to 18c constituting the front row. Thereby, when mowing the lawn mower 1 while moving forward, the cutting end positions of the

heads

18d and 18e constituting the rear row can be aligned with the cutting end positions of the heads 18a to 18c constituting the front row.

Further, according to the mower 1, it is possible to prune to reliably distinguish the boundary from the fairway area A ₁ and the rough area A _2, is frequently carried out as the last work mowing fairway area A ₁ It is no longer necessary to carry out surrounding mowing (finish mowing for mowing all the way around the fairway area), and the working time can be greatly reduced.

DESCRIPTION OF SYMBOLS 1 Lawn mower 13 Drive control part 18 Head 19 Mowing blade 20 Fixed blade 24 Hydraulic motor 27 Direction switching valve

Claims

A lawn mower comprising a reel-type mowing blade and a fixed blade provided close to the mowing blade,
A fluidic device that provides an output for rotating the cutting blade about a horizontal axis;
A fluid control device for controlling the fluid device,
The fluid control device controls the fluid flow in the fluid device when the cutting blade rotates, rotates the cutting blade, and reverses the fluid flow in the fluid device when stopping the cutting blade. Lawn mower characterized by letting
A lawnmower comprising a plurality of heads each having a reel-type cutting blade and a fixed blade provided close to the cutting blade,
The plurality of heads are arranged in a distributed manner in the front-rear direction of the lawn mower so that the ranges where the grass can be cut by each head partially overlap.
The lawn mower further includes a fluidic device that provides an output for rotating the mowing blade about a horizontal axis;
A fluid control device for controlling the fluid device,
The fluid control device controls the fluid flow in the fluid device when the cutting blade rotates, rotates the cutting blade, and reverses the fluid flow in the fluid device when stopping the cutting blade. Lawn mower characterized by letting
The plurality of heads includes a front row arranged in front of the lawn mower,
Arranged in two rows with the rear row arranged behind the lawn mower,
The lawn mower according to claim 1 or 2, wherein the heads constituting the rear row are controlled to start mowing the grass a predetermined time later than the heads constituting the front row.
The lawn mower according to claim 3, wherein the heads constituting the rear row are controlled so as to finish the lawn after a predetermined time from the heads constituting the front row.
The predetermined time is a time required for the lawn mower to move a distance between a cutting blade of a head constituting the front row and a cutting blade of a head constituting the rear row. The lawn mower described.
When starting the heads constituting the front row, the heads constituting the rear row are raised, and after starting the heads constituting the front row, the heads constituting the rear row are lowered when a predetermined time has elapsed, The lawn mower according to any one of claims 3 to 5, wherein the start of cutting of the heads constituting the rear row is delayed.
The heads constituting the front row are raised when the heads constituting the front row are stopped, and the heads constituting the rear row are raised when a predetermined time elapses after the heads constituting the front row are stopped. Item 7. A lawn mower according to any one of Items 4 to 6.