JP7797987B2 - riding lawn mower - Google Patents

Description

The present invention relates to a riding lawn mower.

In riding lawnmowers, when the grass collection container becomes full with cut grass (grass clippings), the grass clippings are discharged to a designated discharge location and the lawn mowing operation continues. A known technique for this purpose is to provide an openable cover on the grass collection container so that the grass clippings status in the container can be checked even while the lawn is being mowed (see, for example, Patent Document 1).

In addition, for riding lawnmowers that discharge grass clippings stored in the grass collection container to a designated discharge location when the container becomes full and continue mowing, technology is known that includes a fullness sensor that detects when the grass collection container is full with grass clippings (see, for example, Patent Document 2).

Japanese Patent Application Publication No. 5-328819 Japanese Patent Application Laid-Open No. 2019-47757

However, among the above-mentioned conventional technologies, when an openable cover is provided on the grass collection container, the worker must open the cover each time to visually check the inside of the grass collection container to see how much grass clippings are stored in the container, which can reduce work efficiency. Furthermore, when a full sensor is provided, although it can detect when the grass collection container is full, the worker cannot know how much grass clippings are stored in the container until the container is full.

The present invention was made in consideration of the above, and aims to provide a riding lawnmower that allows the operator to grasp the grass clippings storage status in the grass collection container, thereby improving workability.

In order to solve the above-mentioned problems and achieve the objectives, the riding lawnmower (1) according to the embodiment comprises a traveling vehicle body (2), a lawn mower (3) mounted on the traveling vehicle body (2) for mowing grass (G1), a grass collection container (5) mounted on the traveling vehicle body (2) for storing the grass (G2) cut by the lawn mower (3), and information on the capacity (D1) of the grass collection container (5), grass density information (D2) of the grass (G1) in a specified area, mowing width information (D3) of the lawn mower (3), mowing height information (D4) of the lawn mower (3), and information on the grass density (G2) of the grass (G1) in a specified area. The device is characterized by having a control unit (100) that stores grass height information (D5) for the turfgrass (G1) before mowing, calculates the amount (D7) of the turfgrass (G1) to be mowed during mowing work using the capacity information (D1), the grass density information (D2), the mowing width information (D3), the mowing height information (D4), and the grass height information (D5), and calculates the storage rate (D8) of the turfgrass (G2) in the grass collection container (5) based on the calculated mowing amount (D7), and a display unit (62) that displays the storage rate (D8) calculated by the control unit (100).

The riding lawnmower according to this embodiment allows the operator to grasp the grass clippings storage status in the grass collection container, improving workability.

FIG. 1 is a diagram (part 1) showing the overall configuration of a riding lawnmower according to an embodiment. FIG. 2 is a second diagram showing the overall configuration of the riding lawnmower according to the embodiment. FIG. 3 is a block diagram showing an example of a control system in the riding lawnmower according to the embodiment. FIG. 4 is an explanatory diagram of a lawn mowing operation using a riding lawnmower according to an embodiment. FIG. 5 is a flowchart showing the processing steps for determining whether or not mowing work is necessary in the riding lawnmower according to this embodiment.

Embodiments of the riding lawnmower disclosed herein will be described in detail below with reference to the accompanying drawings. Note that the present invention is not limited to the embodiments described below.

<Overall configuration of riding lawn mower>
The overall configuration of a riding lawnmower 1 according to an embodiment will be described with reference to Figures 1 and 2. Figures 1 and 2 are diagrams showing the overall configuration of the riding lawnmower 1 according to an embodiment. Note that Figure 1 shows a schematic side (left side) view of the riding lawnmower 1. Furthermore, Figure 2 shows a schematic plan view of the riding lawnmower 1 during lawn mowing work.

Figures 1 and 2 also show a three-dimensional Cartesian coordinate system that includes a Z-axis, with the positive direction pointing vertically upward (upward). For ease of explanation, the positive direction of the X-axis will be defined as the left, the negative direction of the X-axis as the right, the positive direction of the Y-axis as the forward direction, and the negative direction of the Y-axis as the backward direction, with the X-axis direction being referred to as the left-right direction, the Y-axis direction as the front-back direction, and the Z-axis direction as the up-down direction.

The riding lawnmower 1 is operated by a driver (also referred to as an operator) to cut grass and other grass (also referred to as grass clippings) and collect the cut grass (also referred to as grass clippings). Note that, below, the riding lawnmower 1 or the traveling vehicle body 2 (described below) may sometimes be referred to as the "machine body."

As shown in FIG. 1, the riding lawnmower 1 comprises a vehicle body 2, a lawn mower (hereinafter referred to as "mower") 3, a mower lifting mechanism 4, and a grass collection container (hereinafter referred to as "collector") 5. The vehicle body 2 comprises a body frame 21, a pair of left and right front wheels 22, and a pair of left and right rear wheels 23. The body frame 21 forms the body framework of the vehicle body 2. The vehicle body frame 21 is mounted with a motor 71, which will be described later. The body frame 21 supports the pair of left and right front wheels 22 via a front axle case.

The body frame 21 also supports a transmission case 24 that houses a transmission, such as an HST (Hydro Static Transmission). The body frame 21 also supports a pair of left and right rear wheels 23 via a chain case that extends rearward from the transmission case 24.

In the riding lawnmower 1, the rotational power of the prime mover 71 is appropriately shifted via the HST and transmitted to the left and right rear wheels 23 via a transmission mechanism housed in the transmission case 24 and chain case, and power is also extracted from the transmission case 24 and transmitted to the left and right front wheels 22.

The traveling vehicle body 2 also includes a floor step 25, a driver's seat 26, a steering column 271, a steering wheel 272, various control levers 281, various control pedals 282, and a safety frame 29.

The floor step 25 is provided at the front of the vehicle body 2. The driver's seat 26 is a seat where the driver sits, and is provided at the rear of the floor step 25. The steering column 271 is provided at the front of the floor step 25. In other words, the steering column 271 is provided in front of the driver's seat 26. The steering wheel 272 is an operating tool for steering the vehicle, and is provided at the top of the steering column 271.

The various operating levers 281 include a mower lifting/lowering lever, collector lifting/lowering lever, dump lever, etc., and are provided on the left and right sides of the driver's seat 26. The various operating pedals 282 include an accelerator pedal, brake pedal, clutch pedal, etc., and are provided above the floor step 25 and on the left and right sides of the steering column 271.

The safety frame (also called ROPS) 29 is a component that ensures the safety of the driver in the event of the vehicle tipping over, and is installed behind the driver's seat 26. When viewed from the front (or rear) of the vehicle, the safety frame 29 is installed in an arch shape that spans the left and right directions of the vehicle.

The mower 3 is provided in front of the traveling vehicle body 2. In this way, the riding lawnmower 1 is a so-called front mower type, with the mower 3 located at the front of the machine body. However, the riding lawnmower 1 may also be a so-called mid-mower type, with the mower 3 located in the center of the machine body, for example.

The mower 3 is a device that cuts grass G1 growing in a working area A _W (see FIG. 2 ) and includes a mower deck 31 and a cutting blade 32 (see FIG. 2 ). The riding lawnmower 1 transports grass (cut grass) G2 cut by the cutting blade 32 to a collector 5 (described below) via a duct 33 and a chute 34. In this case, the riding lawnmower 1 uses a blower 35 to blow and transport the cut grass G2.

The mower lifting mechanism 4 includes a mower lifting cylinder 41 and a lift arm 42. The mower lifting cylinder 41 is, for example, a hydraulic cylinder, and drives the mower 3 to raise and lower. The lift arm 42 is provided between the mower lifting cylinder 41 and the mower deck 31. The mower lifting mechanism 4 transmits the driving force of the mower lifting cylinder 41 to the lift arm 42, thereby driving the lift arm 42. The mower lifting mechanism 4 raises and lowers the mower 3 (mower deck 31) by driving the lift arm 42.

The collector 5 is provided at the rear of the traveling vehicle body 2. The collector 5 is a container that stores grass clippings G2 cut by the mower 3. The collector 5 is configured, for example, as a rectangular parallelepiped frame, and the front, rear, left, right, and top surfaces of the frame are made up of plate members with ventilation holes. The front of the collector 5 is formed with an intake port (not shown) for grass clippings G2 that is connected to the chute 34.

The collector 5 includes a lid 51. The lid 51 is formed by integrating the rear and top surfaces of the collector 5. The lid 51 is configured to move away from the main body of the collector 5 in conjunction with the dump of the collector 5, leaving the rear of the collector 5 widely open. In this way, the collector 5 discharges grass (grass clippings) G2 accumulated by the dump. In the riding lawnmower 1, the grass clippings G2 are generally discharged when the collector 5 is full of grass clippings G2. When discharging grass clippings G2, the riding lawnmower 1 moves to a designated discharge location and discharges the grass clippings G2 at the designated discharge location.

The riding lawnmower 1 also includes a prime mover 71, a positioning device 61, a control unit 100 (see Figure 3), a display unit 62, a fullness sensor 63, and a grass height sensor 64. As described above, the prime mover 71 is mounted on the vehicle frame 21. The prime mover 71 drives the front wheels 22 and rear wheels 23, as well as the cutting blade 32 of the mower 3, using rotational power. The prime mover 71 may be, for example, an engine (e.g., a diesel engine) or an electric motor.

The positioning device 61 is mounted on top of the traveling vehicle body 2 and measures the self-position P (see Figure 2) of the traveling vehicle body 2 (i.e., the riding lawnmower 1) at a predetermined interval to obtain position information (e.g., latitude and longitude) of the riding lawnmower 1. The positioning device 61 is, for example, a GNSS (Global Navigation Satellite System) and is capable of receiving radio waves from a navigation satellite S orbiting in the sky, measuring the self-position P of the riding lawnmower 1, and measuring the time.

The control unit 100 is capable of controlling each unit electronically, and includes a processing unit (not shown) that has a CPU (Central Processing Unit) and other components, as well as a storage unit (not shown) that is made up of a hard disk, ROM (Read Only Memory), RAM (Random Access Memory), and other components, in which various programs and necessary data are stored.

As will be described later, the control unit 100 also calculates the storage rate D8 (see Figure 3) of the grass (grass clippings) G2 stored in the collector 5.

The display unit 62 is provided on the top of the steering column 271. The display unit 62 is, for example, an LCD monitor. The display unit 62 displays the grass clippings G2 storage rate D8 calculated by the control unit 100.

The full sensor 63 is provided in the storage space for grass clippings G2 in the collector 5. The full sensor 63 detects when the collector 5 is full of grass clippings G2. The full sensor 63 is, for example, an infrared sensor or a weight sensor. Note that the full sensor 63 may be configured to sound a buzzer or other alarm when it detects that the collector 5 is full.

The grass height sensor 64 detects the grass height (height of the grass G1) H _G1 of the grass G1 before cutting in a predetermined area of the work area A _W (see FIG. 2 ) of the riding lawnmower 1. The grass height sensor 64 is provided in front of the steering column 271. The grass height sensor 64 is, for example, a LiDAR (Light Detection and Ranging) device, and detects the grass height H _G1 of the grass G1 before cutting by measuring scattered light of light irradiated toward a predetermined area in front of the machine body.

As shown in Figure 1, the riding lawnmower 1 performs the work of mowing grass G1 (hereinafter referred to as "mowing work") at a predetermined mowing height (also referred to as "target grass height") _HM . The mowing height _HM of the grass G1 by the mower 3 can be set by the operator. As shown in Figure 2, the riding lawnmower 1 performs the work of mowing grass G1 at a predetermined mowing width (also referred to as "working width") W _M1 . The mowing width W _M1 of the grass G1 is determined by the left-right width of the cutting blade 32 (the rotation range of the cutting blade 32).

Furthermore, as shown in FIG. 2, when the riding lawnmower 1 mows an unworked area A _W1 in the work area A _W where uncut grass G1 remains, it works so that it overlaps the predetermined mowing width W _M1 with the already mowed area A _W2 where the grass G1 has been cut by a predetermined work allowance (overlap width) W _M2 .

As shown in FIG. 2, the riding lawnmower 1 uses a positioning device 61 to measure its own position P during mowing. The control unit 100 (see FIG. 3), which will be described later, obtains the travel route R (see FIG. 4) of the riding lawnmower 1 during mowing based on the riding lawnmower 1's own position P measured by the positioning device 61.

<Control content of the control system and control unit of the riding lawnmower>
Next, the control system of the riding lawnmower 1 according to the embodiment and the control details by the control unit 100 will be described with reference to Figures 3 and 4. Figure 3 is a block diagram showing an example of the control system of the riding lawnmower 1 according to the embodiment. Figure 4 is an explanatory diagram of the lawnmower operation performed by the riding lawnmower 1 according to the embodiment.

As shown in Figure 3, the control unit 100 is connected to a positioning device 61, a display unit 62, a fullness sensor 63, a grass height sensor 64, etc.

The control unit 100 acquires capacity information D1 of the collector 5 (see FIG. 1), information D2 on the grass density of the turfgrass G1 in a predetermined area of the working area A _W (see FIG. 2), information D3 on the mowing width W _M1 (see FIG. 2) of the mower 3 (see FIG. 1), information D4 on the mowing height H _M (see FIG. 1) of the mower 3, and information D5 on the pre-mowing height H _G1 (see FIG. 1) of the turfgrass G1 in the predetermined area of the _working area A W. The control unit 100 stores these pieces of information D1 to D5. The control unit 100 also takes into account the work allowance W _M2 (see FIG. 2) and acquires the value obtained by subtracting the work allowance W _M2 from the mowing width W _M1 as actual mowing width information D3, and stores the acquired mowing width information D3.

The control unit 100 also acquires position information (self-position P) of the riding lawnmower 1 (traveling body 2) (see Figures 1 and 2) measured by the positioning device 61, and calculates the travel path R (see Figure 4) of the riding lawnmower 1 during lawn mowing work based on the self-position P of the riding lawnmower 1. In this way, the control unit 100 acquires the travel path R of the riding lawnmower 1.

The control unit 100 calculates the mowing amount D7 (also referred to as mowing amount information) of grass G1 cut by the mower 3 during mowing operation using the capacity information D1, grass density information D2, cutting width information D3, cutting height information D4, grass height information D5, and travel route R (travel route information D6) stored in the control unit 100. The control unit 100 also calculates the storage rate (also referred to as storage rate information) D8 of grass clippings G2 in the collector 5 based on the calculated cutting amount D7. The control unit 100 uses some or all of the information D1-D6 to calculate the mowing amount D7. The control unit 100 also uses the travel route information D6 to calculate the mowing amount D7. The mowing amount D7 can be calculated using a formula such as "mowing amount D7 = (grass height information D5 - cutting height information D4) x cutting width information D3 x travel route information D6 (travel distance) x grass density information D2."

The control unit 100 then outputs the calculated capacity rate D8 to the display unit 62. The display unit 62 displays the capacity rate D8 input from the control unit 100. Note that the display unit 62 may, for example, display the capacity rate D8 numerically or graphically.

The control unit 100 may also be configured to store the capacity information D1, grass density information D2, cutting width information D3, cutting height information D4, and grass height information D5 as table data for each position of the riding lawnmower 1. In this case, the control unit 100 calculates the cutting amount D7 using some or all of the information D1 to D5, without using the travel route R (travel route information D6).

In addition, since the exact value of grass density information D2 is difficult to determine, a rough numerical value is used as the initial value, and the numerical value is corrected by adjusting it each time collector 5 becomes full.

As shown in FIG. 3, when a fullness detection signal S1 is input from the fullness sensor 63 indicating that the collector 5 is full of grass clippings G2, the control unit 100 compares the calculated cutting amount D7 with the capacity information D1. That is, the control unit 100 compares the calculated cutting amount D7 with the amount of grass clippings G2 that has actually filled the collector 5. The control unit 100 then calculates the difference between the cutting amount D7 and the capacity information D1, and corrects the grass density information D2 according to the difference between the cutting amount D7 and the capacity information D1.

As shown in Figure 3, the control unit 100 also acquires information (already-worked area information) D9 about the already-worked area A _W2 (see Figure 2), which is the area of the work area A _W (see Figure 2) that has already been mowed. In this case, the control unit 100 acquires the already-worked area information D9 based on the travel path information D6 and the mowing width information D3. As shown in Figure 4, when correcting the grass density information D2, the control unit 100 corrects the grass density information D2 by linking it to the already-worked area A _W2 up to the position where the fullness sensor 63 detected that the collector 5 was full (when the fullness detection signal S1 was input from the fullness sensor 63).

3, the control unit 100 obtains grass density map information D10 for the previously worked area _{A_W2} based on the corrected grass density information D2, and creates a distribution map (grass density map) of the grass density of the turfgrass G1 in the previously worked area _{A_W2} based on the obtained grass density map information D10. The grass density map created by the control unit 100 can be used for subsequent mowing operations in the same work area _{A_W} . In this case, it is preferable to use the final corrected values as the initial values for the grass density information D2.

Also, as shown in FIG. 3, when the control unit 100 receives a grass height detection signal S2 from the grass height sensor 64, i.e., when it acquires grass height information D5, it links the acquired grass height information D5 to the riding lawnmower 1's current position P and calculates the mowing amount D7 while updating the grass height information D5.

As shown in FIG. 3, the control unit 100 also includes a motor control unit 110. The motor control unit 110 is connected to the motor 71, motor rotation speed sensor 72, operation unit 73, and other components. The motor control unit 110 is capable of controlling the motor 71 through electronic control, and includes a processing unit (not shown) having a CPU and other components, and a storage unit (not shown) consisting of a hard disk, ROM, RAM, and other components that stores various programs and necessary data.

As described above, the prime mover 71 drives the mower 3 using rotational power. The prime mover 71 is controlled by the prime mover control unit 110. The prime mover rotation speed sensor 72 detects the rotation speed of the prime mover 71. The prime mover rotation speed sensor 72 outputs the rotation speed of the prime mover 71, i.e., a rotation speed detection signal S3, to the prime mover control unit 110. The operation unit 73 accepts operation by the operator and outputs an operation signal S4 to the prime mover control unit 110. When the operation signal S4 is input from the operation unit 73, the prime mover control unit 110 outputs an output instruction signal S5 to the prime mover 71, which is a signal indicating an output instruction value for the prime mover 71, based on the operation signal S4.

The control unit 100 calculates the load (also referred to as load information) D11 of the motor 71 based on the output instruction signal S5 and the rotation speed detection signal S3. The control unit 100 then links the calculated load D11 of the motor 71 to the current position P of the riding lawnmower 1 and updates the grass density information D2.

<Determining whether or not mowing is necessary>
Next, the determination of whether mowing work is necessary or not in the riding lawnmower 1 according to this embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart showing the processing steps for determining whether mowing work is necessary or not in the riding lawnmower 1 according to this embodiment.

To improve the efficiency of lawn mowing work, the control unit 100 (see FIG. 3) determines whether or not lawn mowing work is required by the riding lawnmower 1 depending on the conditions of the work area A _W (see FIG. 2).

5, the control unit 100 acquires the mowing height (target grass height) _HM (cutting height information D4) of the grass G1 to be mowed by the mower 3 and stores the acquired target grass height _HM (step S101). Since it is assumed that a target grass height _HM to be maintained for each specified region (designated area) is determined during lawn mowing work, the target grass height _HM is set in association with the position information (self-position P) of the riding lawnmower 1.

Next, the control unit 100 acquires the current grass height H _G1 of the turf grass G1 in the specified area (grass height information D5) and stores the current grass height H _G1 of the turf grass G1 (step S102). During the lawn mowing operation, the grass height H _G1 of the turf grass G1 before mowing is detected as 3D information using a grass height sensor 64 such as LiDAR.

Next, the control unit 100 calculates the difference between the current grass height H _G1 and the target grass height H _M in the designated area (step S103).

Next, the control unit 100 determines whether the current plant height H _G1 is equal to or greater than the target plant height H _M (target plant height H _M ≦ current plant height H _G1 ) (step S104).

If the control unit 100 determines in step S104 that the current grass height H _G1 is equal to or greater than the target grass height H _M (step S104: Yes), it determines that mowing work is necessary (step S105) and ends the process of determining whether mowing work is necessary. Note that if the control unit 100 determines that mowing work is necessary, the riding lawnmower 1 will perform mowing work.

Furthermore, if the control unit 100 determines in step S104 that the current grass height H _G1 is smaller (lower) than the target grass height H _M (step S104: No), it determines that no mowing work is necessary (step S106) and terminates the process of determining whether mowing work is necessary or not.

If the control unit 100 determines that mowing work is necessary, it will, for example, raise a flag on the map. The control unit 100 will also determine whether mowing work is necessary for the entire designated area, and will only perform mowing work in areas where mowing work is necessary.

With the riding lawnmower 1 according to the embodiment described above, by displaying the grass G2 storage rate D8 in the collector 5, the operator of the riding lawnmower 1 can use this as a guide to determine when to discharge the grass (cut grass) G2 stored in the collector 5. In this case, for example, when the riding lawnmower 1 approaches a location where the grass (cut grass) G2 is to be discharged during lawn mowing work, if there is a certain amount of grass clippings G2 accumulated in the collector 5 even if the collector 5 is not full, the operator can discharge the grass (cut grass) G2. Because the operator can grasp the storage status of the grass clippings G2 in the collector 5, various decisions can be made depending on the storage status of the grass clippings G2, improving workability.

In addition, because the control unit 100 calculates the mowing amount D7 using the travel route R, the mowing amount D7 of the grass G1 and the storage rate D8 of the grass (cut grass) G2 during mowing work can be calculated more accurately so as to be closer to the actual values.

In addition, the control unit 100 corrects the grass density information D2 according to the difference between the mowing volume D7 and the capacity information D1. By correcting the numerical value of the grass density information D2, which has a large estimation element when the collector 5 is full, the mowing volume D7 of the turf grass G1 can be calculated more accurately.

Furthermore, when the control unit 100 corrects the grass density information D2, it links the information to the previously worked area A _W2 up to the position where the fullness sensor 63 detected that the collector 5 was full, and therefore by correcting the grass density information D2 in connection with the previously worked area A _W2 , it is possible to more accurately calculate the mowing amount D7 of the turf grass G1. Furthermore, by the control unit 100 creating a distribution map of the grass density of the turf grass G1 in the previously worked area A _W2 , the created distribution map can be used for subsequent mowing work in the same location, improving workability.

Furthermore, since it can be assumed that the load fluctuations on the motor 71 change depending on the density of the grass G1, by updating the grass density information D2 from the load D11 on the motor 71 and the riding lawnmower 1's own position P, it is possible to more accurately calculate the mowing amount D7 of the grass G1 the next time mowing work is performed in the same location.

Furthermore, since the mowing operation is performed while detecting the pre-cut grass height H _G1 of the turf grass G1, the mowing amount D7 of the turf grass G1 can be calculated more accurately.

The above-described embodiment realizes the following riding lawnmower 1.

(1) A riding lawnmower 1 comprising: a traveling vehicle body 2; a lawnmower 3 mounted on the traveling vehicle body 2 and configured to cut grass G1; a grass collection container 5 mounted on the traveling vehicle body 2 and configured to collect grass G2 cut by the lawnmower 3; a control unit 100 that stores capacity information D1 of the grass collection container 5, grass density information D2 of the grass G1 in a specified area, mowing width information D3 of the lawnmower 3, mowing height information D4 of the lawnmower 3, and pre-cut grass height information D5 of the grass G1 in the specified area; the control unit 100 that calculates the amount D7 of grass G1 cut during mowing using the capacity information D1, grass density information D2, mowing width information D3, mowing height information D4, and grass height information D5; and calculates the storage rate D8 of grass G2 in the grass collection container 5 based on the calculated cutting amount D7; and a display unit 62 that displays the storage rate D8 calculated by the control unit 100.

With this type of riding lawnmower 1, by displaying the grass G2 storage rate D8 in the grass collection container 5, the driver (operator) of the riding lawnmower 1 can use this as a guide to decide when to discharge the grass (grass clippings) G2 stored in the grass collection container 5. In this case, for example, when the riding lawnmower 1 approaches a location where grass (grass clippings) G2 is to be discharged during lawn mowing work, if there is a certain amount of grass clippings G2 in the grass collection container 5 even if the grass collection container 5 is not full, the operator can discharge the grass (grass clippings) G2. Because the operator can grasp the storage status of the grass clippings G2 in the grass collection container 5, various decisions can be made depending on the storage status of the grass clippings G2, improving workability.

(2) In the above (1), the riding lawnmower 1 is equipped with a positioning device 61 that measures the self-position P of the traveling vehicle body 2, and the control unit 100 acquires the self-position P of the traveling vehicle body 2 measured by the positioning device 61, acquires the traveling path R of the traveling vehicle body 2 during lawn mowing work based on the self-position P of the traveling vehicle body 2, calculates the mowing volume D7 using the traveling path R, and calculates the storage rate D8 based on the calculated mowing volume D7.

In addition to the effect of (1) above, this riding lawnmower 1 can more accurately calculate the amount D7 of grass G1 cut during mowing work and the capacity D8 of grass G2 in the grass collection container 5 so that they approach the actual values.

(3) In the riding lawnmower 1 described above in (2), a full sensor 63 is provided that detects when the grass collection container 5 is full, and when the full sensor 63 detects that the grass collection container 5 is full, the control unit 100 compares the calculated mowing amount D7 with the capacity information D1 and corrects the grass density information D2 according to the difference between the mowing amount D7 and the capacity information D1.

With this type of riding lawnmower 1, in addition to the effect of (2) above, by correcting the numerical value of the grass density information D2, which has a large estimation element, when the grass collection container 5 is full, the mowing amount D7 of the grass G1 can be calculated more accurately.

(4) In (3) above, the control unit 100 acquires the worked area A _W2 , which is the area where grass has already been mowed, based on the travel route R and the mowing width information D3, and when correcting the grass density information D2, corrects the grass density information D2 by linking it to the worked area A _W2 up to the position where the fullness sensor 63 detected that the grass collection container 5 was full, and creates a distribution map of the grass density of the grass G1 in the worked area A _W2 based on the corrected grass density information D2, riding lawnmower 1.

In addition to the effect of (3) above, this riding lawnmower 1 can more accurately calculate the mowing volume D7 of the grass G1 by linking it to the previously worked area A _W2 and correcting the grass density information D2. Also, by creating a grass density distribution map, the created distribution map can be used for subsequent mowing work in the same location, improving workability.

(5) In the above (2), the riding lawnmower 1 includes a prime mover 71 that drives the lawnmower 3 with rotational power, a prime mover control unit 110 that controls the prime mover 71, and a prime mover rotation speed sensor 72 that detects the rotation speed of the prime mover 71, and the control unit 100 calculates the load D11 of the prime mover 71 based on the output command value for the prime mover 71 and the rotation speed of the prime mover 71 detected by the prime mover rotation speed sensor 72, and links the calculated load D11 of the prime mover 71 to the self-position P of the traveling vehicle body 2 to update the grass density information D2.

With this type of riding lawnmower 1, in addition to the effect of (2) above, it can be estimated that the load fluctuations on the motor 71 change depending on the density of the grass G1. Therefore, by updating the grass density information D2 from the load D11 on the motor 71 and the self-position P of the traveling vehicle body 2, it is possible to more accurately calculate the mowing amount D7 of the grass G1 the next time or later when mowing the same location.

(6) In any of (2) to (5) above, the riding lawnmower 1 is provided with a grass height sensor 64 that detects the grass height H _G1 of the grass G1 in a specified area before cutting, and the control unit 100 links the grass height information D5 obtained by detection by the grass height sensor 64 to the self-position P of the traveling vehicle body 2, and calculates the cutting amount D7 while updating the grass height information D5.

In addition to any of the effects (2) to (5) above, this riding lawnmower 1 can more accurately calculate the mowing amount D7 of the grass G1 by detecting the grass height H _G1 before mowing while mowing.

Further advantages and modifications may readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

1 Riding lawn mower 2 Traveling vehicle body 3 Lawn mower (mower)
5. Grass collector
61 Positioning device 62 Display unit 63 Fullness sensor 64 Grass height sensor 71 Motor 72 Motor rotation speed sensor 100 Control unit 110 Motor control unit A _W2 Already worked area D1 Capacity information D2 Grass density information D3 Mowing width information D4 Mowing height information D5 Grass height information D7 Mowing amount D8 Capacity rate D11 Load G1 Grass G2 Grass (cut grass)
P: Self-position R: Travel route

Claims (6)

A running vehicle body,
a lawn mower provided on the traveling vehicle body for mowing grass;
a grass collection container provided on the traveling vehicle body for collecting grass cut by the lawnmower;
a control unit that stores capacity information of the grass collection container, initial numerical grass density information of the grass in a predetermined area, mowing width information of the lawnmower, mowing height information of the lawnmower, and grass height information of the grass in the predetermined area before mowing, corrects the numerical value of the grass density information each time the grass collection container becomes full , calculates the amount of grass cut during mowing work using the capacity information, grass density information, mowing width information, mowing height information, and grass height information, and calculates the grass storage rate of the grass collection container based on the calculated amount of grass cut;
a display unit that displays the storage rate calculated by the control unit. a positioning device for measuring the self-position of the traveling vehicle body;
2. The riding lawnmower according to claim 1, wherein the control unit acquires the self-position of the traveling vehicle body measured by the positioning device, acquires a travel path of the traveling vehicle body during lawn mowing work based on the self-position of the traveling vehicle body, calculates the mowing volume using the travel path, and calculates the storage rate based on the calculated mowing volume. A full sensor is provided to detect when the grass collection container is full,
3. The riding lawnmower according to claim 2, wherein when the fullness sensor detects that the grass collection container is full, the control unit compares the calculated mowing amount with the capacity information, and corrects the grass density information according to the difference between the mowing amount and the capacity information. 4. The riding lawnmower according to claim 3, wherein the control unit obtains an already-mowed area, which is an area where grass has already been mowed, based on the travel path and the mowing width information, and when correcting the grass density information, corrects the grass density information by linking it to the already-mowed area up to the position where the fullness sensor detected that the grass collection container was full, and creates a distribution map of grass density of the grass in the already-mowed area based on the corrected grass density information. a prime mover that drives the lawn mower using rotational power;
a prime mover control unit that controls the prime mover;
a prime mover rotation speed sensor that detects the rotation speed of the prime mover,
3. The riding lawnmower according to claim 2, wherein the control unit calculates a load on the prime mover based on an output command value for the prime mover and the number of revolutions of the prime mover detected by the prime mover rotation speed sensor, and links the calculated load on the prime mover to a self-position of the traveling vehicle body to update the grass density information. a grass height sensor that detects the grass height before cutting in the predetermined area,
The riding lawnmower according to any one of claims 2 to 5, characterized in that the control unit links the grass height information obtained by detection by the grass height sensor with the current position of the traveling vehicle body, and calculates the mowing amount while updating the grass height information.