Working machine and storage medium

Abstract

The working machine comprises: a driving source; a working unit including a rotating body rotated by the driving source and performing a predetermined work by the rotation of the rotating body; and a control unit controlling the driving source so that the output of the rotating body becomes a locally different value during one rotation of the rotating body.

Description

Technical Field

[0001] The present invention relates to a working machine and a storage medium. Background Art

[0002] Working machines such as lawn mowers and snow blowers perform predetermined work using the rotational driving force of a driving source such as a motor. Patent Document 1 discloses a working machine that controls a target rotational speed of a working motor according to a work load.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2019 / 097683 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In the above-mentioned conventional working machines, there is a demand for improving the driving method of the working mechanism for the purpose of further improving the efficiency and performance of the working.

[0008] An exemplary object of the present invention is to provide a technique that is useful for further improving the efficiency and performance of a working machine.

[0009] Means used to solve problems

[0010] According to one aspect of the present invention, there is provided a working machine, characterized in that:

[0011] The working machine comprises:

[0012] Driving source;

[0013] a working unit including a rotating body rotated by the driving source and performing a predetermined work by the rotation of the rotating body; and

[0014] A control unit controls the driving source so that the output of the rotating body becomes a locally different value during one rotation of the rotating body.

[0015] [Effects of the invention]

[0016] According to the present invention, it is possible to provide a technique which is advantageous for further improving the efficiency and performance of a working machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a side view showing the outline of a working machine according to one embodiment.

[0018] Figure 2 It is schematically indicated Figure 1A top view of the internal structure of the working machine.

[0019] Figure 3 Yes means Figure 1 A diagram showing an example of the hardware configuration of a working machine.

[0020] Figure 4 This is a block diagram showing an overview of the drive control of the motor performed by the control unit.

[0021] Figure 5A The diagram schematically shows the state of grass when mowing is performed using a working machine.

[0022] Figure 5B It is a diagram for explaining the relationship between the cut grass and the cutting direction of the cutting part.

[0023] Figure 5C It is a diagram for explaining the relationship between the cut grass and the cutting direction of the cutting part.

[0024] Figure 6 It is a flowchart which shows the processing example of a control part.

[0025] Figure 7 It means it has been executed Figure 6 Graph showing the relationship between the torque command value set by the torque controller and the rotational position of the rotating body in the case of the flowchart.

[0026] Figure 8 It is a schematic diagram of a working unit involved in other embodiments. DETAILED DESCRIPTION

[0027] Hereinafter, the embodiments are described in detail with reference to the accompanying drawings. In addition, the following embodiments do not limit the invention involved in the technical solution. In addition, the combination of features described in the embodiments may not all be necessary for the invention. Two or more of the multiple features described in the embodiments may also be combined arbitrarily. In addition, the same or similar configurations are marked with the same reference numerals, and repeated descriptions are omitted.

[0028] In each figure, arrows X, Y, and Z indicate mutually orthogonal directions, the X direction indicates the front-rear direction of the work machine W, the Y direction indicates the vehicle width direction (left-right direction) of the work machine W, and the Z direction indicates the up-down direction. In the following description, the left-right direction refers to the left-right direction in the state of facing the forward side of the work machine W.

[0029] <Overview of the work machine>

[0030] Figure 1 is a side view showing an outline of a working machine W according to one embodiment. Figure 2 It is schematically indicated Figure 1The working machine W is a so-called walking type lawn mower in which the operator walks behind the working machine W and operates the operation unit 6 described later to mow the grass. The working machine W includes a main body 1 and an operation unit 6 for operating the main body 1. In addition, the main body 1 includes a working motor M (hereinafter referred to as the motor M), a working unit 2, a recovery unit 3, a travel unit 4, and a control unit 5 (see FIG. Figure 3 ).

[0031] The motor M is a driving source of the rotating body 20 of the working part 2, and is an electric motor that drives the rotating body 20 to rotate. In the present embodiment, the motor M is a three-phase brushless motor. However, other types of motors can also be used as the motor M. In addition, the working machine W can have an engine instead of the motor M as a driving source for the rotating body 20, or can have an engine and an electric motor as driving sources. In addition, a reducer that reduces the rotation speed of the motor M can also be provided between the motor M and the rotating body 20.

[0032] The working unit 2 performs a predetermined operation using a rotating body 20 rotated by a motor M. In the present embodiment, the working unit 2 includes a rotating body 20 and a cutter housing 22 (covering portion) provided to cover the rotating body and defining a working space S of the working unit 2 .

[0033] The rotating body 20 rotates with the output shaft 1a of the motor M extending in the up-down direction as the rotating shaft 20a. In the present embodiment, the rotating body 20 is formed of a metal material such as iron or aluminum. The rotating body 20 has cutting parts 201a and 201b capable of cutting grass. In the present embodiment, the rotating body 20 is a double-edged cutting blade having an elongated plate-like extension part 20b extending radially from the rotating shaft 20a, and the cutting parts 201a and 201b are provided at both ends of the extension part 20b. That is, the rotating body 20 has a plurality of cutting parts 201a and 201b that are different in the circumferential direction relative to the rotating shaft 20a. Moreover, as Figure 2 As shown, the rotating body 20 rotates clockwise in a plan view, so that the grass is cut by the cutting parts 201a and 201b. In the following description, the cutting parts 201a and 201b are sometimes collectively referred to as the cutting part 201. In addition, in this embodiment, a double-edged cutting blade is used as the rotating body 20, but a single-edged or three-edged or more cutting blade may also be used.

[0034] In addition, the rotating body 20 includes fins 202a and 202b that apply force to the object in a predetermined direction. In the present embodiment, the fins 202a and 202b apply force to the grass in a direction in which the grass as the object is introduced into the recovery part 3. In the present embodiment, the fins 202a and 202b are respectively arranged behind the cutting parts 201a and 201b in the rotation direction of the rotating body 20, and are formed to be bent upward relative to the plane of rotation of the rotating body 20. Thus, the flow of air is generated in the rotation direction by the rotation of the rotating body 20, and the flow of air is also generated in the direction from the working space S to the exhaust port 301, so that the cut grass is forced to be introduced into the recovery part by utilizing the flow of air. In the following description, the fins 202a and 202b are sometimes collectively referred to as fins 202.

[0035] The cutter housing 22 covers the rotating body 20 and defines a working space S of the rotating body 20. The cutter housing 22 is provided in a manner covering the rotating body 20, for example, to protect the rotating body 20 and prevent the scattering of cut grass. In the present embodiment, the cutter housing 22 is provided in a manner covering the rotating body 20 on the forward side of the travel direction of the working machine W and on the side of the working machine W.

[0036] The recovery unit 3 is a grass bag for recovering the grass cut by the cutting unit 201. In the present embodiment, the recovery unit 3 is arranged at the rear of the working machine W, and is connected to the space covered by the cutter housing 22 via the exhaust port 301. According to this structure, the grass cut by the cutting unit 201 is introduced into the recovery unit 3 together with the flow of air generated by the fins 202. In addition, the exhaust structure of the air introduced into the recovery unit 3 can be appropriately designed. For example, the recovery unit 3 can return the introduced air to the space side covered by the cutter housing 22 again, or exhaust to the rear of the recovery unit 3.

[0037] In addition, in the present embodiment, the discharge port 301 is formed within a width range W1 of the fin 202 extending toward the recovery unit 3. Figure 2 When the fin 202 passes through the right half side of the cutter housing 22 between 0 and 180 degrees, it moves toward the recovery part 3 (more specifically, the discharge port 301), and when the fin 202 passes through the left half side between 180 and 360 degrees, it moves away from the recovery part 3 (more specifically, the discharge port 301). In this embodiment, the width direction range of the discharge port 301 is formed within the range of the right half side where the fin 202 moves toward the discharge port 301. Therefore, the influence of the flow of air generated by the fin 202 moving in the direction away from the discharge port 301 can be suppressed. That is, it is possible to suppress the grass from being forced from the discharge port 301 side toward the cutter housing 22 side.

[0038] The travel unit 4 drives the work machine W. The travel unit 4 includes a pair of front wheels 40 and a pair of rear wheels 42, which are separately arranged in the width direction of the work machine W, and a travel motor 44. In the present embodiment, the rotational driving force of the travel motor 44 is transmitted to the rear wheels 42 via a transmission mechanism not shown in the figure. In addition, the rotational driving force of the travel motor 44 can also be transmitted by a rotational speed appropriately converted by the transmission mechanism. In addition, the work machine W can also be a front wheel drive that transmits the rotational driving force of the travel motor 44 to the front wheel 40. In addition, in one embodiment, the travel motor 44 can be omitted. That is, the travel unit 4 can also include front wheels 40 and rear wheels 42, and the work machine W travels by the force of the operator pressing the work machine W.

[0039] The operating unit 6 is used by the operator to operate the work machine W, and includes a rod 60, a work operating unit 62, and a travel operating unit 64. The rod 60 extends from one end fixed to the main body 1 to the rear and upward in a pair of left and right directions, and is connected at their upper ends. The travel operating unit 64 is provided on the rod 60, and receives various inputs for the operation of the travel unit 4 performed by the operator. In addition, the work operating unit 62 is provided on the rod 60, and receives various inputs for the operation of the work unit 2 performed by the operator. As an example, the work operating unit 62 may also receive inputs related to the switching of the start / stop of the drive of the work unit 2. In addition, in the case where multiple modes are provided as the driving method of the work unit 2, the work operating unit 62 may also receive inputs regarding the switching of the modes.

[0040] The main body 1 includes a control unit 5 for controlling the working unit 2 and a battery 80 capable of supplying power to each electrical component of the working machine W. Furthermore, the main body 1 includes a cover member 84 for covering the working unit 2, the battery 80, and the like.

[0041] <Control Structure>

[0042] Next, a control structure of the working unit 2 by the control unit 5 will be described. Figure 3 This is a diagram showing an example of the hardware structure of the working machine W, and is a diagram showing the structure related to the drive of the working unit 2 as the center. In one embodiment, the control unit 5 is a PDU (Power Drive Unit) that controls the drive of the motor M, and includes an MCU (MicroControl Unit) 51, an inverter circuit 52, and a current sensor 53.

[0043] MCU51 has a processor represented by a CPU, a memory such as RAM, ROM, and an input / output interface (not shown) for relaying the signal transmission and reception between the processor and an external device. MCU51 performs various controls by processing programs stored in the memory through the processor. Specifically, MCU51 performs speed control and torque control of the motor M, and generates a drive signal output to the inverter circuit 52. That is, MCU51 constitutes a drive circuit for the motor M. MCU51 can become a computer of the present invention involved in the implementation program.

[0044] The inverter circuit 52 converts the DC current of the battery 80 into an AC motor driving current based on the driving signal output by the MCU 51 and outputs it to the motor M. In addition, the structure of the inverter circuit 52 is well known, so its detailed description is omitted. In addition, the current sensor 53 detects the current value output from the inverter circuit 52 to the motor M.

[0045] In addition, in the present embodiment, the working machine W has a rotation sensor 82 that detects the rotation speed and rotation position of the motor M, in other words, detects the rotation angle. For example, the rotation sensor 82 may be a rotary encoder that converts the mechanical displacement of the rotation into an electrical signal and processes the signal to detect the position, rotation speed, etc. In addition, a sensor for detecting the rotation speed, such as a tachometer, and a sensor for detecting the rotation position, such as a potentiometer, may be provided separately. In addition, in one embodiment, the rotation sensor 82 may be omitted. In this case, the mechanical position of the motor M that rotates due to the induced voltage of the motor M, etc., may also be estimated. In addition, the rotation speed of the motor M may also be estimated based on the estimation result.

[0046] also, Figure 3 The structure shown is an example, and other structures can also be adopted. For example, a structure in which the MCU 51 that outputs the drive signal and the inverter circuit 52 that outputs the motor drive current based on the drive signal are separately provided can also be adopted. Figure 3 Although not shown in the figure, the driving control of the travel motor 44 and the driving control of the working motor M may be performed by an electronic control unit (ECU). Furthermore, at least a part of the functions implemented by the MCU 51 may be constituted by hardware. In addition, an MPU (Micro Processing Unit) may be used instead of the MCU 51 to perform various controls.

[0047] Figure 4 This is a block diagram showing an overview of the control unit 5 driving the motor M. In this embodiment, the speed controller 511 and the torque controller 512 implemented by the MCU 51 determine the current command value as the driving signal, and the inverter circuit 52 controls the output of the motor M based on the current command value.

[0048] The speed controller 511 outputs a torque command value based on the difference between a predetermined speed command value and the actual speed of the motor M obtained by the rotation sensor 82 so that the actual speed of the motor M approaches the speed command value. The torque controller 512 calculates a torque command value that causes the motor M to achieve a target behavior based on the torque command value output by the speed controller 511 and the driving current value of the motor M obtained by the current sensor 53, and outputs a current command value corresponding to the torque command value to the inverter circuit 52. The inverter circuit 52 converts the DC current of the battery 80 into an AC motor driving current based on the current command value output by the torque controller 512 and outputs it to the motor M.

[0049] Here, the control unit 5 uses vector control to perform the above-mentioned drive control of the motor M. Since vector control is a well-known technology, a detailed description is omitted, but if a general description is given, vector control is a control that processes the three-phase AC value as a two-phase DC value through coordinate transformation and the like and performs calculation processing. By using vector control, the control object is not the three-phase AC value that is always changing but the DC value, so the drive current value of the motor M can be directly controlled, and more effective torque control can be performed. For example, in the case of only performing speed control based on the detection result of the rotation sensor 82, such as 120-degree power-on control and sine wave control, torque control is difficult. However, by using vector control to directly control the drive current value, the rotation speed and torque can be increased or decreased even during the process of the motor M rotating one circle.

[0050] In addition, in the case of the present embodiment, the control unit 5 performs both the rotation speed control and the torque control of the motor M. Therefore, the control unit 5 can rotate the motor M at a predetermined rotation speed through the rotation speed control, and increase or decrease the rotation speed or torque during one rotation of the motor M through the torque control. That is, the control unit 5 can macroscopically control the rotation speed of the motor M through the rotation speed control, and microscopically control the torque of the motor M through the torque control.

[0051] <Operation Example of Working Machine W>

[0052] Figure 5A 2 is a diagram schematically showing the state of grass g when mowing is performed by the working machine W. Figure 5B as well as Figure 5C 2 is a diagram for explaining the relationship between the cut grass g and the cutting direction of the cutting unit 201.

[0053] As described above, the cutter housing 22 is provided on the forward side of the rotating body 20. Therefore, when the working machine W cuts grass while moving forward using the traveling unit 4, the grass g in front of the rotating body 20 is tilted toward the forward side by the cutter housing 22 or the cover member 84. Therefore, when the inclination of the grass is not restored at the time of being cut by the cutting unit 201, the grass g is cut by the cutting unit 201 in a state of being inclined toward the forward side.

[0054] Here, the cutting portion 201 is Figure 2 When the grass is cut during the rotation within the range R4 from 270 degrees to 360 degrees, that is, when the grass is cut on the left half side of the working machine W, the cutting unit 201 contacts the grass g while moving in the forward direction. Figure 5B In this case, since the cutting part 201 contacts the grass g at an obtuse angle θ1, the resistance between the cutting part 201 and the grass is relatively small, and the cutting part 201 may slide relative to the grass g. Figure 5C As shown, sometimes grass g can be used with Figure 5B The state shown is further tilted than the state shown by the cutting portion 201. That is, sometimes the angle θ1 ( Figure 5B ), their angle θ3 at the actual mowing moment g ( Figure 5C As a result, the length of the cut portion g2 when the grass is cut during the rotation within the range R4 may be shorter than the length of the cut portion g1 when the cutting unit 201 cuts the grass g without sliding relative to the grass g. Therefore, there is a tendency for the height of the cut grass g to shift upward.

[0055] On the other hand, in the cutting portion 201, Figure 2 When the grass is cut during the rotation within the range R1 from 0 to 90 degrees, that is, when the grass is cut on the right half of the working machine W, the cutting unit 201 contacts the grass while moving in the backward direction. Figure 5B In this case, since the cutting part 201 contacts the cut part g1 of the grass at an acute angle θ2, the resistance between the cutting part 201 and the grass is relatively large, and the cutting part 201 is not easy to slide relative to the grass. Therefore, there is a tendency that the height of the cut grass is not easy to deviate upward compared with the case of cutting in the direction of arrow A.

[0056] As a result, the height of the mowed grass may differ between the mowed grass on the left half of the work machine W and the mowed grass on the right half. Therefore, the grass may be mowed to a height that the user does not want, which may affect the working efficiency of the work machine W. Therefore, there is a demand for improving the driving method of the working mechanism for the purpose of further improving the efficiency and performance of the mowing operation of the work machine W.

[0057] Therefore, in the present embodiment, the control unit 5 reduces the height difference after mowing by performing the following processing. Figure 6 This is a flowchart showing an example of processing by the control unit 5. For example, this flowchart starts when the control unit 5 receives a signal related to the start of the working unit 2 received by the working operation unit 62. In addition, S1 corresponds to the processing of the rotation speed controller 511, and S2 and thereafter correspond to the processing of the torque controller 512.

[0058] In S1, the speed controller 511 performs speed control. Specifically, the torque command value is determined based on the difference between the predetermined speed command value and the actual speed of the motor M obtained based on the detection result of the rotation sensor 82, so that the actual speed of the motor M approaches the speed command value. In addition, the predetermined speed command value may be, for example, a fixed value determined according to the type of the working machine W, or may be a value determined according to the mode when the working mode can be selected through the operating unit 6.

[0059] In S2, the torque controller 512 acquires the rotational position of the rotating body 20. Specifically, the torque controller 512 acquires the rotational position based on the detection result of the rotation sensor 82.

[0060] In S3, the torque controller 512 checks whether the position of the rotating body 20 is within a predetermined range, and proceeds to S4 if it is within the predetermined range, and proceeds to S5 if it is outside the predetermined range. In this embodiment, the predetermined range is a range in which either of the cutting portions 201a and 201b is between 270 degrees and 360 degrees.

[0061] In S4, the torque controller 512 sets the torque command value to a value different from the value based on the rotation speed control. In the present embodiment, the torque controller 512 sets the torque command value to a value higher than a predetermined value. On the other hand, in S5, the torque controller 512 sets the torque command value to a value based on the rotation speed control.

[0062] In S6, the torque controller 512 converts the torque command value set in S4 or S5 into a DC current command value and outputs it as a drive signal to the inverter circuit 52. For example, the torque controller 512 refers to a torque command value-current command value conversion table stored in the memory of the MCU 51 to make changes.

[0063] Figure 7 It means it has been executed Figure 6 Graph showing the relationship between the torque command value set by the torque controller and the rotation position of the rotating body 20 in the case of the flowchart of FIG. The horizontal axis represents the rotation angle of the cut-off portion 201a. The torque controller 512 controls so that the torque command value is higher than the predetermined value when the cut-off portion 201 is located in the range R2 of 90 degrees to 180 degrees and in the range R4. Here, when the cut-off portion 201a is located in the range R2, the cut-off portion 201b is located in the range R4. Therefore, the torque controller 512 performs control in such a way that the torque command value becomes higher when either the cut-off portion 201a or the cut-off portion 201b is located in the range R4.

[0064] Thus, the torque command value during the period when the cutting unit 201a and the cutting unit 201b cuts the grass while moving in the forward direction is higher than the predetermined value. Therefore, since the rotation speed of the rotating body 20 at the rotation position where the height of the grass after cutting is easily offset to the upper side is increased, the height of the cut grass is not easily offset to the upper side, and the height of the grass after cutting is not easily different. That is, the working machine W can cut the grass to a more uniform height. Therefore, through the above control, the finishing of the grass cutting of the working machine W can be improved, in other words, the working performance of the working machine W can be improved.

[0065] In addition, in the present embodiment, the control unit 5 controls the motor M so that the torque of the motor M becomes a locally different value during the process of the rotating body 20 rotating one circle, but the motor M may be controlled so that the rotation speed of the motor M becomes a locally different value during the process of the rotating body 20 rotating one circle. Specifically, the control unit 5 may also control the motor M so that the rotation speed of the motor M becomes higher in a state where the cutting height of the grass is easily offset to the upper side. That is, the control unit 5 may also control the motor M so that the output of the motor M becomes higher in a process where the rotating body 20 rotates one circle. By adopting such control, the relative rotation speed of the rotating body 20 in a state where the cutting height of the grass is easily offset to the upper side increases compared to a case where such control is not adopted, so it is not easy to produce a difference in the height of the grass after mowing. Therefore, the working performance of the working machine W can be improved.

[0066] In addition, in the above-mentioned processing example, the predetermined range in which the torque command value is increased is the range in which any one of the cut-off parts 201a and 201b is located in the range R4, but the predetermined range of the angle of the output change can be changed. In one embodiment, the predetermined range may also be at least a part of the range in which any one of the cut-off parts 201a and 201b moves in the forward direction. Specifically, the predetermined range may also be the range in which any one of the cut-off parts 201a and 201b is located between 270 degrees and 300 degrees. By limiting the output of the motor M to a larger range of the vector component of the forward direction of the moving speed of the cut-off part 201, the operating performance can be improved, and the power consumption caused by the drive of the motor M can be suppressed.

[0067] In addition, in the above processing example, the predetermined range is set in consideration of the improvement of the working performance of the working machine W, but the predetermined range may also be set in consideration of the power saving of the working machine W. When the working machine W is moving forward while mowing the grass with the working unit 2, the cutting unit 201 cuts most of the grass when it moves in the range R1 and the range R4, which are the ranges in front of the rotating shaft 20a. Therefore, when the cutting unit 201 moves in the range R2 and the range R3, since it passes through the part where most of the grass has been cut, there is less need to increase the torque as in the case of moving in the range R1 and R4. Therefore, the predetermined range may also be set to the part where either of the cutting units 201a and 201b is closer to the forward side than the rotating shaft 20a of the rotating body 20, that is, at least a part of the range R4 and the range R1. For example, in the case of a single-edged blade, when the blade passes through the range R2 and the range R3, no other blade passes through the range R4 and the range R1, so in the range R2 and the range R3, even if the torque or speed is not increased, the influence on the finishing property is small. Therefore, by setting at least a portion of the range R4 and the range R1 to a predetermined range, the power saving of the working machine W can be achieved. Furthermore, in the range R1, the cutting position of the grass is less likely to shift upward compared to the range R4, so there is no need to increase the torque or the rotation speed as in the range R4. Therefore, by setting at least a portion of the range R4 to a predetermined range, the power saving of the working machine W can be achieved more effectively.

[0068] In the above processing example, the control unit 5 controls the motor M so that the output of the motor M becomes high within a predetermined range, but the motor M may be controlled so that the output of the motor M becomes low within a predetermined range. As an example, the control unit 5 may control the motor M so that the torque command value becomes low while either of the cut-off parts 201a and 201b is in the range R1.

[0069] In the above processing example, the control unit 5 controls the motor M to change the torque command value in consideration of the mowing finish etc. However, the control unit 5 may control the motor M to change the torque command value in consideration of the direction in which the fins 202 apply force to the grass.

[0070] In the present embodiment, the cut grass is introduced into the rear recovery section 3 via the discharge port 301 by the flow of air generated by the fins 202. Therefore, if the flow of air toward the discharge port 301 of the recovery section 3 becomes larger, the grass is more effectively introduced into the recovery section 3. Here, as a condition for increasing the flow of air toward the discharge port 301, it is considered to increase the rotational output of the rotating body 20 when any one of the fins 202a, 202b moves in a direction close to the discharge port 301. As an example, consider increasing the output of the rotating body 20 when any one of the fins 202a, 202b rotates in the range of 0 to 180 degrees, the range of 90 to 180 degrees, or the range of 45 to 135 degrees. Therefore, by controlling the control unit 5 so that the torque command value of the motor M is higher than the specified value in these ranges, the grass can be more effectively applied to the recovery section 3, and the grass recovery efficiency can be improved. In addition, the discharge port 301 is formed at Figure 2 In the case of the range W2 in the width direction shown in the figure, that is, in the case of the range formed on the left half side in the housing in a plan view, the rotating body 20 can also be directed to the same direction as the rotating body 20. Figure 2 In this case, the output of the rotating body 20 can be increased in at least a portion of the range R3 and the range R4 where either of the fins 202a and 202b is close to the discharge port 301.

[0071] In addition, the range may be determined by considering both the finish of mowing and the efficiency of grass recovery. For example, the control unit 5 may increase the torque when either of the cutting parts 201a and 201b is in the range of 270 to 300 degrees, and increase the torque when either of the fins 202a and 202b is in the range of 60 to 90 degrees. In this case, the amount of increase in torque may be different between the case where the torque is increased based on the position of the cutting part 201 and the case where the torque is increased based on the position of the fin 202.

[0072] <Other Implementation Methods>

[0073] In the above-described embodiment, the fins 202 and the cutting portion 201 are integrally provided on the rotating body 20 , but they may be separately provided. Figure 892 is a schematic diagram of a working unit 92 according to another embodiment, and is a diagram showing an example in which a cutting unit 9201 is provided on a rotating body 920, and a fin 9212 is provided on a rotating body 921. In this way, the cutting unit 9201 and the fin 9212 may be provided so as to be rotatable by a motor M, respectively.

[0074] In such a case, the cutting portion 9201 and the fin 9212 may be provided at an angle that is staggered. In other words, the angles may be staggered so that the timing of increasing the torque for cutting by the cutting portion 9201 and the timing of increasing the torque for collecting the grass by the fin 9212 coincide with each other.

[0075] For example, when either of the cutting parts 9201a and 9201b is located in the range R4 and either of the fins 9212a and 9212b is located between 45 and 135 degrees, the torque is increased. In this case, the fin 9202a may be configured to be offset 45 degrees to the side opposite to the rotation direction relative to the cutting part 9201a. Thus, the timing of increasing the torque for cutting by the cutting part 9201 coincides with the timing of increasing the torque for grass recovery by the fin 9212, so that it is possible to more effectively achieve a balance between improving the finishing performance and the grass recovery efficiency.

[0076] In the above embodiment, metal materials such as iron and aluminum are cited as the material of the rotating body 20 constituting the cutting unit 201. However, a lighter rotating body 20 may be used. That is, a lighter blade may be used as the cutting unit 201.

[0077] When the drive control of the motor M is performed only by the above-mentioned rotation speed control, a metal material with a relatively large inertia moment is used as the material of the rotating body 20 in order to stabilize the rotation speed. However, by using the above-mentioned vector control, the current command value of the motor M can be directly controlled, so even when a tool made of a lighter material is used, the behavior of the rotating body 20 can be stably maintained.

[0078] As an example, a structure in which a plate-shaped resin blade is extended on a disc-shaped rotating body as a cutting portion, or a structure in which a so-called nylon rope is installed on the rotating body on the disc can also be adopted. By using such a tool with a smaller moment of inertia, the influence of inertia in control can be reduced, so that a more accurate drive control can be performed. In addition, by reducing the weight of the rotating body itself, the power required for rotation becomes smaller, so the power consumption related to the drive of the motor M can be reduced.

[0079] In addition, as another form of the cutting part 201, a disc blade of the cutting part may be provided separately in the circumferential direction of the disc-shaped rotating body. In addition, the number of blades is not limited to this, and a single blade or three blades may be used.

[0080] In the above embodiment, the cut grass is recovered by the recovery unit 3, but it can also be adopted in a so-called side-discharge type lawn mower that discharges the grass to the outside of the working machine W. In this case, the torque can also be increased in the area where the force is applied toward the discharge port. Thus, the output of the rotating body 20 is controlled so that the force applied to the outside of the working machine W becomes larger, so that the discharged grass can be prevented from clumping.

[0081] In the above-described embodiment, a walk-behind lawn mower is described as an example, but the configurations other than the above-described embodiment can also be applied to a riding lawn mower, a robot lawn mower, and the like.

[0082] In addition, the invention is not limited to lawn mowers, and can also be applied to other working machines such as snow blowers and tillers. For example, in a snow blower, in a blower that applies force in a predetermined direction to blow away the snow gathered by the screw conveyor, the torque can be increased at a position where force is applied in the direction of throwing the snow. As a result, the snow will not be fully splashed by the blower, and the splashed snow can be prevented from forming a mass near the working machine.

[0083] <Summary of Implementation Methods>

[0084] The above-mentioned embodiment discloses at least the following working machines and programs.

[0085] 1. The working machine (for example, W) of the above embodiment includes:

[0086] Driving source (e.g. M);

[0087] a working unit (e.g., 2) including a rotating body (e.g., 20) that is rotated by the driving source and performs a predetermined work by the rotation of the rotating body; and

[0088] A control unit (eg, 5, S3, S4) controls the driving source so that the output of the rotating body becomes a locally different value during one rotation of the rotating body.

[0089] According to this embodiment, it is possible to provide a technique that is advantageous for further improving the efficiency and performance of a working machine.

[0090] 2. According to the above embodiment,

[0091] The rotating body has a cutting portion (e.g. 201) capable of cutting grass.

[0092] The working unit includes a covering portion (eg, 22) that covers the rotating body at least on the forward side of the traveling direction of the working machine.

[0093] According to this embodiment, since the output of the rotating body when cutting the grass pushed down by the covering portion varies partially during one rotation, the length of the cut grass can be changed.

[0094] 3. According to the above embodiment,

[0095] The control unit controls the driving source so that, in at least a portion of a range in which the cutting unit moves toward the forward side, the output ratio is higher than a portion different from the at least a portion.

[0096] According to this embodiment, the output of the rotating body becomes high in the area where the resistance generated between the grass and the cutting part is relatively small, so the cutting part is less likely to slide relative to the grass when cutting the grass. Therefore, the height of the cut grass can be made more uniform.

[0097] 4. According to the above embodiment,

[0098] The control unit controls the driving source so that, in at least a portion of a range in which the cutting unit is located on the forward side relative to the rotation axis of the rotating body, the output ratio is higher than a portion different from the at least a portion.

[0099] According to this embodiment, since the output is higher in the area where the amount of grass cut by the cutting unit is larger, it is possible to achieve both improvement in working efficiency and reduction in power consumption.

[0100] 5. According to the above embodiment,

[0101] The control unit controls the driving source so that, in at least a portion of a range in which the cutting unit moves to the rearward side in the advancing direction, the output ratio is lower than a portion different from the at least a portion.

[0102] According to this embodiment, the output of the rotating body is reduced in the region where the resistance generated between the cutting portion and the grass is large and the cutting portion is less likely to slide relative to the grass, thereby achieving a reduction in power consumption.

[0103] 6. According to the above embodiment,

[0104] The rotating body has a plurality of the cutting portions which are different in the circumferential direction.

[0105] The control unit controls the driving source so that the output when at least any one of the plurality of cutting units is in the at least one portion becomes a value different from the output when none of the plurality of cutting units is in the at least one portion.

[0106] According to this embodiment, when a plurality of cutting parts are provided, it is possible to improve working efficiency.

[0107] 7. According to the above embodiment,

[0108] The rotating body includes a force applying portion (eg, 202 ) that applies force to an object through rotation of the rotating body.

[0109] According to this embodiment, since the output of the rotating body having the biasing portion varies locally during one rotation, the biasing force applied to the object can be varied according to the rotational position.

[0110] 8. According to the above embodiment,

[0111] The working unit further includes a cutting unit (e.g., 201) capable of cutting grass and a covering unit (e.g., 22) covering the rotating body.

[0112] The covering portion is provided with a discharge port (for example, 301) through which the grass cut by the cutting portion as the object is discharged from the area covered by the covering portion.

[0113] The control unit controls the driving source so that the output of the rotating body becomes high in at least a part of a range in which the urging unit urges the grass toward the discharge port during one rotation of the rotating body.

[0114] According to this embodiment, since the force acting on the grass in the direction toward the discharge port becomes larger, the grass can be discharged more efficiently.

[0115] 9. According to the above embodiment,

[0116] The rotating body has an extended portion (for example, 20b) extending radially from the rotating axis of the rotating body.

[0117] The force applying portion and the cutting portion are provided on the extending portion,

[0118] The discharge port is arranged on the rear side of the covering portion in the direction of travel.

[0119] The control unit controls the driving source so that during one rotation of the rotating body, the output of the rotating body becomes higher in at least a part of the range in which the force applying unit applies force to the grass in the direction of the discharge outlet and the extending portion is located on the forward side of the rotating shaft.

[0120] According to this embodiment, grass can be discharged more efficiently, and power consumption can be reduced by suppressing output in a region where the amount of grass cut by the cutting unit is small.

[0121] 10. According to the above embodiment,

[0122] The discharge port is formed within a range in the width direction of the biasing portion that advances toward the discharge port.

[0123] According to this embodiment, it is possible to suppress the grass from being urged from the discharge port side toward the cover portion side.

[0124] 11. According to the above embodiment,

[0125] The discharge port is formed to discharge the object to the outside of the working machine.

[0126] According to this embodiment, since the output of the rotating body is controlled so that the force acting toward the outside of the working machine becomes larger, it is possible to suppress the discharged grass from clumping.

[0127] 12. The program of the above embodiment causes a computer to function as a control mechanism (e.g., S3, S4) in order to control a working machine (e.g., W), wherein the working machine (e.g., W) includes: a driving source (e.g., M); and a working unit (e.g., 2) including a rotating body (e.g., 20) rotated by the driving source, and performs a predetermined work by the rotation of the rotating body,

[0128] The control mechanism controls the driving source so that the output of the rotating body takes on a locally different value during one rotation of the rotating body.

[0129] According to this embodiment, it is possible to provide a technique that is advantageous for further improving the efficiency and performance of a working machine.

[0130] 13. According to the above embodiment,

[0131] The rotating body has a cutting portion (e.g. 201) capable of cutting grass.

[0132] The working unit includes a covering portion (eg, 22) that covers the rotating body on the forward side of the traveling direction of the working machine.

[0133] According to this embodiment, when the grass pushed down by the covering portion is cut, the output of the rotating body partially differs during one rotation, so that the length of the cut grass can be changed.

[0134] 14. According to the above embodiment,

[0135] The control mechanism controls the driving source so that, in at least a portion of a range in which the cutting portion moves toward the advancing side, the output ratio is higher than a portion different from the at least a portion.

[0136] According to this embodiment, the output of the rotating body becomes high in the area where the resistance generated between the grass and the cutting part is relatively small, so the cutting part is less likely to slide relative to the grass when cutting the grass. Therefore, the height of the cut grass can be made more uniform.

[0137] 15. According to the above embodiment,

[0138] The control mechanism controls the driving source so that, in at least a portion of a range in which the cutting portion is located on the advancing side relative to the rotation axis of the rotating body, the output ratio is higher than a portion different from the at least a portion.

[0139] According to this embodiment, since the output is higher in the area where the amount of grass cut by the cutting unit is larger, it is possible to achieve both improvement in working efficiency and reduction in power consumption.

[0140] 16. According to the above embodiment,

[0141] The control mechanism controls the driving source so that, in at least a portion of a range in which the cutting portion moves to the rearward side in the advancing direction, the output ratio is lower than a portion different from the at least a portion.

[0142] According to this embodiment, the output of the rotating body is reduced in the region where the resistance generated between the cutting portion and the grass is large and the cutting portion is less likely to slide relative to the grass, thereby achieving a reduction in power consumption.

[0143] 17. According to the above embodiment,

[0144] The rotating body has a plurality of the cutting portions which are different in the circumferential direction.

[0145] The control mechanism controls the driving source so that the output when at least any one of the plurality of cutting portions is in the at least one portion becomes a value different from the output when none of the plurality of cutting portions is in the at least one portion.

[0146] According to this embodiment, when a plurality of cutting parts are provided, it is possible to improve working efficiency.

[0147] 18. According to the above embodiment,

[0148] The rotating body includes a force applying portion (eg, 202 ) that applies force to an object through rotation of the rotating body.

[0149] According to this embodiment, since the output of the rotating body having the biasing portion varies locally during one rotation, the biasing force applied to the object can be varied according to the rotational position.

[0150] 19. According to the above embodiment,

[0151] The working unit further includes a cutting unit (e.g., 201) capable of cutting grass and a covering unit (e.g., 22) covering the rotating body.

[0152] The covering portion has a discharge port formed therein, through which the grass cut by the cutting portion as the object is discharged from the area covered by the covering portion.

[0153] The control mechanism controls the driving source so that the output of the rotating body becomes high in at least a part of the range in which the urging portion urges the grass toward the discharge port during one rotation of the rotating body.

[0154] According to this embodiment, since the force acting on the grass in the direction toward the discharge port becomes larger, the grass can be discharged more efficiently.

[0155] 20. According to the above embodiment,

[0156] The discharge port is arranged on the rear side of the covering portion in the direction of travel.

[0157] The portion is a portion where the urging portion moves toward the rearward side.

[0158] According to this embodiment, grass can be discharged more efficiently, and power consumption can be reduced by suppressing output in a region where the amount of grass cut by the cutting unit is small.

[0159] 21. According to the above embodiment,

[0160] The discharge port is formed within a range in the width direction of the biasing portion that advances toward the discharge port.

[0161] According to this embodiment, it is possible to suppress the grass from being urged from the discharge port side toward the cover portion side.

[0162] 22. According to the above embodiment,

[0163] The discharge port is formed to discharge the object to the outside of the working machine.

[0164] According to this embodiment, since the output of the rotating body is controlled so that the force acting toward the outside of the working machine becomes larger, it is possible to suppress the discharged grass from clumping.

[0165] The present invention is not limited to the above-described embodiments, and various modifications and changes can be made within the scope of the gist of the invention.

Claims

1. A working machine, characterized in that: The working machine comprises: motor; a working unit including a rotating body rotated by the motor and performing a predetermined work by the rotation of the rotating body; a control unit configured to control the motor so that an output of the rotating body becomes a locally different value during one rotation of the rotating body; as well as a rotation sensor that detects the rotation angle of the motor, The rotating body has a cutting portion capable of cutting grass. The torque controller of the control unit acquires the rotation position of the rotating body during the rotation based on the detection result of the rotation sensor. The control unit controls the motor so that the output is higher when the rotational position indicates that the cutoff portion is within a predetermined rotational position range during one rotation than when the cutoff portion is not within the predetermined rotational position range.

2. The working machine according to claim 1, characterized in that: The working unit includes a covering portion that covers the rotating body at least on the advancing side in the traveling direction of the working machine.

3. The working machine according to claim 2, characterized in that: The predetermined rotational position range is a range within which the cutting portion moves toward the advancing side during one rotation.

4. The working machine according to claim 2, characterized in that: The predetermined rotation position range is a range in which the cutting portion is located on the forward side of the rotation axis of the rotating body during one rotation.

5. The working machine according to claim 2, characterized in that: The control unit controls the motor so that when the rotational position indicates that the cutting portion is located within a second predetermined rotational position range in one rotation, the output is lower than when the cutting portion is not located within the second predetermined rotational position range, and the second predetermined rotational position range is a range in which the cutting portion moves toward the rear side of the travel direction in one rotation.

6. The working machine according to any one of claims 3 to 5, characterized in that: The rotating body has a plurality of the cutting portions which are different in the circumferential direction. The control unit controls the motor so that when the rotational position indicates that at least any one of the plurality of cut-off portions is within the predetermined rotational position range, the output is higher than when any one of the plurality of cut-off portions is not within the predetermined rotational position range.

7. The working machine according to claim 1, characterized in that: The rotating body has a force applying portion that applies force to an object by rotation of the rotating body, and the object is the grass cut by the cutting portion.

8. The working machine according to claim 7, characterized in that: The working unit further includes a covering portion that covers the rotating body. The cover portion has a discharge port formed therein, and the discharge port allows the object to be discharged from a region covered by the cover portion. The control unit controls the motor so that when the rotational position indicates that the cutting portion is located within a third predetermined rotational position range during the rotation, the output is higher than when the cutting portion is not located within the third predetermined rotational position range, and the third predetermined rotational position range is a range in which the force applying portion applies force to the object in the direction of the discharge port during the rotation.

9. The working machine according to claim 8, characterized in that: The rotating body has an extended portion extending radially from the rotating axis of the rotating body. The force applying portion and the cutting portion are provided on the extending portion, The discharge port is provided on the rearward side of the cover portion in the traveling direction of the working machine. The control unit controls the motor so that the output of the rotating body becomes high when the rotation position is within the third predetermined rotation position range and the extending portion is within a range of a position on the forward side of the rotation axis in the traveling direction.

10. The working machine according to claim 9, characterized in that: The discharge port is formed within a range in the width direction of the biasing portion advancing toward the discharge port.

11. The working machine according to any one of claims 8 to 10, characterized in that: The discharge port is formed to discharge the object to the outside of the working machine.

12. A storage medium storing a program for controlling a work machine so as to make a computer function as a control mechanism, the work machine comprising: a motor; a work unit including a rotating body rotated by the motor and performing a predetermined work by the rotation of the rotating body; and a rotation sensor for detecting the rotation angle of the motor, the rotating body having a cutting unit capable of cutting grass, The torque controller of the control mechanism obtains the rotation position of the rotating body during one rotation based on the detection result of the rotation sensor, and the control mechanism controls the motor so that the output of the rotating body becomes a locally different value during the process of the rotating body being in one rotation. The control mechanism controls the motor so that the output is higher when the rotational position indicates that the cutoff portion is within a predetermined rotational position range during one rotation than when the cutoff portion is not within the predetermined rotational position range.

13. The storage medium according to claim 12, characterized in that: The predetermined rotation position range is a range in which the cutting portion moves toward the forward side in the traveling direction of the working machine during one rotation.

14. The storage medium according to claim 12, characterized in that The predetermined rotation position range is a range in which the cutting portion is located on the forward side of the rotation axis of the rotating body in the traveling direction of the working machine during one rotation.

15. The storage medium according to claim 12, characterized in that The control mechanism controls the motor so that when the rotational position indicates that the cutting part is located within a second predetermined rotational position range in one rotation, the output is lower than when the cutting part is not located within the second predetermined rotational position range, and the second predetermined rotational position range is the range in which the cutting part moves toward the rear side of the travel direction of the working machine in one rotation.

16. The storage medium according to claim 13 or 14, characterized in that: The rotating body has a plurality of the cutting portions which are different in the circumferential direction. The control mechanism controls the motor so that when the rotational position indicates that at least any one of the plurality of cut-off portions is within the predetermined rotational position range, the output is higher than when any one of the plurality of cut-off portions is not within the predetermined rotational position range.

17. The storage medium according to claim 12, characterized in that A discharge port is formed in the covering portion covering the rotating body, and the discharge port allows an object to be discharged from the area covered by the covering portion, the object being the grass cut by the cutting portion. The control mechanism controls the motor so that when the rotational position indicates that the cutting portion is located within a third predetermined rotational position range during the rotation, the output is higher than when the cutting portion is not located within the third predetermined rotational position range, and the third predetermined rotational position range is a range in which the force applying portion that applies force to the object in the direction of the discharge port through the rotation of the rotating body during the rotation.

18. The storage medium according to claim 17, characterized in that The discharge port is provided on a rearward side of the cover portion in a traveling direction of the working machine.

19. The storage medium according to claim 18, characterized in that The discharge port is formed within a range in the width direction of the biasing portion advancing toward the discharge port.

20. The storage medium according to any one of claims 17 to 19, characterized in that: The discharge port is formed to discharge the object to the outside of the working machine.

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