Automatic turn-sensing ground speed reduction systems and related methods for walk-behind machines
Automatic turn-sensing ground speed reduction systems and related methods for walk-behind, self-propelled machines are disclosed. In one aspect, automatic turn-sensing ground speed reduction systems and related methods can include a control unit and a sensor. The sensor can be configured to transmit a signal to the control unit. In some aspects, the sensor can include a gyroscope that can be configured to transmit the signal to the control unit, the signal corresponding to an angular velocity of the walk-behind machine measured about a vertical axis perpendicular to a ground surface on which the walk-behind machine can be self-propelled. The control unit can be configured to automatically adjust a ground speed of the walk-behind machine during turning movement of the walk-behind machine based upon the signal.
1. An automatic turn-sensing ground speed reduction system for a walk-behind, self-propelled machine having a main operative assembly and a handle that extends behind the main operative assembly, the system comprising:
an actuation mechanism disposed at a distal end portion of the handle and located at a rear of the walk-behind, self-propelled machine, the actuation mechanism being configured for use by an operator to assign a ground speed of the walk-behind, self-propelled machine;
a control unit; and
a sensor configured to transmit a signal to the control unit, wherein the signal corresponds to an angular velocity of the walk-behind, self-propelled machine measured about a vertical axis perpendicular to a ground surface on which the walk-behind, self-propelled machine can be self-propelled;
wherein the actuation mechanism is configured to allow one handed control of the walk-behind, self-propelled machine by the operator, and
wherein the control unit is configured to automatically adjust the ground speed of the walk-behind, self-propelled machine during turning movement of the walk-behind, self-propelled machine based upon whether the signal exceeds a predetermined threshold value of one or more of velocity, angular velocity, acceleration, angular acceleration, orientation, and/or gravitational forces experienced by the walk-behind, self-propelled machine.
2. The system of claim 1 , wherein the actuation mechanism is configured to transmit a control signal to the control unit, the control signal corresponding to the ground speed.
3. The system of claim 1 , wherein the control unit is configured to apply a drive control multiplier to scale the ground speed of the walk-behind, self-propelled machine.
4. The system of claim 1 , wherein the control unit is configured to shut off a drive system of the walk-behind, self-propelled machine during turning movement of the walk-behind, self-propelled machine, and the control unit is configured to turn on the drive system when one of a following set of criteria are met: an angular deceleration of the walk-behind, self-propelled machine is greater than a predetermined angular deceleration threshold, an angular velocity of the walk-behind, self-propelled machine is less than a predetermined angular velocity threshold, and the drive system is off for more than a predetermined timeout threshold.
5. The system of claim 1 , wherein the control unit is configured to apply a first order recursive filter to the signal.
6. The system of claim 5 , wherein the control unit is configured to calculate an angular acceleration of the walk-behind, self-propelled machine based on the filtered signal.
7. The system of claim 1 , wherein the sensor is mounted on a printed circuit board on the walk-behind, self-propelled machine.
8. The system of claim 1 , wherein the sensor comprises a gyroscope configured to transmit the signal to the control unit.
9. A walk-behind, self-propelled machine comprising an automatic turn-sensing ground speed reduction system, the walk-behind, self-propelled machine comprising:
a main operative assembly;
a handle that extends behind the main operative assembly of the walk-behind, self-propelled machine;
an actuation mechanism disposed at a distal end portion of the handle, so as to be located at a rear of the walk-behind, self-propelled machine, the actuation mechanism being configured for use by an operator to assign a ground speed of the walk-behind, self-propelled machine;
a control unit;
a sensor configured to transmit a signal to the control unit, wherein the signal corresponds to an angular velocity of the walk-behind, self-propelled machine measured about a vertical axis perpendicular to a ground surface on which the walk-behind, self-propelled machine can be self-propelled; and
a drive system configured to propel the walk-behind, self-propelled machine along the ground surface at the ground speed;
wherein the actuation mechanism is configured to allow one handed control of the walk-behind, self-propelled machine by the operator, and
wherein the control unit is configured to automatically adjust the ground speed of the walk-behind, self-propelled machine during turning movement of the walk-behind, self-propelled machine based upon whether the signal exceeds a predetermined threshold value of one or more of velocity, angular velocity, acceleration, angular acceleration, orientation, and/or gravitational forces experienced by the walk-behind, self-propelled machine.
10. The walk-behind, self-propelled machine of claim 9 , wherein the actuation mechanism is configured to transmit a control signal to the control unit, the control signal corresponding to the ground speed.
11. The walk-behind, self-propelled machine of claim 9 , wherein the control unit is configured to apply a drive control multiplier to scale the ground speed of the walk-behind, self-propelled machine.
12. The walk-behind, self-propelled machine of claim 9 , wherein the control unit is configured to shut off the drive system during turning movement of the walk-behind, self-propelled machine, and is configured to turn on the drive system when one of a following set of criteria are met: an angular deceleration of the walk-behind, self-propelled machine is greater than a predetermined angular deceleration threshold, an angular velocity of the walk-behind, self-propelled machine is less than a predetermined angular velocity threshold, and the drive system is off for more than a predetermined timeout threshold.
13. The walk-behind, self-propelled machine of claim 9 , wherein the control unit is configured to apply a first order recursive filter to the signal.
14. The walk-behind, self-propelled machine of claim 13 , wherein the control unit is configured to calculate an angular acceleration of the walk-behind, self-propelled machine based on the filtered signal.
15. A method for implementing automatic turn-sensing ground speed reduction in a walk-behind, self-propelled machine, the method comprising:
assigning, by an operator using an actuation mechanism disposed at a distal end portion of the handle so as to be located at a rear of the walk-behind, a ground speed of the walk-behind, self-propelled machine;
transmitting a signal to a control unit;
interpreting the signal in the control unit, wherein the signal corresponds to an angular velocity of the walk-behind, self-propelled machine measured about a vertical axis perpendicular to a ground surface on which the walk-behind, self-propelled machine can be self-propelled; and
automatically adjusting the ground speed of the walk-behind, self-propelled machine in the control unit during turning movement of the walk-behind, self-propelled machine based upon whether the signal exceeds a predetermined threshold value of one or more of velocity, angular velocity, acceleration, angular acceleration, orientation, and/or gravitational forces experienced by the walk-behind, self-propelled machine,
wherein the actuation mechanism is configured to allow one handed control of the walk-behind, self-propelled machine by the operator.
16. The method of claim 15 , further comprising transmitting a control signal to the control unit, the control signal corresponding to the ground speed of the walk-behind, self-propelled machine.
17. The method of claim 15 , further comprising applying a drive control multiplier to scale the ground speed of the walk-behind, self-propelled machine.
18. The method of claim 15 , wherein automatically adjusting the ground speed of the walk-behind, self-propelled machine further comprises shutting off a drive system of the walk-behind, self-propelled machine during turning movement, and turning on the drive system when one of a following set of criteria are met: an angular deceleration of the walk-behind, self-propelled machine is greater than a predetermined angular deceleration threshold, an angular velocity of the walk-behind, self-propelled machine is less than a predetermined angular velocity threshold, and the drive system is off for more than a predetermined timeout threshold.
19. The method of claim 15 , further comprising applying a first order recursive filter to the signal.
20. The method of claim 19 , further comprising calculating an angular acceleration of the walk-behind, self-propelled machine in the control unit based on the filtered signal.