Sulky lawn mower

Abstract

To provide a sulky lawn mower in which an operator can grasp proper discharge timing of lawn grass stored in a grass-collecting container when mowing lawn grass to be capable of improving working efficiency.SOLUTION: A sulky lawn mower comprises a traveling vehicle body, a lawn mowing device, a grass-collecting container, a vehicle speed sensor, a grass length sensor, and a control unit. The traveling vehicle body can travel in a working area. The lawn mowing device is provided in the traveling vehicle body and mows lawn grass. The grass-collecting container is provided in the traveling vehicle body and accommodates the lawn grass mowed by the lawn mowing device. The vehicle speed sensor detects a vehicle speed of the traveling vehicle body. The grass length sensor detects a grass length of the lawn grass before mowing. The control unit stores capacity data of the grass-collecting container, grass density data of the lawn grass, mowing width data, mowing height data and grass length data before mowing, calculates an accommodation rate of the grass-collecting container based on the capacity data, the mowing width data, the mowing height data, the grass length data before mowing and vehicle speed data, and executes a first notification when the accommodation rate is a specified value or more.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a riding lawnmower. [Background technology]

[0002] Conventionally, 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 operation continues. A technique is known for providing the grass collection container with an openable cover so that the grass clippings storage status in the grass collection container can be checked even while operation is in progress (see, for example, Patent Document 1).

[0003] In addition, in riding lawn mowers that discharge the grass clippings contained in the grass collection container to a designated discharge location when the container becomes full of grass clippings and then continue operation, a technology is known that provides a full sensor that detects when the grass collection container is full of grass clippings (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 5-328819 [Patent Document 2] JP 2019-47757 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, 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 it, which reduces work efficiency. Also, when a full sensor is provided, although it can detect when the grass collection container is full, it is difficult to predict when the grass collection container will be full, and the worker cannot know the appropriate timing to empty the grass clippings.

[0006] The present invention has been made in consideration of the above, and aims to provide a riding lawnmower that enables an operator to grasp the appropriate timing to discharge grass stored in a grass collection container during grass cutting work, thereby improving work efficiency. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the object, the riding lawnmower (1) according to the embodiment has a predetermined working area (A W The present invention relates to a traveling vehicle body (2) capable of traveling in a work area (A), a lawn mower (3) provided on the traveling vehicle body (2) for cutting grass (G1), a grass collection container (5) provided on the traveling vehicle body (2) for storing grass (G2) cut by the lawn mower (3), a vehicle speed sensor (65) for detecting the vehicle speed of the traveling vehicle body (2), and W ) in the lawnmower (3), the grass (G1) before cutting is measured. G ), the capacity data (D8) of the grass collection container (5), the working area (A W a control unit (10) that stores grass density data (D1) of the grass (G1) in the grass collection container (5), mowing width data (D2) of the lawnmower (3), mowing height data (D3) by the lawnmower (3), and pre-mowing grass height data (D7) of the grass (G1) detected by the grass height sensor (66), calculates the storage rate of the grass (G2) in the grass collection container (5) from the capacity data (D8), the mowing width data (D2), the mowing height data (D3), the pre-mowing grass height data (D7), and the vehicle speed data (D6) detected by the vehicle speed sensor (65), and executes a first alert to give an alert when the storage rate is equal to or greater than a predetermined value. Effect of the Invention

[0008] The riding lawnmower according to the embodiment allows the operator to grasp the appropriate timing for discharging the grass contained in the grass collection container during grass cutting work, thereby improving work efficiency. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram (part 1) showing the overall configuration of a riding lawnmower according to an embodiment. [Diagram 2] FIG. 2 is a second diagram showing the overall configuration of the riding lawnmower according to the embodiment. [Diagram 3] FIG. 3 is a block diagram showing an example of a control system in the riding lawnmower according to the embodiment. [Figure 4] FIG. 4 is an explanatory diagram of the grass cutting operation using the riding lawnmower according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of a riding lawnmower disclosed in the present application will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiment described below.

[0011] <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. Figure 1 shows a schematic side view (left side view) of the riding lawnmower 1. Figure 2 shows a schematic plan view of the riding lawnmower 1 during grass cutting work.

[0012] 1 and 2 show a three-dimensional Cartesian coordinate system including a Z-axis whose positive direction is vertically upward (upward). For ease of explanation, the positive direction of the X-axis is 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, and the X-axis direction is 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.

[0013] The riding lawnmower 1 is driven by a driver (also called an operator) to move the lawnmower 1 within a predetermined working area A. W (see FIG. 4) and collects the cut grass (also called grass clippings). Note that, hereinafter, the term "machine" may refer to either the riding lawnmower 1 or the traveling vehicle body 2 described below.

[0014] In addition, the riding lawnmower 1 may be manually driven by a driver, or it may be automatically driven in which the control unit 10, which will be described later, controls each part based on the machine's position information acquired by the position information acquisition device 70, which will be described later.

[0015] As shown in Fig. 1, the riding lawnmower 1 comprises a traveling body 2, a lawnmower (hereinafter referred to as mower) 3, a mower lifting mechanism 4, and a grass collection container (hereinafter referred to as collector) 5. The traveling 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 traveling body 2. A prime mover 61 is mounted on the body frame 21. The body frame 21 supports the pair of left and right front wheels 22 via a front axle case.

[0016] The prime mover 61 drives the front wheels 22 and rear wheels 23 as well as the cutting blade 32 of the mower 3 by rotational power. The prime mover 71 is, for example, an engine (for example, a diesel engine) or an electric motor.

[0017] The body frame 21 also supports a transmission case 24 that houses a transmission, for example, a hydrostatic transmission (HST). 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.

[0018] In the riding lawnmower 1, the rotational power of the prime mover 61 is appropriately changed in speed via the HST and transmitted to the left and right rear wheels 23 via a transmission mechanism housed in the transmission case 24 and the chain case, and power is also extracted from the transmission case 24 and transmitted to the left and right front wheels 22.

[0019] The traveling vehicle body 2 includes a floor step 25, a driver's seat 26, a steering column 271, a steering wheel 272, various operation levers 281, various operation pedals 282, and a safety frame 29.

[0020] The floor step 25 is provided at the front of the traveling vehicle body 2. The driver's seat 26 is a seat on which 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 meter panel 62 and the monitor 63 are provided on the upper part of the steering column 271.

[0021] The monitor 63 is, for example, a liquid crystal monitor. The monitor 63 displays various information related to the riding lawnmower 1 and work performed by the riding lawnmower 1. The monitor 63 displays, for example, the collection rate of grass clippings G2 in the collector 5, which will be described later.

[0022] Furthermore, an alarm unit 64 is provided on the upper part of the steering column 271. As will be described later, the alarm unit 64 issues an alarm to an operator such as a driver when the storage rate of the grass (grass clippings) G2 in the collector 5 is equal to or greater than a predetermined value. The alarm unit 64, for example, emits a buzzer sound. The alarm unit 64 may be configured to issue an alarm by emitting light from a lamp or the like. The alarm unit 64 may also be configured to issue an alarm by displaying on the monitor 63 or the like.

[0023] The steering wheel 272 is an operating tool for steering the aircraft, and is provided on the upper part of the steering column 271.

[0024] The various operation levers 281 include a mower lifting lever, a collector lifting lever, a dump lever, etc., and are provided on the left and right sides of the driver's seat 26. The various operation pedals 282 include an accelerator pedal, a brake pedal, a clutch pedal, etc., and are provided above the floor step 25 and on the left and right sides of the steering column 271.

[0025] The safety frame (also called ROPS) 29 is a member for ensuring the safety of the driver when the vehicle rolls over, and is provided behind the driver's seat 26. The safety frame 29 is provided in an arch shape spanning the left and right directions of the vehicle when viewed from the front (or rear).

[0026] The mower 3 is provided in front of the traveling body 2. The riding lawnmower 1 is a so-called front mower type in which the mower 3 is provided at the front of the machine body. Note that the riding lawnmower 1 may also be a so-called mid-mower type in which the mower 3 is provided at the center of the machine body, for example.

[0027] Mower 3 is in working area A W The riding lawnmower 1 is a device for cutting grass G1 growing on a lawn, and is equipped with 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 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.

[0028] 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 lift 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 to drive the lift arm 42. The mower lifting mechanism 4 drives the lift arm 42 to lift and lower the mower 3 (mower deck 31).

[0029] The collector 5 is provided at the rear of the traveling body 2. The collector 5 is a container that stores grass (grass clippings) G2 cut by the mower 3. The collector 5 is formed, for example, of a rectangular parallelepiped frame, and the front, rear, left, right and top surfaces of the frame are formed of plate members having ventilation holes. An intake port (not shown) for the grass clippings G2 that communicates with the chute 34 is formed in the front surface of the collector 5.

[0030] The collector 5 also includes a lid portion 51. The lid portion 51 is formed integrally with the rear and upper surfaces of the collector 5. The lid portion 51 is configured to move away from the main body of the collector 5 in conjunction with the dump of the collector 5 to widely open the rear of the collector 5. The collector 5 discharges grass (grass clippings) G2 that has accumulated by the dump. The riding lawnmower 1 basically discharges the grass clippings G2 when the collector 5 becomes full of grass clippings G2. When discharging the grass clippings G2, the riding lawnmower 1 moves to a prescribed discharge location and discharges the grass clippings G2 at the prescribed discharge location.

[0031] A full sensor (not shown) is provided in the storage space for the grass clippings G2 in the collector 5. The full sensor detects when the collector 5 is full of the grass clippings G2. The full sensor is, for example, an infrared sensor or a weight sensor. When the full sensor detects that the collector 5 is full, an alarm may be sounded by a buzzer or the like. A camera may be provided in the storage space for the grass clippings G2 in the collector 5, and the storage status of the grass clippings G2 may be monitored by the camera. It is also possible to align the virtual value of the grass collection amount with the grass collection amount measured by the camera, and to feed it back so that it is reflected in the virtual value.

[0032] The riding lawnmower 1 is equipped with a vehicle speed sensor 65 (see FIG. 3) and a grass height sensor 66. The vehicle speed sensor 65 detects the traveling speed (also called vehicle speed) of the traveling body 2 (riding lawnmower 1). The vehicle speed sensor 65 detects the vehicle speed of the riding lawnmower 1 by detecting the rotation speed of the front wheels 22 or rear wheels 23, which are the drive wheels.

[0033] The grass height sensor 66 is located in the working area A. W The height of the grass G1 before it is cut by the mower 3 (the height of the grass G1, called the pre-cut grass height) H G The grass height sensor 66 is provided in front of the steering column 271. The grass height sensor 66 is, for example, a LiDAR (Light Detection and Ranging) that measures scattered light emitted toward a predetermined area in front of the vehicle body to detect the pre-cut grass height H G Detect.

[0034] The grass height sensor 66 may be provided on the upper surface of the safety frame 29. When the grass height sensor 66 is provided on the upper surface of the safety frame 29, it is preferable to attach the grass height sensor 66 to the underside of a bracket for attaching a position information acquisition device 70, which will be described later. Note that, when the riding lawnmower 1 is provided with a cabin covering the driver's seat 26, the grass height sensor 66 is preferably provided on the front portion of the roof of the cabin.

[0035] The riding lawnmower 1 also includes a control unit 10. The control unit 10 is capable of controlling each part by electronic control, and includes a processing unit (not shown) having a CPU (Central Processing Unit) and the like, as well as a storage unit configured with a hard disk, ROM (Read Only Memory), RAM (Random Access Memory), and the like, in which various programs and necessary data are stored.

[0036] The control unit 10 calculates various types of information and presents the calculated information to the worker. When presenting information to the worker, the control unit 10 presents the information, for example, by displaying the information on the monitor 63. The control unit 10 may be provided on the machine body side, or, in the case where the riding lawnmower 1 is automatically driven, may be provided on the input device 80 side, which will be described later.

[0037] The position information acquisition device 70 is provided on top of the traveling body 2 and measures the current position P (see FIG. 4) of the traveling body 2 (i.e., the riding lawnmower 1) at a predetermined period and acquires position information (e.g., latitude and longitude) of the riding lawnmower 1. The position information acquisition device 70 is, for example, a GNSS (Global Navigation Satellite System) and is capable of receiving radio waves from a navigation satellite (artificial satellite) 90 orbiting in the sky, measuring the position P of the riding lawnmower 1, and measuring the time.

[0038] The position information acquisition device 70 may be provided on the upper surface of the safety frame 29. If the riding lawnmower 1 is provided with a cabin covering the driver's seat 26, the position information acquisition device 70 is preferably provided on the front roof portion of the cabin.

[0039] The input device 80 accepts input operations made by the worker to the control unit 10. The input device is, for example, a tablet terminal that can be carried by the worker. The input device 80 has a display screen. The display screen of the input device 80 may be configured to be capable of displaying information that is displayed on the monitor 63 on the machine body side. Also, for example, the display screen of the input device 80 displays a virtual value (amount) of the grass clippings G2 stored in the collector 5.

[0040] The riding lawnmower 1 is set to a predetermined mowing height H M The mower 3 cuts the grass G1 at a cutting height H M As shown in FIG. 2, the riding lawnmower 1 has a predetermined mowing width (also called working width) W M1 The mowing work of the grass G1 is performed with the mowing width W M1 is determined by the left-right width of the cutting blade 32 (the rotation range of the cutting blade 32).

[0041] The riding lawnmower 1 has a working area A W In the unworked area A, uncut grass G1 remains. W1 When mowing grass G1 in M1 In contrast, the grass G1 has been cut in the already cut area A. W2 The specified work allowance (overlap width) W M2 Work so that the pieces overlap.

[0042] Furthermore, in the riding lawnmower 1, while the riding lawnmower 1 is mowing the grass G1, the position information acquisition device 70 measures the own position P of the riding lawnmower 1. The control unit 10 (described later, see FIG. 3) acquires the work path R (see FIG. 4) of the riding lawnmower 1 while the riding lawnmower 1 is mowing the grass G1, based on the own position P of the riding lawnmower 1 measured by the position information acquisition device 70.

[0043] <Control contents of the control system and control unit of the riding lawnmower> Next, the control system in the riding lawnmower 1 according to the embodiment and the control contents 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 in the riding lawnmower 1 according to the embodiment. Figure 4 is an explanatory diagram of the grass cutting operation in the riding lawnmower 1 according to the embodiment.

[0044] As shown in FIG. 3, the control unit 10 is connected to a position information acquisition device 70, an input device 80, a vehicle speed sensor 65, a grass height sensor 66, a notification unit 64, and the like.

[0045] The control unit 10 stores grass density data D1, mowing width data D2, mowing height data D3, work area data D4, discharge location data D5, vehicle speed data D6, pre-cut grass height data D7, and collector 5 (see FIG. 1) capacity data D8. The grass density data D1 is the grass density data D1 of the work area A. W (see FIG. 2) and can be obtained as image data from a navigation satellite (artificial satellite) 90. The mowing width data D2, mowing height data D3, working area data D4, and discharge location data D5 are input from an input device 80 such as a tablet terminal.

[0046] The cutting width data D2 is the cutting width W M1 (See Figure 2) from the work allowance W M2 (See Figure 2) The mower 3 cutting width W is preferable. M1 can be obtained, for example, by inputting the model number of the mower 3. In addition, the setting of the mower height by the mower 3 is set to a mode that allows feedback of setting changes made by lever operation during mowing work of the grass G1.

[0047] In addition, the discharge location P of the grass clippings G2 D (See FIG. 4) may be selected from one or more locations. D In the case where there is only one location, the location where the collector 5 becomes full for the first time is called the discharge location P of the grass clippings G2. D The display screen of the input device 80 (see FIG. 1) displays, for example, the number of times the lawn mower becomes full based on the working area and the virtual value of the cut grass (grass clippings) G2.

[0048] The control unit 10 calculates the accommodation rate of the grass (cut grass) G2 in the collector 5 from the capacity data D8, the mowing width data D2, the mowing height data D3, the vehicle speed data D6 and the uncut grass height data D7, and acquires it as accommodation rate data D9.

[0049] When the storage rate (storage rate data D9) of grass (cut grass) G2 in collector 5 reaches or exceeds a predetermined value, control unit 10 outputs a first notification signal S1 to notification unit 64 to execute the first notification. In the first notification, notification unit 64 notifies an operator such as a driver that the storage rate of collector 5 is equal to or greater than the predetermined value.

[0050] According to this configuration, by notifying the operator before the collector 5 becomes full during the work of mowing the grass G1, the operator such as the driver of the riding lawnmower 1 can know the appropriate timing to discharge the grass (cut grass) G2 stored in the collector 5. This can improve the work efficiency.

[0051] When the capacity of the collector 5 is notified that it is equal to or greater than a predetermined value, the notification is made by a buzzer sound from the notification unit 64. In this case, as the capacity of the collector 5 approaches full, the sound is changed according to the capacity, for example, a continuous sound when the capacity is 95% or more, a short sound at 0.3 second intervals when the capacity is 95-90%, a short sound at 0.5 second intervals when the capacity is 90-80%, a short sound at 1 second intervals when the capacity is 80-60%, and no buzzer sound when the capacity is less than 60%.

[0052] Furthermore, when notifying that the capacity of the collector 5 is equal to or greater than a predetermined value, in addition to notifying with a buzzer sound from the notification unit 64, for example, a pop-up display may be displayed on the display screen of the input device 80. In this case, as the capacity of the collector 5 approaches full, the color may change according to the capacity, for example, red for a capacity of 90% or more, yellow for a capacity of 60 to 90%, and blue for a capacity of less than 60%.

[0053] In addition, the control unit 10 detects that the storage rate of the collector 5 (storage rate data D9) is equal to or greater than a predetermined value and that the discharge location P D is present in front of the traveling vehicle body 2 (i.e., the riding lawnmower 1), a second notification signal S2 is output to the notification unit 64 to execute the second notification. In the second notification, the notification unit 64 notifies an operator such as a driver to urge them to discharge the grass (cut grass) G2.

[0054] For example, discharge location P D When attempting to discharge the grass clippings G2 while moving away from the current work position (self-position P), the grass clippings G2 will have to be turned back from the current work position (self-position P), which reduces work efficiency. D By urging the discharge of the grass clippings G2 when the grass clippings G2 are moving in the opposite direction, the work can be performed more efficiently. This can improve the work efficiency.

[0055] The control unit 10 also acquires the work path R (see FIG. 4) of the riding lawnmower 1 during the mowing operation of the grass G1 as work path data D10. W This data indicates a route along which the traveling body 2 (riding lawnmower 1) travels back and forth (works) by repeating straight ahead and turns in the direction of the road. Such a work route R (work route data D10) can be set in advance by the worker. The control unit 10 may obtain position information (self-position P) of the riding lawnmower 1 (traveling body 2) using a position information acquisition device 70 (see FIG. 1), and calculate the work route R based on the self-position P of the riding lawnmower 1.

[0056] The control unit 10 calculates the increase in the storage rate of the collector 5 per unit travel distance by the traveling vehicle body 2 (riding lawnmower 1). D When the collector 5 is expected to become full on the next straight route on the working route R when the collector 5 is present in front of the traveling body 2 (riding lawnmower 1), a second notification signal S2 is output to the notification unit 64 to execute the second notification.

[0057] According to this configuration, the discharge location P D If it is heading to the discharge point P D By encouraging the discharge of grass (grass clippings) G2 before it moves away from the mower, work can be done more efficiently. This improves work efficiency.

[0058] The control unit 10 can predict the timing when the collector 5 will become full from the amount of grass G1 cut (amount of cut grass G2). The amount of grass cut can be calculated, for example, using the formula: "Amount of grass cut = (value of pre-cut grass height data D7 - value of cut height data D3) x value of cut width data D2 x value of work path data D10 (travel distance) x value of grass density data D1."

[0059] The control unit 10 calculates the amount of grass clippings G2 that has not been collected from the calculated difference between the visible height of the grass G1 and the cutting height by the mower 3 and the collection rate of the grass clippings G2 in the collector 5.

[0060] The control unit 10 also calculates the grass G1 that has not been cut by the mower 3 using the grass height sensor 66, and displays a map on the display screen of the input device 80 as to whether or not re-cutting is required. The control unit 10 also colors the areas that require re-cutting in the map display on the display screen of the input device 80.

[0061] In addition, a hygrometer is provided in the storage space for grass clippings G2 in the collector 5, and when the collector 5 stores grass (cut grass) G2 that is highly humid and contains morning dew, the control unit 10 displays a pop-up prompting the discharge operation of the grass clippings G2 on the display screen of the input device 80 at an early stage.

[0062] In addition, after the cutting work of the grass G1 is completed, the control unit 10 W Working conditions (grass height before cutting H G , Mowing width W M1 , Mowing height H M , number of discharges, work time, etc.) are recorded, for example, in the input device 80 so that they can be used in the next work.

[0063] According to the embodiment described above, the riding lawnmower 1 described below is realized.

[0064] (1) Designated work area A W a lawnmower 3 provided on the traveling body 2 for cutting grass G1; a grass collection container 5 provided on the traveling body 2 for collecting grass G2 cut by the lawnmower 3; a vehicle speed sensor 65 for detecting the vehicle speed of the traveling body 2; W The grass height H of the grass G1 to be cut by the lawnmower 3 is G The grass height sensor 66 detects the capacity data D8 of the grass collection container 5, and the working area A W and a control unit 10 that stores grass density data D1 of the grass G1 in the grass collection container 5, mowing width data D2 of the lawnmower 3, mowing height data D3 by the lawnmower 3, and pre-mowing grass height data D7 of the grass G1 detected by a grass height sensor 66, calculates the storage rate of the grass G2 in the grass collection container 5 from capacity data D8, the mowing width data D2, the mowing height data D3, the pre-mowing grass height data D7, and vehicle speed data D6 detected by a vehicle speed sensor 65, and executes a first alert to give an alert when the storage rate is equal to or greater than a predetermined value.

[0065] With this type of riding lawnmower 1, by notifying the operator before the grass collection container 5 becomes full during the work of mowing the grass G1, the operator such as the driver of the riding lawnmower 1 can know the appropriate timing to discharge the grass (grass clippings) G2 contained in the grass collection container 5. This can improve work efficiency.

[0066] (2) In the above (1), the control unit 10 determines the discharge location P DThe storage rate is stored in the memory, and the storage rate is equal to or higher than a predetermined value, and the discharge location P D When the obstacle G2 is present in front of the traveling body 2, the riding lawnmower 1 issues a second notification to prompt the user to discharge the grass G2.

[0067] For example, discharge location P D When attempting to discharge the grass clippings G2 while moving away from the current working position (own position P), the grass clippings G2 would have to be turned back from the current working position (own position P), which would reduce work efficiency. D By encouraging the discharge of grass (grass clippings) G2 when the grass is moving toward the target area, the work can be performed more efficiently. This can improve the work efficiency.

[0068] (3) In the above (2), the control unit 10 W A work route R along which the traveling vehicle body 2 travels back and forth by repeating straight lines and turns can be set in advance, and the increase in the storage rate per unit travel distance by the traveling vehicle body 2 is calculated, and the discharge location P D When the grass collection container 5 is expected to become full on the next straight route on the work route R while the grass collection container 5 is present in front of the traveling body 2, the riding lawnmower 1 executes the second notification.

[0069] According to this riding lawnmower 1, the discharge area P D If it is heading to the discharge point P D By encouraging the discharge of grass (grass clippings) G2 before it moves away from the mower, work can be done more efficiently. This improves work efficiency.

[0070] Further advantages and modifications may readily occur to those skilled in the art. Thus, 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 equivalents thereof. [Explanation of symbols]

[0071] 1. Riding lawn mower 2 Running vehicle 3. Lawn mowers 5 Grass collector 10 Control section 65 Vehicle speed sensor 66 Grass height sensor A W work area D1 Grass density data D2 Mowing width data D3 Cutting height data D6 Vehicle speed data D7 Pre-cut grass height data D8 Capacity Data G1 Turfgrass G2 Lawn grass (cut grass) H G Grass height before cutting P D Discharge location R Work Path

Claims

1. A traveling vehicle body capable of traveling in a predetermined work area; a lawnmower provided on the traveling vehicle body for cutting grass; A grass collection container provided on the traveling vehicle body for collecting grass cut by the lawnmower; A vehicle speed sensor for detecting a vehicle speed of the traveling vehicle body; a grass height sensor that detects the uncut grass height of grass to be mowed by the lawnmower in the working area; a control unit that stores capacity data of the grass collection container, grass density data of the grass in the working area, mowing width data of the lawnmower, mowing height data by the lawnmower, and pre-mowing grass height data of the grass detected by the grass height sensor, calculates a grass storage rate of the grass collection container from the capacity data, the mowing width data, the mowing height data, the pre-mowing grass height data, and vehicle speed data detected by the vehicle speed sensor, and executes a first notification to issue a notification when the storage rate is equal to or greater than a predetermined value; Equipped A riding lawn mower characterized by:

2. The control unit is The pre-designated grass discharge location is stored, When the storage rate is equal to or greater than a predetermined value and the discharge location is located in front of the traveling vehicle body, a second notification is issued to prompt the user to discharge the grass.

2. The riding lawn mower according to claim 1.

3. The control unit is A work route along which the traveling vehicle body travels back and forth by repeating straight travel and turning in the work area can be set in advance, Calculating an increase in the storage rate per unit travel distance by the traveling vehicle body; When the discharge location is located in front of the traveling vehicle body, the second notification is executed if it is expected that the grass collection container will become full on the next straight route on the work route.

3. The riding lawn mower according to claim 2.

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