riding lawn mower

Abstract

To provide a sulky lawn mower capable of improving workability by allowing a worker to acquire a storage state of mown grass in a grass collection container.SOLUTION: A sulky lawn mower includes a traveling car body, a mower, a grass collection container, a control part, and a display part. The mower is provided on the traveling car body and mows lawn grass. A grass collecting device is provided on the traveling car body and stores the lawn grass mown by the mower. The control part stores capacity information of the grass collection container, grass density information of lawn grass in a prescribed area, mowing width information of the mower, mowing height information of the mower, and grass height information before mowing the lawn grass in the prescribed area, calculates a mowing amount of the lawn grass during the mowing work by using the capacity information, the grass density information, the mowing width information, the mowing height information and the grass height information, and calculates a storage rate of the lawn grass in the grass collection container based on the calculated mowing amount. The display part displays the storage rate calculated by the control part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Conventionally, in riding lawn mowers, when the grass collection container becomes full with cut grass (grass clippings), the grass clippings stored in the container are discharged to a designated discharge location and the lawn mowing operation is continued. A technique is known in which an openable cover is provided on the grass collection container so that the grass clippings storage status in the grass collection container can be checked even while the lawn is being mowed (see, for example, Patent Document 1).

[0003] Furthermore, in riding lawnmowers, which discharge the grass clippings stored in the grass collection container to a designated discharge location when the container becomes full with grass clippings and continue mowing the lawn, a technology is known in which a fullness sensor is provided to detect when the grass collection container is full with 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] Japanese Patent Application Publication No. 2019-47757 Summary of the Invention [Problem to be solved by the invention]

[0005] However, among the above-mentioned conventional technologies, when an openable cover is provided on the grass collection container, the worker must open the cover each time to visually check the inside of the grass collection container to check the grass clippings storage status, which can reduce workability. Also, when a full sensor is provided, although it can detect when the grass collection container is full, the worker cannot know the grass clippings storage status in the grass collection container until the grass collection container is full.

[0006] The present invention has been made in consideration of the above, and aims to provide a riding lawnmower that allows the operator to grasp the storage status of grass clippings in the grass collection container, thereby improving workability. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the object, a riding lawnmower (1) according to an embodiment includes a traveling body (2), a lawn mower (3) mounted on the traveling body (2) for mowing grass (G1), a grass collection container (5) mounted on the traveling body (2) for storing grass (G2) cut by the lawn mower (3), and information (D1) about the capacity of the grass collection container (5), grass density information (D2) of the grass (G1) in a predetermined area, mowing width information (D3) of the lawn mower (3), mowing height information (D4) of the lawn mower (3), and information (D5) about the grass density of the grass (G1) in a predetermined area. The device is characterized by comprising a control unit (100) that stores grass height information (D5) of the grass (G1) before it is cut, calculates the amount (D7) of the grass (G1) to be cut during mowing work using the capacity information (D1), the grass density information (D2), the cutting width information (D3), the cutting height information (D4) and the grass height information (D5), and calculates the storage rate (D8) of the grass (G2) in the grass collection container (5) based on the calculated cutting amount (D7), and a display unit (62) that displays the storage rate (D8) calculated by the control unit (100). [Effects of the Invention]

[0008] The riding lawnmower according to the embodiment allows the operator to grasp the state of grass clippings stored in the grass collection container, thereby improving workability. [Brief explanation 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. [Figure 2] FIG. 2 is a diagram (part 2) showing the overall configuration of the riding lawnmower according to the embodiment. [Figure 3] FIG. 3 is a block diagram showing an example of a control system in a riding lawnmower according to an embodiment. [Figure 4] FIG. 4 is an explanatory diagram of lawn mowing work using a riding lawnmower according to an embodiment. [Figure 5] FIG. 5 is a flowchart showing the processing steps for determining whether or not mowing work is necessary in a riding lawnmower according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments 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 embodiments 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 a riding lawnmower 1 according to an embodiment. Note that Figure 1 shows a schematic side (left side) view of the riding lawnmower 1. Furthermore, Figure 2 shows a schematic plan view of the riding lawnmower 1 during lawn mowing work.

[0012] 1 and 2 also 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 will be defined as the left, the negative direction of the X-axis as the right, the positive direction of the Y-axis as the forward direction, and the negative direction of the Y-axis as the backward direction, with the X-axis direction being referred to as the left-right direction, the Y-axis as the front-back direction, and the Z-axis as the up-down direction.

[0013] The riding lawnmower 1 is operated by a driver (also referred to as an operator) to cut grass (also referred to as grass clippings) and collect the cut grass (also referred to as grass clippings). Note that, hereinafter, the riding lawnmower 1 or the traveling vehicle body 2 described below may be referred to as the "machine body."

[0014] As shown in Figure 1, the riding lawnmower 1 comprises a traveling body 2, a lawn mower (hereinafter referred to as mower) 3, a mower lifting mechanism 4, and a grass collection container (hereinafter referred to as collector) 5. The 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 71, which will be described later, 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.

[0015] The body frame 21 also supports a transmission case 24 that houses a transmission, such as an HST (Hydro Static Transmission). The body frame 21 also supports a pair of left and right rear wheels 23 via a chain case that extends rearward from the transmission case 24.

[0016] In the riding lawnmower 1, the rotational power of the prime mover 71 is appropriately changed 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 chain case, and power is extracted from the transmission case 24 and transmitted to the left and right front wheels 22.

[0017] The traveling vehicle body 2 also includes a floor step 25 , a driver's seat 26 , a steering column 271 , a steering wheel 272 , various operation levers 281 , various operation pedals 282 , and a safety frame 29 .

[0018] The floor step 25 is provided at the front of the traveling vehicle body 2. The driver's seat 26 is a seat where the driver sits, and is provided at the rear of the floor step 25. The steering column 271 is provided at the front of the floor step 25. In other words, the steering column 271 is provided in front of the driver's seat 26. The steering wheel 272 is an operating tool for steering the vehicle body, and is provided at the top of the steering column 271.

[0019] The various operation levers 281 include a mower lifting / lowering lever, a collector lifting / lowering 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.

[0020] The safety frame (also called ROPS) 29 is a member for ensuring the safety of the driver in the event of the machine tipping 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 machine when viewed from the front (or rear).

[0021] The mower 3 is provided in front of the traveling vehicle body 2. In this way, the riding lawnmower 1 is a so-called front mower type, in which the mower 3 is provided at the front of the machine body. However, 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.

[0022] Mower 3 is in working area A W The riding lawnmower 1 is a device for cutting grass G1 growing on a lawn mower (see FIG. 2) and is equipped with a mower deck 31 and a cutting blade 32 (see FIG. 2). The riding lawnmower 1 transports the grass (cut grass) G2 cut by the cutting blade 32 to a collector 5 (described below) via a duct 33 and a chute 34. In this case, the riding lawnmower 1 uses a blower 35 to blow and transport the cut grass G2.

[0023] 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 move up and down. The lift arm 42 is provided between the mower lifting cylinder 41 and the mower deck 31. The mower lifting mechanism 4 transmits the driving force of the mower lifting cylinder 41 to the lift arm 42, thereby driving the lift arm 42. The mower lifting mechanism 4 drives the lift arm 42 to move the mower 3 (mower deck 31) up and down.

[0024] The collector 5 is provided at the rear of the traveling vehicle body 2. The collector 5 is a container that stores grass clippings G2 cut by the mower 3. The collector 5 is formed, for example, from a rectangular parallelepiped frame, and the front, rear, left, right, and top surfaces of the frame are made up of plate members with ventilation holes. An intake port (not shown) for the grass clippings G2 is formed in the front of the collector 5, which is connected to the chute 34.

[0025] The collector 5 includes a lid 51. The lid 51 is formed by integrating the rear and top surfaces of the collector 5. The lid 51 is configured to move away from the main body of the collector 5 in conjunction with the dump of the collector 5, leaving the rear of the collector 5 widely open. In this way, the collector 5 discharges grass (grass clippings) G2 that has accumulated by dumping. The riding lawnmower 1 basically discharges the grass clippings G2 when the collector 5 is filled with grass clippings G2. When discharging the grass clippings G2, the riding lawnmower 1 moves to a predetermined discharge location and discharges the grass clippings G2 at the predetermined discharge location.

[0026] The riding lawnmower 1 also includes a prime mover 71, a positioning device 61, a control unit 100 (see FIG. 3), a display unit 62, a fullness sensor 63, and a grass height sensor 64. As described above, the prime mover 71 is mounted on the vehicle body frame 21. The prime mover 71 drives the front wheels 22 and rear wheels 23, as well as the cutting blade 32 of the mower 3, by rotational power. The prime mover 71 may be, for example, an engine (e.g., a diesel engine) or an electric motor.

[0027] The positioning device 61 is provided on top of the traveling vehicle body 2, and measures the self-position P (see FIG. 2) of the traveling vehicle body 2 (i.e., the riding lawnmower 1) at a predetermined interval to obtain position information (e.g., latitude and longitude) of the riding lawnmower 1. The positioning device 61 is, for example, a GNSS (Global Navigation Satellite System), and is capable of receiving radio waves from a navigation satellite S orbiting in the sky, and measuring the self-position P of the riding lawnmower 1, as well as measuring the time.

[0028] The control unit 100 is capable of controlling each part through electronic control, and is equipped with a processing unit (not shown) having a CPU (Central Processing Unit) and the like, as well as a memory unit (not shown) consisting of a hard disk, ROM (Read Only Memory), RAM (Random Access Memory), etc., in which various programs and necessary data are stored.

[0029] As will be described later, the control unit 100 also calculates the collection rate D8 (see FIG. 3) of the grass (grass clippings) G2 collected in the collector 5.

[0030] The display unit 62 is provided on the upper part of the steering column 271. The display unit 62 is, for example, a liquid crystal monitor. The display unit 62 displays the accommodation rate D8 of the grass clippings G2 calculated by the control unit 100.

[0031] The full sensor 63 is provided in the storage space for grass clippings G2 in the collector 5. The full sensor 63 detects when the collector 5 is full of grass clippings G2. The full sensor 63 is, for example, an infrared sensor or a weight sensor. The full sensor 63 may be configured to issue an alert such as a buzzer sound when it detects that the collector 5 is full.

[0032] The grass height sensor 64 is a sensor for detecting the height of the grass in the working area A of the riding lawnmower 1. W (See Figure 2) G1 The grass height sensor 64 is provided in front of the steering column 271. The grass height sensor 64 is, for example, a LiDAR (Light Detection and Ranging) that measures scattered light emitted toward a predetermined area in front of the machine body, and detects the grass height H of the turfgrass G1 before cutting. G1 Detect.

[0033] As shown in FIG. 1, the riding lawnmower 1 is configured to cut grass at a predetermined cutting height (also called a target grass height) H M The work of mowing the grass G1 (hereinafter referred to as lawn mowing work) is performed by the mower 3.M As shown in FIG. 2, the riding lawnmower 1 has a predetermined mowing width (also called working width) W M1 The mowing work is performed with a mowing width of W for the grass G1. M1 is determined by the left-right width of the cutting blade 32 (the rotation range of the cutting blade 32).

[0034] As shown in FIG. 2, the riding lawnmower 1 has a working area A W Uncut grass G1 remains in the unworked area A. W1 When mowing the lawn, the specified mowing width W M1 In contrast, the grass G1 has been cut in the already mowed area A. W2 The specified working space (overlap width) W M2 Work so that the pieces overlap.

[0035] 2, during mowing work, the riding lawnmower 1 measures its own position P using a positioning device 61. A control unit 100 (see FIG. 3), which will be described later, acquires the travel route R (see FIG. 4) of the riding lawnmower 1 during mowing work based on the own position P of the riding lawnmower 1 measured by the positioning device 61.

[0036] <Control content of the control system and control unit of the riding lawnmower> Next, the control system of the riding lawnmower 1 according to the embodiment and the control details by the control unit 100 will be described with reference to Figures 3 and 4. Figure 3 is a block diagram showing an example of the control system of the riding lawnmower 1 according to the embodiment. Figure 4 is an explanatory diagram of lawnmowing work by the riding lawnmower 1 according to the embodiment.

[0037] As shown in FIG. 3, the control unit 100 is connected to a positioning device 61, a display unit 62, a fullness sensor 63, a grass height sensor 64, and the like.

[0038] The control unit 100 receives the capacity information D1 of the collector 5 (see FIG. 1), the working area A W (See FIG. 2) information on the grass density (grass density information) D2 of the turfgrass G1 in a predetermined area, and the mowing width W of the mower 3 (See FIG. 1) M1(See Figure 2) information (cutting width information) D3, mower 3 cutting height H M (See Figure 1) Information (cutting height information) D4, working area A W The height H of the turfgrass G1 before cutting in a given area G1 The control unit 100 stores the information D1 to D5. M2 (See Figure 2) M1 From work fee W M2 The numerical value obtained by subtracting the above is acquired as the actual mowing width information D3, and the acquired mowing width information D3 is stored.

[0039] The control unit 100 also acquires position information (self-position P) of the riding lawnmower 1 (traveling body 2) (see FIGS. 1 and 2) measured by the positioning device 61, and calculates the travel route R (see FIG. 4) of the riding lawnmower 1 during lawn mowing work based on the self-position P of the riding lawnmower 1. In this way, the control unit 100 acquires the travel route R of the riding lawnmower 1.

[0040] The control unit 100 calculates the mowing amount D7 (also referred to as mowing amount information) of the grass G1 mowed by the mower 3 during mowing work using the capacity information D1, grass density information D2, mowing width information D3, mowing height information D4, grass height information D5, and travel route R (travel route information D6) stored in the control unit 100. The control unit 100 also calculates the accommodation rate (also referred to as accommodation rate information) D8 of the grass clippings G2 in the collector 5 based on the calculated mowing amount D7. The control unit 100 uses some or all of the information D1 to D6 to calculate the mowing amount D7. The control unit 100 also uses the travel route information D6 to calculate the mowing amount D7. The mowing amount D7 can be calculated using a formula such as "mowing amount D7 = (grass height information D5 - mowing height information D4) × mowing width information D3 × travel route information D6 (travel distance) × grass density information D2."

[0041] Then, the control unit 100 outputs the calculated accommodation rate D8 to the display unit 62. The display unit 62 displays the accommodation rate D8 input from the control unit 100. Note that the display unit 62 may display the accommodation rate D8 numerically or graphically, for example.

[0042] The control unit 100 may be configured to have the capacity information D1, grass density information D2, mowing width information D3, mowing height information D4, and grass height information D5 as table data for each position of the riding lawnmower 1. In this case, the control unit 100 calculates the mowing amount D7 using some or all of the information D1 to D5, without using the travel route R (travel route information D6).

[0043] In addition, since the exact value of the grass density information D2 is difficult to determine, a rough numerical value is used as the initial value, and the numerical value is corrected by making corrections every time the collector 5 becomes full.

[0044] 3, when a fullness detection signal S1 is input from the fullness sensor 63 indicating that the collector 5 is full of grass clippings G2, the control unit 100 compares the calculated mowing amount D7 with the capacity information D1. That is, the control unit 100 compares the calculated mowing amount D7 with the amount of grass clippings G2 that has actually filled the collector 5. The control unit 100 then calculates the difference between the mowing amount D7 and the capacity information D1, and corrects the grass density information D2 in accordance with the difference between the mowing amount D7 and the capacity information D1.

[0045] As shown in FIG. 3, the control unit 100 W (See Figure 2) Already worked area A is the area where grass mowing has already been done. W2 In this case, the control unit 100 acquires the information (already worked area information) D9 (see FIG. 2) based on the travel route information D6 and the mowing width information D3. Then, as shown in FIG. 4, when correcting the grass density information D2, the control unit 100 calculates the already worked area A up to the position where the fullness sensor 63 detects that the collector 5 is full (the fullness detection signal S1 is input from the fullness sensor 63). W2 The grass density information D2 is corrected by linking it to the above.

[0046] 3, the control unit 100 calculates the density of the grass in the already worked area A based on the corrected grass density information D2. W2 and obtains grass density map information D10 in the already worked area A based on the obtained grass density map information D10. W2The control unit 100 creates a grass density distribution map (grass density map) of the turfgrass G1 in the same working area A from the next time onwards. W In this case, it is preferable to use the final corrected value as the initial value for the grass density information D2.

[0047] Also, as shown in Figure 3, when the control unit 100 receives a grass height detection signal S2 from the grass height sensor 64, i.e., when it acquires grass height information D5, it links the acquired grass height information D5 to the riding lawnmower 1's own position P and calculates the cutting amount D7 while updating the grass height information D5.

[0048] 3, control unit 100 includes prime mover control unit 110. Prime mover 71, prime mover rotation speed sensor 72, operation unit 73, and the like are connected to prime mover control unit 110. Prime mover control unit 110 is capable of controlling prime mover 71 by electronic control, and includes a processing unit (not shown) having a CPU and the like, and a storage unit (not shown) consisting of a hard disk, ROM, RAM, and the like, in which various programs and necessary data are stored.

[0049] As described above, the prime mover 71 drives the mower 3 by rotational power. The prime mover 71 is controlled by the prime mover control unit 110. The prime mover rotation speed sensor 72 detects the rotation speed of the prime mover 71. The prime mover rotation speed sensor 72 outputs the rotation speed of the prime mover 71, i.e., a rotation speed detection signal S3, to the prime mover control unit 110. The operation unit 73 accepts an operation by the operator and outputs an operation signal S4 to the prime mover control unit 110. When the operation signal S4 is input from the operation unit 73, the prime mover control unit 110 outputs an output instruction signal S5, which is a signal of an output instruction value for the prime mover 71, to the prime mover 71 based on the operation signal S4.

[0050] The control unit 100 calculates the load (also referred to as load information) D11 of the motor 71 based on the output instruction signal S5 and the rotation speed detection signal S3. The control unit 100 then links the calculated load D11 of the motor 71 to the current position P of the riding lawnmower 1, and updates the grass density information D2.

[0051] <Determining whether mowing is necessary or not> Next, the determination of whether mowing work is necessary or not in the riding lawnmower 1 according to this embodiment will be described with reference to Figure 5. Figure 5 is a flowchart showing the processing steps for determining whether mowing work is necessary or not in the riding lawnmower 1 according to this embodiment.

[0052] The control unit 100 (see FIG. 3) is configured to define the working area A W (See FIG. 2) to determine whether or not mowing work with the riding lawnmower 1 is necessary.

[0053] In this case, as shown in FIG. 5, the control unit 100 sets the mowing height (target grass height) H of the grass G1 by the mower 3. M (Cutting height information D4) is acquired, and the acquired target grass height H M In the grass mowing operation, the target grass height H to be maintained for each designated area (designated area) is stored (step S101). M Therefore, the target grass height H is determined by linking it with the position information of the riding lawnmower 1 (self-position P). M is set.

[0054] Next, the control unit 100 calculates the current grass height H of the turfgrass G1 in the specified area. G1 (Plant height information D5) is obtained, and the current plant height H of the turfgrass G1 is G1 During the mowing operation, the grass height H of the grass G1 before mowing is measured as 3D information using a grass height sensor 64 such as a LiDAR. G1 Detect.

[0055] Next, the control unit 100 calculates the current grass height H G1 and target plant height H M The difference between these is calculated (step S103).

[0056] Next, the control unit 100 calculates the current grass height H G1 The target height is H M (Target plant height H M ≦Current grass height H G1 ) (step S104).

[0057] In step S104, the control unit 100 calculates the current grass height H G1 The target height is H M If it is determined that this is the case (step S104: Yes), it is determined that mowing work is necessary (step S105), and the process for determining whether mowing work is necessary ends. If the control unit 100 determines that mowing work is necessary, mowing work is carried out using the riding lawnmower 1.

[0058] In step S104, the control unit 100 calculates the current grass height H G1 The target height is H M If it is determined that the difference is smaller (lower) than (No in step S104), it is determined that no lawn mowing work is necessary (step S106), and the process of determining whether lawn mowing work is necessary or not is terminated.

[0059] If the control unit 100 determines that mowing is necessary, it will, for example, raise a flag on the map. The control unit 100 will also determine whether mowing is necessary for the entire designated area, and will only perform mowing in areas where mowing is necessary.

[0060] According to the riding lawnmower 1 of the embodiment described above, by displaying the grass G2 storage rate D8 in the collector 5, the operator of the riding lawnmower 1 can use this as a guide to decide when to discharge the grass (grass clippings) G2 stored in the collector 5. In this case, for example, when the riding lawnmower 1 approaches a location where the grass (grass clippings) G2 is to be discharged during lawn mowing work, if there is a certain amount of grass clippings G2 accumulated in the collector 5 even if the collector 5 is not full, the operator can discharge the grass (grass clippings) G2. Because the operator can grasp the storage status of the grass clippings G2 in the collector 5, various decisions can be made depending on the storage status of the grass clippings G2, thereby improving workability.

[0061] Furthermore, since the control unit 100 calculates the mowing amount D7 using the travel route R, the mowing amount D7 of the grass G1 and the storage rate D8 of the grass (cut grass) G2 during mowing work can be calculated more accurately so as to approach the actual values.

[0062] In addition, since the control unit 100 corrects the grass density information D2 according to the difference between the cutting amount D7 and the capacity information D1, by correcting the numerical value of the grass density information D2, which has a large estimation element when the collector 5 is full, the cutting amount D7 of the turf grass G1 can be calculated more accurately.

[0063] In addition, when the control unit 100 corrects the grass density information D2, the fullness sensor 63 detects the fullness of the collector 5 in the already worked area A. W2 In order to link it to correct the grass density information D2, the existing work area A W2 By correcting the grass density information D2 in association with the above, it is possible to more accurately calculate the mowing amount D7 of the turfgrass G1. W2 By creating a distribution map of the grass density of the turfgrass G1 in the area, the created distribution map can be used for subsequent mowing work in the same location, thereby improving workability.

[0064] Furthermore, since it can be assumed that the load fluctuation of the motor 71 changes depending on the grass density of the grass G1, by updating the grass density information D2 from the load D11 of the motor 71 and the riding lawnmower 1's own position P, the amount of grass G1 cut D7 can be calculated more accurately the next time mowing work is performed in the same location.

[0065] In addition, the grass height H before cutting of turfgrass G1 G1 Since the lawn mowing operation is performed while detecting the amount of grass G1 cut D7, the amount of grass G1 cut can be calculated more accurately.

[0066] The above-described embodiment realizes the following riding lawnmower 1.

[0067] (1) A riding lawnmower 1 comprising: a traveling body 2; a lawn mower 3 mounted on the traveling body 2 and configured to cut grass G1; a grass collection container 5 mounted on the traveling body 2 and configured to store grass G2 cut by the lawn mower 3; a control unit 100 that stores capacity information D1 of the grass collection container 5, grass density information D2 of the grass G1 in a specified area, mowing width information D3 of the lawn mower 3, mowing height information D4 of the lawn mower 3, and grass height information D5 of the grass G1 in the specified area before cutting; the control unit 100 that calculates a cutting amount D7 of the grass G1 during mowing work using the capacity information D1, grass density information D2, mowing width information D3, mowing height information D4, and grass height information D5, and calculates a storage rate D8 of the grass G2 in the grass collection container 5 based on the calculated cutting amount D7; and a display unit 62 that displays the storage rate D8 calculated by the control unit 100.

[0068] With this type of riding lawnmower 1, by displaying the grass G2 storage rate D8 in the grass collection container 5, the driver (operator) of the riding lawnmower 1 can use this as a guide to decide when to discharge the grass (grass clippings) G2 stored in the grass collection container 5. In this case, for example, when the riding lawnmower 1 approaches a location where the grass (grass clippings) G2 is to be discharged during lawn mowing work, if there is a certain amount of grass clippings G2 in the grass collection container 5 even if the grass collection container 5 is not full, the operator can discharge the grass (grass clippings) G2. Because the operator can grasp the storage status of the grass clippings G2 in the grass collection container 5, various decisions can be made depending on the storage status of the grass clippings G2, thereby improving workability.

[0069] (2) In (1) above, the riding lawnmower 1 is equipped with a positioning device 61 that measures the self-position P of the traveling body 2, and the control unit 100 acquires the self-position P of the traveling body 2 measured by the positioning device 61, acquires the traveling path R of the traveling body 2 during lawn mowing work based on the self-position P of the traveling body 2, calculates the mowing volume D7 using the traveling path R, and calculates the storage rate D8 based on the calculated mowing volume D7.

[0070] In addition to the effect of (1) above, such a riding lawnmower 1 can more accurately calculate the amount D7 of grass G1 cut during mowing work and the storage rate D8 of grass G2 in the grass collection container 5 so that they approach the actual values.

[0071] (3) In the above (2), the riding lawnmower 1 is provided with a fullness sensor 63 that detects when the grass collection container 5 is full, and when the fullness sensor 63 detects that the grass collection container 5 is full, the control unit 100 compares the calculated cutting amount D7 with the capacity information D1 and corrects the grass density information D2 according to the difference between the cutting amount D7 and the capacity information D1.

[0072] In addition to the effect of (2) above, with this type of riding lawnmower 1, the cutting amount D7 of the grass G1 can be calculated more accurately by correcting the numerical value of the grass density information D2, which has a large estimation element, when the grass collection container 5 is full.

[0073] (4) In the above (3), the control unit 100 determines the already-mowed area A based on the travel route R and the mowing width information D3. W2 When the grass density information D2 is corrected by acquiring the grass density information D2, the fullness sensor 63 detects the fullness of the grass collection container 5 and the working area A W2 and correct the grass density information D2, and then calculate the existing work area A based on the corrected grass density information D2. W2 Riding lawn mower 1 creates a distribution map of grass density for turfgrass G1.

[0074] In addition to the effect of (3) above, the riding lawnmower 1 has the following advantages: W2 By linking this to the grass density information D2 and correcting it, the mowing amount D7 of the turfgrass G1 can be calculated more accurately. In addition, by creating a grass density distribution map, the created distribution map can be used for subsequent mowing work in the same location, improving work efficiency.

[0075] (5) In (2) above, the riding lawnmower 1 is equipped with a prime mover 71 that drives the lawnmower 3 using rotational power, a prime mover control unit 110 that controls the prime mover 71, and a prime mover rotation speed sensor 72 that detects the rotation speed of the prime mover 71, and the control unit 100 calculates the load D11 of the prime mover 71 based on the output instruction value for the prime mover 71 and the rotation speed of the prime mover 71 detected by the prime mover rotation speed sensor 72, and links the calculated load D11 of the prime mover 71 to the self-position P of the traveling vehicle body 2 to update the grass density information D2.

[0076] With such a riding lawnmower 1, in addition to the effect of (2) above, it can be estimated that the load fluctuation of the prime mover 71 changes depending on the grass density of the grass G1. Therefore, by updating the grass density information D2 from the load D11 of the prime mover 71 and the self-position P of the traveling vehicle body 2, the cutting amount D7 of the grass G1 can be calculated more accurately the next time or later when mowing the grass in the same location.

[0077] (6) In any of the above (2) to (5), the grass height H of the turfgrass G1 in a predetermined area before cutting G1 The riding lawnmower (1) is equipped with a grass height sensor (64) that detects the height of the grass, and the control unit (100) links the grass height information (D5) obtained by the grass height sensor (64) with the self-position (P) of the traveling vehicle body (2) and calculates the mowing amount (D7) while updating the grass height information (D5).

[0078] In addition to any of the effects (2) to (5) above, the riding lawnmower 1 can reduce the grass height H of the grass G1 before cutting. G1 By performing the mowing operation while detecting the amount of grass G1 cut, the amount D7 of grass G1 cut can be calculated more accurately.

[0079] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0080] 1 riding lawn mower 2 Running vehicle 3. Lawn mowers 5 Grass collector 61 Positioning device 62 Display section 63 Full sensor 64 Grass height sensor 71 Prime Mover 72 Prime mover speed sensor 100 control section 110 Prime mover control section A W2 Existing work area D1 capacity information D2 Grass density information D3 Cutting width information D4 Cutting height information D5 Plant height information D7 Reaping amount D8 Capacity D11 load G1 Turfgrass G2 Lawn grass (cut grass) P self-position R Travel route

Claims

1. A running vehicle body, a lawn mower provided on the traveling vehicle body for mowing grass; a grass collection container provided on the traveling vehicle body for collecting grass cut by the lawnmower; a control unit that stores capacity information of the grass collection container, initial numerical grass density information of the grass in a predetermined area, mowing width information of the lawnmower, mowing height information of the lawnmower, and grass height information of the grass in the predetermined area before mowing, corrects the numerical value of the grass density information each time the grass collection container becomes full, calculates the amount of grass cut during mowing work using the capacity information, grass density information, mowing width information, mowing height information, and grass height information, and calculates the grass storage rate of the grass collection container based on the calculated amount of grass cut; a display unit that displays the accommodation rate calculated by the control unit; Equipped with A riding lawn mower characterized by:

2. A positioning device for measuring the self-position of the traveling vehicle body Equipped with The control unit acquires the self-position of the traveling vehicle body measured by the positioning device, acquires a travel route of the traveling vehicle body during grass mowing work based on the self-position of the traveling vehicle body, calculates the mowing amount using the travel route, and calculates the storage rate based on the calculated mowing amount.

2. The riding lawn mower according to claim 1.

3. A full sensor that detects when the grass collection container is full Equipped with When the fullness sensor detects that the grass collection container is full, the control unit compares the calculated mowing amount with the capacity information, and corrects the grass density information according to the difference between the mowing amount and the capacity information.

3. The riding lawn mower according to claim 2.

4. The control unit acquires a worked area, which is an area where grass has already been mowed, based on the travel route and the mowing width information, and when correcting the grass density information, corrects the grass density information by linking it to the worked area up to the position where the fullness sensor detected that the grass collection container was full, and creates a distribution map of grass density of the grass in the worked area based on the corrected grass density information.

4. The riding lawn mower according to claim 3.

5. a prime mover that drives the lawn mower using rotational power; a prime mover control unit that controls the prime mover; a prime mover rotation speed sensor that detects the rotation speed of the prime mover; Equipped with The control unit calculates a load on the prime mover based on an output command value for the prime mover and the number of revolutions of the prime mover detected by the prime mover revolution number sensor, and updates the grass density information by linking the calculated load on the prime mover to a self-position of the traveling vehicle body.

3. The riding lawn mower according to claim 2.

6. a grass height sensor that detects the grass height before cutting in the predetermined area; Equipped with The control unit links the grass height information obtained by detection by the grass height sensor with a self-position of the traveling vehicle body, and calculates the amount of cutting while updating the grass height information.

6. The riding lawnmower according to claim 2, wherein the first and second axes are parallel to each other.

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