ITO TATSUYA,伊藤 達也,NISHIKAWA TOMOMASA,西河 智雅,TAKANO NOBUHIRO,高野 信宏
申请号：
JP2016149802
公开号：
JP2018014963A
申请日:
2016.07.29
申请国别(地区):
JP
年份:
2018
代理人:
摘要：
PROBLEM TO BE SOLVED: To provide a self-propelled work machine capable of accurately carrying out contact detection by a contact detection mechanism for detecting contact of foreign matter with a body.SOLUTION: There is provided a self-propelled work machine having a body chassis 10 for holding a motor for travel and a motor for work, a body cover 2 for covering them, and a contact detection mechanism for detecting contact of a foreign matter with the body cover 2, which carries out work while autonomously travelling in a work area. The contact detection mechanism is composed of magnets 6 and 7 fixed to the body cover 2 in a state of being longitudinally offset, and Hall sensors 46 and 47 provided adjacent to them. A control device can accurately detect a collision state not only during straight advancing but also during turning by changing detection thresholds of the Hall sensors 46 and 47 depending on whether a grass mower 1 is advancing straight or turning.SELECTED DRAWING: Figure 3COPYRIGHT: (C)2018,JPO&INPIT【課題】本体への異物の接触を検知する接触検知機構による接触検知を精度良くおこなえる自走式作業機を提供する。【解決手段】走行用モータと作業用モータを保持する本体シャーシ10と、これらを覆う本体カバー2と、本体カバー2への異物の接触を検知する接触検知機構を備え、作業領域内を自律的に走行しながら作業を行う自走式作業機において、接触検知機構は前後方向にオフセットされた状態で本体カバー2に固定されるマグネット6、7と、それに隣接して設けられるホールセンサ46、47にて構成される。制御装置は、草刈機1が直進時か旋回時かによってホールセンサ46、47の検出閾値を変更することにより、直進時だけで無く旋回時における衝突状態も精度良く検出することができる。【選択図】図3
