Lawn mowing apparatus with mower deck alignment sensors
View Patent ↗A lawn mowing apparatus may include sensors that are fastened to both its mower deck and its chassis. The sensors may sense a position of the mower deck in relation to the chassis. The sensed position of the mower deck may be presented to the operator via a dashboard display of the lawn tractor or transmitted via a wireless signal to another device. Based on such sensed position, an operator of the lawn tractor may manually adjust the position of the mower deck until the sensed position of the mower deck is within an acceptable operating range. In some embodiments, servomotors may adjust the position of the mower deck until the sensed position of the mower deck is within an acceptable range.
1. An apparatus for mowing a lawn, comprising:
a graphical display;
a chassis supported by a plurality of wheels;
a mower deck coupled to the chassis via an adjustable linkage, wherein the mower deck includes a blade for mowing the lawn;
a first position sensor coupled to the chassis and configured to generate one or more first signals indicative of a position of the chassis;
a second position sensor coupled to the mower deck and configured to generate one or more second signals indicative of a position of the mower deck; and
a controller configured to:
determine based on the one or more first signals and the one or more second signals a relative position of the mower deck with respect to the chassis;
determine, based on the determined relative position, whether realignment of the mower deck is warranted; and
cause the graphical display to present a graphical representation of a sensed alignment of the mower deck.
2. The lawn mowing apparatus of claim 1 , wherein:
the first position sensor is configured to generate the one or more first signals such that the one or more first signals are indicative of pitch and roll of the chassis;
the second position sensor is configured to generate the one or more second signals such that the one or more second signals are indicative of pitch and roll of the mower deck; and
the controller is configured to determine a differential pitch and a differential roll based upon the pitch and roll for the chassis and mower deck and determine that realignment of the mower deck is warranted in response to the differential pitch or the differential roll exceeding a respective threshold.
3. The lawn mowing apparatus of claim 1 , further comprising:
a plurality of inflatable tires mounted to the plurality of wheels;
wherein the controller is further configured to determine based on the one or more first signals that one or more of the plurality of inflatable tires has an improper air pressure.
4. The lawn mowing apparatus of claim 1 , wherein the controller is further configured to generate a deck misalignment notification in response to determining that realignment of the mower deck is warranted.
5. An apparatus for mowing a lawn, comprising:
a chassis supported by a plurality of wheels;
a mower deck coupled to the chassis via an adjustable linkage, wherein the mower deck includes a blade for mowing the lawn;
a plurality of motors coupled to the adjustable linkage and configured to actuate the adjustable linkage to adjust the position of the mower deck with respect to the chassis;
a first position sensor coupled to the chassis and configured to generate one or more first signals indicative of a position of the chassis;
a second position sensor coupled to the mower deck and configured to generate one or more second signals indicative of a position of the mower deck; and
a controller configured to:
determine based on the one or more first signals and the one or more second signals a relative position of the mower deck with respect to the chassis;
determine, based on the determined relative position, whether realignment of the mower deck is warranted; and
in response to determining that realignment of the mower deck is warranted, generate one or more control signals for the plurality of motors that cause the plurality of motors to actuate the adjustable linkage and realign the mower deck with respect to the chassis.
6. The lawn mowing apparatus of claim 5 , wherein:
the first position sensor is configured to generate the one or more first signals such that the one or more first signals are indicative of yaw, pitch, and roll of the chassis;
the second position sensor is configured to generate the one or more second signals such that the one or more second signals are indicative of yaw, pitch and roll of the mower deck; and
the controller is configured to determine a differential yaw, a differential pitch, and a differential roll based upon the yaw, pitch and roll for the chassis and mower deck and determine that realignment of the mower deck is warranted in response to the differential yaw, the differential pitch, or the differential roll exceeding a respective threshold.
7. The lawn mowing apparatus of claim 5 , wherein the controller is configured to:
determine a tilt of the chassis based on the one or more first signals and a tilt of the mower deck based on the one or more second signals; and
determine that realignment is warranted in response to determining a difference between the tilt of the chassis and the tilt of the mower deck exceeds a threshold.
8. The lawn mowing apparatus of claim 5 , further comprising:
a plurality of inflatable tires mounted to the plurality of wheels;
wherein the controller is further configured to determine a tilt of the chassis based on the one or more first signals and determine, based on the tilt of the chassis, that one or more of the plurality of inflatable tires has an improper air pressure.
9. The lawn mowing apparatus of claim 5 , further comprising:
a plurality of inflatable tires mounted to the plurality of wheels;
wherein the controller is further configured to generate a tire pressure warning in response to determining, based on the one or more first signals, that one or more of the plurality of inflatable tires has an improper air pressure.
10. The lawn mowing apparatus of claim 5 , further comprising:
a wireless communication interface;
wherein the controller is further configured to transmit a sensed alignment of the mower deck via the wireless communication interface.
11. A monitoring method for a controller of a lawn mowing apparatus, the method comprising:
receiving, from a first position sensor of the lawn mowing apparatus, one or more first signals indicative of a position of a chassis of the lawn mowing apparatus;
receiving, from a second position sensor of the lawn mowing apparatus, one or more second signals indicative of a position of a mower deck supported by the chassis;
determining, with the controller, based on the one or more first signals and the one or more second signals, a relative position of the mower deck with respect to the chassis;
determining, with the controller, based on the determined relative position, whether realignment of the mower deck is warranted; and
in response to determining that realignment of the mower deck is warranted, generating with the controller one or more control signals that cause a plurality of motors of the lawn mowing apparatus to actuate the adjustable linkage and realign the mower deck with respect to the chassis.
12. The method of claim 11 , further comprising:
determining a differential pitch and a differential roll between the chassis and the mower deck based on pitch and roll indicated by the one or more first signals and the one or more second signals; and
determining that realignment of the mower deck is warranted in response to the differential pitch or the differential roll exceeding a respective threshold.
13. The method of claim 11 , further comprising:
determining a differential yaw, a differential pitch, and a differential roll between the chassis and the mower deck based on yaw, pitch, and roll indicated by the one or more first signals and the one or more second signals; and
determining that realignment of the mower deck is warranted in response to the differential yaw, the differential pitch, or the differential roll exceeding a respective threshold.
14. The method of claim 11 , further comprising:
determining a tilt of the chassis based on the one or more first signals;
determining a tilt of the mower deck based on the one or more second signals; and
determining that realignment is warranted in response to determining a difference between the tilt of the chassis and the tilt of the mower deck exceeds a threshold.
15. The method of claim 11 , further comprising determining, based on the one or more first signals, that one or more inflatable tires supporting the chassis has an improper air pressure.
16. The method of claim 11 , further comprising:
determining a tilt of the chassis based on the one or more first signals; and
determining, based on the tilt of the chassis, that one or more inflatable tires supporting the chassis has an improper air pressure.
17. The method of claim 11 , further comprising generating a tire pressure warning in response to determining, based on the one or more first signals, that one or more inflatable tires supporting the chassis has an improper air pressure.
18. The method of claim 11 , further comprising generating a deck misalignment notification in response to determining that realignment of the mower deck is warranted.
19. The method of claim 11 , further comprising transmitting a sensed alignment of the mower deck via a wireless communication interface.