Lawn mowing apparatus with mower deck alignment sensors
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. A lawn mowing apparatus, comprising:
a chassis;
a plurality of wheels coupled to the chassis and configured to support the chassis above a lawn;
a mower deck comprising a blade for mowing the lawn;
an adjustable linkage that couples the mower deck under the chassis and carries the mower deck in a cutting position above the lawn;
a first position sensor coupled to the chassis and configured to generate first signals indicative of a position of the chassis;
a second position sensor coupled to the mower deck and configured to generate second signals indicative of a position of the mower deck;
a plurality of motors coupled to the adjustable linkage and configured to actuate the adjustable linkage to adjust a supported position of the mower deck with respect to the chassis; and
a controller configured to:
determine, based on the first signals and the second signals, a supported position of the mower deck with respect to the chassis;
determine, based on the determined supported position of the mower deck, whether realignment of the mower deck is warranted in order for the adjustable linkage to maintain the mower deck in a desired, cutting position of the mower deck above the lawn, wherein the desired, cutting position is associated with an even cut of the lawn; and
in response to determining that realignment of the mower deck is warranted, generate 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.
2. The lawn mowing apparatus of claim 1 , wherein:
the first position sensor is configured to generate the first signals such that the first signals are indicative of pitch and roll of the chassis;
the second position sensor is configured to generate the second signals such that the second signals are indicative of pitch and roll of the mower deck; and
the controller is further 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 , wherein:
the first position sensor is configured to generate the first signals such that the first signals are indicative of yaw, pitch, and roll of the chassis;
the second position sensor is configured to generate the second signals such that the second signals are indicative of yaw, pitch and roll of the mower deck; and
the controller is further 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.
4. The lawn mowing apparatus of claim 1 , wherein the controller is further configured to:
determine a tilt of the chassis based on the first signals and a tilt of the mower deck based on the 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.
5. The lawn mowing apparatus of claim 1 , wherein:
the plurality of wheels include a back wheel positioned toward a back of the chassis and a front wheel positioned toward the front of the chassis; and
the adjustable linkage positions and supports the mower deck under the chassis between the back wheel and the front wheel.
6. 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 generate a tire pressure warning in response to determining, based on the first signals, that at least one of the plurality of inflatable tires has an improper air pressure.
7. 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.
8. The lawn mowing apparatus of claim 1 , further comprising:
a graphical display;
wherein the controller is further configured to cause the graphical display to present a graphical representation of the determined supported position of the mower deck.
9. The lawn mowing apparatus of claim 1 , further comprising:
a wireless communication interface;
wherein the controller is further configured to transmit data indicative of the determined supported position of the mower deck via the wireless communication interface.
10. A method for a controller of a lawn mowing apparatus, the method comprising:
receiving, from a first sensor on a chassis of a lawn mowing apparatus, first signals indicative of a position of the chassis;
receiving, from a second sensor on a mower deck of the lawn mowing apparatus, second signals indicative of a position of the mower deck, wherein the mower deck is positioned under and carried by the chassis via an adjustable linkage;
determining, with the controller based on the first signals and the second signals, a supported position of the mower deck with respect to the chassis;
generating, with the controller a realignment notification, in response to the controller determining, based on the determined supported position, that realignment of the mower deck is warranted in order for the adjustable linkage to maintain a desired, cutting position of the mower deck above the lawn, wherein the desired, cutting position is associated with an even cut of the lawn; and
generating control signals that cause a plurality of motors of the lawn mowing apparatus to realign the mower deck with respect to the chassis.
11. The method of claim 10 , further comprising:
determining a differential pitch and a differential roll based upon pitch and roll for the chassis and the mower deck based on pitch and roll indicated by the first signals and the 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.
12. The method of claim 10 , further comprising:
determining a differential yaw, a differential pitch, and a differential roll based upon yaw, pitch, and roll for the chassis as indicated by the first signals and yaw, pitch, and, roll for the mower deck as indicated by the 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.
13. The method of claim 10 , further comprising:
determining a tilt of the chassis based on the first signals;
determining a tilt of the mower deck based on the 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.
14. The method of claim 10 , further comprising generating a tire pressure warning in response to determining, based on the first signals, that an inflatable tire supporting the chassis has an improper air pressure.
15. The method of claim 10 , further comprising generating signals that cause an air compressor of the lawn mowing apparatus to inflate a tire supporting the chassis in response to determining, based on the first signals, that the tire has an improper air pressure.
16. The method of claim 10 , further comprising displaying on a graphical display of the lawn mowing apparatus a graphical representation of the determined supported position of the mower deck.
17. The method of claim 10 , further comprising transmitting, via a wireless communication interface of the lawn mowing apparatus, the determined supported position of the mower deck.