Abstract:
A turf care device having an implement for performing a turf care function. The turf care device has a module for determining its position relative to the turf. The turf care implement is controlled based upon the position of the turf care device.

Description:
FIELD 
       [0001]    The present disclosure relates to a turf maintenance vehicle. 
       BACKGROUND 
       [0002]    This section provides background information related to the present disclosure which is not necessarily prior art. 
         [0003]    Turf maintenance vehicles (i.e., grounds keeping vehicles) are used for grounds keeping purposes on golf courses, parks, and other locations. Ride-on or riding mowers, for instance, typically include a power delivery system (e.g. an internal combustion engine, batteries, etc.), a ground traction system that receives power from the power delivery system, and a cutting unit or other turf care implement. Walk-behind mowers may be similarly configured and include or omit a powered ground traction system. 
         [0004]    In various instances, a turf maintenance vehicle may include a cutting unit assembly which is used to cut the turf of a golf green. On a typical golf course, the golf green is cut to the lowest height of any turf on the golf course. A golf course green is bordered by a higher cut of turf, typically referred to as the collar. Beyond the collar, many golf greens are surrounded by a higher cut of turf, referred to as rough, sand traps, water, or other golf course features. 
         [0005]    During the process of cutting a golf green, the operator causes the mower to traverse the green from edge to edge. When approaching the collar, the operator preferably raises the cutting unit assembly so that the cutting unit, which is set at a relatively low height of cut, does not cut the turf of the collar, thereby scalping the collar. When the collar is scalped, grass typically cut in the range of between 0.125 and 0.380 inches is cut substantially shorter than its typical height. Scalped turf of a golf green collar takes time to recover when cut to golf green height and can turn brown and die. Similar conditions can also apply when transitioning from cutting a fairway (typically at a height of 0.380 to 1.00 inches) to the intermediate cut (typically at a height of 0.50 to 2.00 inches) to the rough (typically at a height of 1.5 to 6.0 inches). 
       SUMMARY 
       [0006]    This section provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features. 
         [0007]    A turf maintenance apparatus includes a turf maintenance implement having a first position where the implement is disposed in contact with the turf and a second position where the turf maintenance implement is spaced away from the turf. A position determining module receives a location signal that enables the determination of the position of the turf maintenance apparatus relative to a first area of the turf. The position determining module generates a control signal to displace the turf maintenance implement from the first position to the second position when the turf maintenance apparatus is in proximity to the first area of the turf. 
         [0008]    A turf maintenance vehicle includes a frame and a turf maintenance implement supported by the frame and having a first position where the implement is disposed in contact with the turf and a second position where the turf maintenance implement is disposed away from the turf. A lift mechanism displaces the turf maintenance implement from the first position to the second position. A ground traction system includes a plurality of wheels supporting the frame and a power delivery system that delivers power to at least one of the turf maintenance implement or the ground traction system. A location sensor determines a location of the turf maintenance implement relative to a predetermined area. The location sensor generates a signal, and the lift mechanism displaces the turf maintenance implement from the first position to the second position when the turf maintenance implement is in proximity to the predetermined area. 
         [0009]    A turf maintenance vehicle includes a frame and a ground traction system having a plurality of wheels supporting the frame. A turf maintenance implement is supported by the frame and configured to be translated between a first position and a second position. A power delivery system delivers power to at least one of the turf maintenance implement or the ground traction system. A lift mechanism displaces the turf maintenance implement between the first position and the second position. A location sensor detects a proximity signal and generates a location signal that varies in accordance with a proximity of the turf maintenance implement to a first predetermined area. A controller receives the location signal and communicates with the lift mechanism to cause the lift mechanism to displace the turf maintenance implement in response to the location signal. 
         [0010]    A turf maintenance vehicle includes a frame and a ground traction system including a plurality of wheels supporting the frame. A first cutting unit assembly is supported by the frame for cutting turf at least at first predetermined height and configured to be displaced between a first operating position and a second operating position. A first lift mechanism displaces the first cutting unit assembly between the first and second operating positions. A power delivery system delivers power to at least one of the first lift mechanism, first cutting unit assembly, or the ground traction system. A first location sensor is responsive to a proximity signal and generates a first location signal that varies in accordance with a first proximity of the first cutting unit assembly to a border of the turf. A controller receives the first location signal and communicates with the first lift mechanism to cause the first lift mechanism to displace the cutting unit assembly between the first and second operating positions in response to the first location signal. 
         [0011]    Further areas of applicability will become apparent from the description provided herein. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. 
     
    
     
       DRAWINGS 
         [0012]    The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure. 
           [0013]      FIG. 1  is a perspective view of a mower arranged in accordance with various aspects of the disclosure; 
           [0014]      FIG. 2  is a configuration of a typical golf green; 
           [0015]      FIG. 3  is a block diagram of a system for automatically adjusting the position of a turf care implement according to various aspects of the disclosure; 
           [0016]      FIG. 4  is a block diagram of a system for automatically adjusting the position of a turf care implement according to various aspects of the disclosure; 
           [0017]      FIG. 5  is a flow chart detailing the process for automatically controlling a turf care implement; 
           [0018]      FIG. 6  is a configuration of a typical golf hole; 
           [0019]      FIGS. 7A and 7B  are positioning systems arranged in accordance with various aspects of the disclosure. 
       
    
    
       [0020]    Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings. 
       DETAILED DESCRIPTION 
       [0021]    Example embodiments will now be described more fully with reference to the accompanying drawings. 
         [0022]    Example embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail. 
         [0023]    The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms “a”, “an” and “the” may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms “comprises,” “comprising,” “including,” and “having,” are inclusive and therefore specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order discussed or illustrated, unless specifically identified as an order of performance. It is also to be understood that additional or alternative steps may be employed. 
         [0024]    When an element or layer is referred to as being “on”, “engaged to”, “connected to” or “coupled to” another element or layer, it may be directly on, engaged, connected or coupled to the other element or layer, or intervening elements or layers may be present. In contrast, when an element is referred to as being “directly on,” “directly engaged to”, “directly connected to” or “directly coupled to” another element or layer, there may be no intervening elements or layers present. Other words used to describe the relationship between elements should be interpreted in a like fashion (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items. 
         [0025]    Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as “first,” “second,” and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments. 
         [0026]    Spatially relative terms, such as “inner,” “outer,” “beneath”, “below”, “lower”, “above”, “upper” and the like, may be used herein for ease of description to describe one element or feature&#39;s relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the example term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. 
         [0027]    Referring initially  FIG. 1 , a turf maintenance vehicle (i.e., a grounds keeping vehicle), such as a mower  10  is illustrated. In the embodiment shown, mower  10  is a riding mower that generally includes a frame  12 , turf maintenance implement assemblies  14 , and a ground traction system generally indicated at  16 . It will be understood by one skilled in the art that the teachings herein are applicable to any suitable turf maintenance vehicle, including, by way of non-limiting example, mowers, vertical mowers, spikers, groomers, sand rakes, aerators, utility vehicles, and other turf maintenance equipment. One skilled in the art will further recognize that the teachings herein are applicable to turf maintenance vehicles of both a riding, stand behind, and walk-behind variety. 
         [0028]    Turf maintenance implement assemblies  14  are supported by the frame  12  and can be of any suitable type for turf or golf course maintenance purposes. In some aspects, a turf maintenance implement assembly  14  can include a cutting unit  18 , shown herein as a reel cutter for cutting grass or for other turf maintenance operations. Turf maintenance implement assemblies  14  are raised and lowered by a respective lift mechanism  20 . It will be appreciated that a turf maintenance implement assembly  14  can be any suitable turf maintenance implement, including, for instance, reel, rotary, and flail cutting implements, grooming implements, raking implements, aerating implements, and other turf maintenance implements. In various embodiments, turf maintenance assembly implements  14  may include one or a plurality of implements, such as a pair of forward turf maintenance implement assemblies  14  and a rear or center turf maintenance implement assembly  14 . 
         [0029]    Ground traction system  16  supports frame  12  and provides propulsion and steering for mower  10 . In various embodiments, ground traction system  16  includes a plurality of front wheels  21 , which are driven to propel mower  10 , and a rear wheel  22 , which can turn relative to frame  12  to thereby steer mower  10 . The ground traction system  16  also includes a brake, schematically indicated at  24 . The brake  24  can be of any suitable type for reducing the ground speed of mower  10 . 
         [0030]    Mower  10  includes a power delivery system generally indicated at  26 . Power delivery system  26  can be of any suitable type for generating power and transmitting power to the ground traction system  16  and/or the turf maintenance implement assemblies  14 . For example, power delivery system  26  can include an internal combustion engine for generating mechanical or electrical energy, a plurality of batteries, or a combination of the two. As such, power delivery system  26  generates and delivers power to ground traction system  16  to thereby propel the mower. In various embodiments, power delivery system  26  delivers electrical or hydraulic power to the various components of turf maintenance implement assemblies  14  to operate turf maintenance assemblies  14 . 
         [0031]    In various embodiments, power delivery system  26  also includes a lift controller, schematically indicated at  28 . Lift controller  28  electrically communicates with position sensors, shown schematically in  FIG. 1  as magnetic pick up  30 . In various embodiments, magnetic pick up  30  may be associated with each of a turf maintenance implement assembly  14 . In other embodiments, magnetic pick up  30  can be a single position sensor associated with all turf maintenance implement assemblies  14 . 
         [0032]      FIG. 2  depicts a typical configuration of a golf green complex  40 . Golf green complex  40  includes a golf green  42  which could be formed of any of a various number of turf mixes and is typically cut within the height range of 0.125 to 0.380 inches. The edges of golf green  42  are bordered by a boundary  44  that defines an inner edge of golf green collar  46 . Collar  46  can include turf mixes similar to or different than golf green  42 . Collar  46  includes an outer boundary  48 . Outer boundary  48  can border various golf features, including taller grass, defined as rough, bunkers, water, rocks, or other various golf course features. By way of example, rough  50  may include grass mixtures similar to or different than one or both of golf green  42  or collar  46 . The height of the rough can vary widely depending on the golf course, green committee, or superintendent preference but can often be found to be within the range of 1.5 to 6.0 inches. 
         [0033]    Regardless of the turf selection or actual height of cut of golf green  42 , collar  46 , or rough  50 , a typical golf course defines these turf features by the relative height of cut of the turf. A golf green is typically cut fairly short and tight to provide a true roll of a golf ball. A golf green collar is typically cut higher than the golf green yet sufficiently low so that suitable contact occurs between a golf club and a golf ball lying on the collar. Rough  50 , on the other hand, is typically cut higher, though the relative heights can vary, so that a golf ball can sit down in the rough. When a golf ball sits down in the rough, grass typically interferes with the contact between the golf ball and the golf club. 
         [0034]    Turf on a golf green  42  is cut at a certain height. If collar  46  is cut at the height of golf green  42 , damage in the form of scalping can result to the collar  46 . Likewise, for similar reasons, it is generally not desirable to cut the rough  50  at the same height as the collar  46 . 
         [0035]    Also shown in FIG.  2 ., buried beneath golf green  42 , is a conductor or pick up wire  52  which interacts with magnetic pick up  30  to provide warning of the approaching boundary  44  as mower  10  traverses golf green  42  in the direction of boundary  44 . According to various embodiments, mower  10  includes an automatic lift mechanism. The automatic lift mechanism raises turf maintenance implement assemblies  14  as mower  10  and its turf maintenance implement assemblies  14  approach boundary  44  between golf green  42  and collar  46 , thereby protecting the height of cut of collar  46 . 
         [0036]    In operation, as mower  10  traverses golf green  42 , as shown at paths  54  and  56 , magnetic pick ups  30  interact with pick up wire  52  to signal that mower  10  is approaching boundary  44 . Upon detection of pick up wire  52 , magnetic pick ups  30  send signals to lift controller  28  which causes lift mechanism  20  to raise respective turf maintenance implement assemblies  14 . Pick up wire  52  is arranged relative to boundary  44  so as to allow lift controller  28  to cause lift mechanism  20  to raise turf maintenance implement assembly  14  prior to a respective turf maintenance implement assembly  14  traversing collar  46 , thereby reducing the risk of scalping. 
         [0037]    The operator then turns mower  10  to traverse golf green  42  along a path in a direction opposite path  54 , such as along path  56 . As mower  10  traverses path  56  and approaches boundary  44 , pick up wire  52  interacts with magnetic pick ups  30  to cause the respective turf maintenance implement assemblies  14  to be raised as mower  10  approaches boundary  44 . Lift controller  28  detects the proximity to boundary  44  as indicated by pick up wire  52  and causes each lift mechanism  20  to raise a respective turf maintenance implement  14 . As mower  10  turns from path  54  to follow path  56 , the operator determines when to cause lift mechanism  20  to lower each respective turf maintenance implement  14  so as to enable cutting of the turf of golf green  42 . The lowering operation may be similarly automated using an opposite process described above. 
         [0038]      FIG. 3  depicts a block diagram of a lift control system  60  implemented on turf mower  10  according to various embodiments. In lift control system  60 , a trio of sensors  62   a ,  62   b ,  62   c  generate proximity signals input to lift controller  64 . Each sensor  62   a ,  62   b ,  62   c  corresponds to a particular respective turf maintenance implement  14  of mower  10 .  FIG. 3  also depicts three cutting units  68   a ,  68   b ,  68   c  associated with a respective sensor  62   a ,  62   b ,  62   c , which also correspond to a respective turf maintenance implement  14 . One skilled in the art will recognize that proximity sensors may be provided so as to yield a one to one or one to many correspondence between sensors and corresponding turf maintenance implements assemblies  14 . 
         [0039]    Controller  64  receives location signals from respective sensors  62   a ,  62   b ,  62   c . The location signal indicates detection of pick up wire  52 . Upon receiving a location signal, lift controller  64  generates a signal to respective lift mechanisms  66   a ,  66   b ,  66   c . Lift mechanisms  66   a ,  66   b ,  66   c  are mechanically connected to respective cutting units  68   a ,  68   b ,  68   c . When lift controller  64  receives a location signal from respective sensors  62   a ,  62   b ,  62   c , indicating that a respective cutting unit  68   a ,  68   b ,  68   c  is approaching boundary  44 , lift controller electrically communicates with lift mechanisms  66   a ,  66   b ,  66   c  to generate respective lift signals. The lift signals cause respective lift mechanisms  66   a ,  66   b ,  66   c  to displace respective cutting units  68   a ,  68   b ,  68   c  to a raised position. 
         [0040]    Lift controller  64  is also configured to receive signals from an operator control panel  70  indicating that a selected cutting unit should be raised or lowered. More particularly, the operator utilizes control panel  70  to cause lift mechanisms  66   a ,  66   b ,  66   c  to raise or lower in response to activation of respective switches  1 ,  2 , or  3  of control panel  70 . Control panel  70  also includes a switch A for causing all of lift mechanisms  66   a ,  66   b ,  66   c  to operate in unison to simultaneously raise or lower respective cutting units  68   a ,  68   b ,  68   c.    
         [0041]    In various embodiments, the operator can utilize switch A on control panel  70  to command that all cutting units  68   a ,  68   b ,  68   c  displace to the down position. In various embodiments, this causes forward cutting units to drop initially. A center cutting unit, such as shown in mower  10  of  FIG. 1 , is then lowered in accordance with a speed and/or distance traveled by mower  10 . Center cutting unit thus lowers to engage the turf of golf green  42  shortly after moving from over the collar  46  to over the golf green  42 . 
         [0042]    In various embodiments, each proximity sensor provides a proximity signal directly to a corresponding lift mechanism to operate corresponding lift mechanism. In  FIG. 4 , a pair of sensors  76   a ,  76   b  generate proximity signals similarly to that described above with respect to  FIGS. 2 and 3 . One skilled in the art will recognize that while only two sensors  76   a ,  76   b  are shown in  FIG. 4 , the principles described herein will apply to one or more sensor/lift mechanism/cutting unit combinations. Sensors  76   a ,  76   b  detect signals that enable locating respective cutting units  80   a ,  80   b  relative to the height of cut or other boundary. Sensors  76   a ,  76   b  provide signals to respectively lift mechanisms  78   a ,  78   b . Lift mechanisms  78   a ,  78   b  are configured with circuitry sufficient to process the received signals received from sensors  76   a ,  76   b . Lift mechanisms  78   a ,  78   b  generate control signals to each of respective cutting units  80   a ,  80   b  to displace cutting units  80   a ,  80   b  between a lowered and raised position. The operator can lower cutting units  80   a ,  80   b  from a raised position to a lowered position by operating switches  1 ,  2  of operator control panel  82 . Operator control panel  82  also includes a switch A for simultaneously controlling a raise or lower operation of respective cutting units  80   a ,  80   b  similarly as described above. 
         [0043]    One skilled in the art will further recognize that in various embodiments, a single sensor can control multiple cutting units. By way of non-limiting example, with reference to  FIG. 3 , various embodiments could omit sensors  62   b ,  62   c  so that only sensor  62   a  generates a proximity signal to lift controller  64 . Lift controller  64  processes the signal from proximity sensor  62   a  and generates a plurality of signals to each of lift mechanisms  66   a ,  66   b ,  66   c . In such a configuration, lift controller  64  can time the signals to each of cutting units  68   a ,  68   b ,  68   c  so that each is raised at approximately the same distance from boundary  44 . For example, a center cutting unit would be raised at a predetermined time after a front cutting. The timing can vary in accordance with the longitudinal distance between cutting assemblies of mower  10  with the speed of the mower  10 . 
         [0044]      FIG. 5  is a flow diagram of the process for controlling the automated lift controller  28 . Control begins at start block  90  and proceeds to block  92 . At block  92 , the system processes one or more location signals, which in various embodiments is output from one or more location sensors. Control proceeds to block  94 . At block  94 , a determination is made whether a cutting unit is near a height of cut boundary. If not, control proceeds back to block  92  where the system continues to process one or more location signals received from one or more sensors. If it is determined that a respective cutting unit is in proximity to a height of cut boundary, control proceeds to block  96 . At block  96 , a signal or signals are sent to one or a plurality of a lift mechanism to raise the respective cutting unit. Control then proceeds to block  98  which determines whether a lowering signal has been received, whether manually from the operator or through use of proximity sensors which determine the location of cutting unit with respect to a height of cut boundary. If no lowering signal has yet been received, control proceeds back to block  98 . If a lowering signal has been received, control proceeds to block  100 . At block  100 , a signal is sent to one or a plurality of lift mechanism to cause the cutting units to lower to a cutting position. Control then proceeds to block  102 . 
         [0045]      FIG. 6  depicts golf hole  104 . Golf hole  104  includes a tee box  105 , a fairway  106 , and a golf green  107 . One skilled in the art will recognize that tee box  105 , fairway  106 , and golf green  107  may all be formed of different turf mixes and are typically cut to different heights. Golf hole  104  also includes an intermediate cut  108  disposed between fairway  106  and rough  110 . Golf hole  104  further includes a collar  112  disposed around golf green  107 . One skilled in the art will also recognize that golf hole  104  could also include various other features typically found on a golf course, including water hazards, sand bunkers, grass bunkers, and rock features. One skilled in the art will further recognize that intermediate cut  108  in various embodiments can be formed of a turf mixture different than fairway  106  and rough  110 . The turf of intermediate cut  108  is typically cut to a height greater than fairway  106  but less than the height of cut of rough  110 . 
         [0046]    Golf hole  104  demonstrates other applications of a turf mower configured similarly to turf mower  10  of  FIG. 1 . In particular, with respect to cutting fairway  106 , mower  10  can traverse a path  114  from one edge of fairway  104  to another edge of fairway  104 . As the mower  10  approaches the edge of fairway  104  along path  114 , the cutting units can be raised similarly as described above. By way of example, as mower  10  approaches the edge of fairway  104  along path  114 , proximity sensors  62   a ,  62   b ,  62   c  can detect the approaching pick up wire  118  and communicate a proximity signal to lift controller  64 , similarly as described above. The operator would then turn, having completed the cut of fairway  106  along path  114 , and return along path  116 . The process is repeated as mower  10  approaches intermediate cut  108  along path  116 . 
         [0047]    One skilled in the art will recognize that the principles described herein can further apply to causing lifting or adjustment of mower height to cut grass at a different height as a mower crosses a boundary between intermediate cut  108  and rough  110 , by way of non-limiting example. One skilled in the art will recognize that to achieve such a configuration, mower  10  may be modified to include cutting units for suitably cutting two different heights. For example, one position may be for cutting fairway  106 , and a second position may be for cutting intermediate cut  108 , a third position may be for cutting rough  110 . 
         [0048]      FIG. 7  depicts alternate approaches to locating a turf maintenance vehicle on a golf green or other areas of a golf course. In  FIG. 7A , base stations  120   a ,  120   b    120   c  can be disposed about the golf course  122 . Turf maintenance vehicle  124 , shown in block diagram form, includes an antenna  126  to detect transmissions from one or a number of base stations  120   a ,  120   b ,  120   c . Turf maintenance vehicle  124  includes a processor to triangulate its position within golf course  122  by analyzing the timing of signals arriving from base stations  120   a ,  120   b ,  120   c . Such triangulation is known to those skilled in the art. Turf maintenance vehicle  124  may include a detailed map of golf course  122  stored in electronic memory. Processing means can determine the position of turf maintenance vehicle  124  on golf course  122  and its path of travel. Based on the location and direction of travel of mower  10 , it can be determined whether to raise one or more cutting units of mower. Turf maintenance vehicle  124  can include a lift control system  128  to cause turf maintenance implement assemblies  14  to be raised when in proximity to the border of features on the golf course where turf maintenance implement assemblies  14  must be raised or lowered.  FIG. 7B  is configured similarly to  FIG. 7A , except the position of turf maintenance vehicle  124  is triangulated in accordance with satellites  130   a ,  130   b ,  130   c.    
         [0049]    The foregoing description of the embodiments has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departure from the invention, and all such modifications are intended to be included within the scope of the invention.