Patent ID: 12201053

DETAILED DESCRIPTION OF THE DRAWINGS

FIGS.1and2show a lawn mower10in accordance with embodiments of the present patent application. The lawn mower10generally includes a frame12, an operator support14, a blade assembly16(as shown inFIGS.8and9), a motor assembly18(as shown inFIG.4), and a steering assembly20. The frame12is supported on rotatable wheels22,24for movement over a ground surface26. The operator support14is coupled to the frame12and is configured to support the entire weight of an operator of the lawn mower10during use thereof. The blade assembly16comprises one or more blades28(as shown inFIGS.3,8and9) that are configured to cut grass30on the ground surface26. The motor assembly18is configured to: drive the wheels24R,24L(as shown inFIGS.24and26) so as to move the frame12along the ground surface26; and drive the one or more blades28relative to the ground surface26to cut grass30. The steering assembly20is configured to manipulate the steering direction of the wheels22,24. In one embodiment, the lawn mower10includes one or more processors32and one or more sensors34that are operatively connected to each other. In one embodiment, the one or more processors32are mounted to the lawn mower10at a location PR, for example, behind dashboard DB of the lawn mower10. In one embodiment, the one or more processors32are mounted at other locations of the lawn mower10.

The term “lawn mower” as used herein is a generic term in referring to a type of lawn mower on which an operator/user is seated or standing (with their entire weight supported by the lawn mower), unlike the lawn mowers which are pushed or towed by the operator. In one embodiment, the lawn mower may also be referred to as riding (lawn) mower, ride-on (lawn) mower, riding powered (lawn) mower, self-propelled (lawn) mower, lawn tractor, or residential (lawn) tractor. In one embodiment, the riding mower may sometime resemble a small tractor. In one embodiment, the riding mower is sometimes larger than the powered/unpowered push mowers. In one embodiment, the riding mower is a commercial lawn mower such as a ZTR (“zero turn radius”) lawn mower, which is a standard riding (lawn) mower with a turning radius that is effectively zero.

In one embodiment, the lawn mower is configured for residential use. In one embodiment, the lawn mower is configured for commercial use. In one embodiment, the lawn mower is configured to mow large areas of grass, for example, such as golf courses and public park areas. In one embodiment, the lawn mower is configured to mow large areas at high speed in the shortest time possible. In one embodiment, the lawn mower is configured to be suited for complex terrain requiring maneuverability. In one embodiment, the lawn mower conforms to a standard classification system established by the American Society of Agricultural Engineers (ASAE).

In one embodiment, the mowing width of the lawn mower is no wider than about 38 inches. In one embodiment, the mowing width of the lawn mower is in the range between 36 and 48 inches. In one embodiment, the mowing width of the lawn mower is up to 60 inches. In one embodiment, the mowing width of the lawn mower is about 54 inches. In one embodiment, the mowing width of the lawn mower is in the range between 48 and 72 inches.

In one embodiment, the mower deck64has a width dimension between 28 inches and 84 inches. In one embodiment, the mower deck has a width dimension of 28, 30, 32, 34, 36, 40, 42, 44, 46, 48, 50, 52, 54, 60, 61, 66, 72 or 74 inches.

In one embodiment, the lawn mower is configured only to mow grass. In one embodiment, the lawn mower is configured to accommodate other lawn/garden implements, such as, but not limited to, rototillers/rotavators, fertilizer spreader, mulch spreader, snow plows, lawn carts, snow blowers, tiller plows, dozer blades, yard vacuums, cultivators, plows, sweepers, rotary tillers, buckets, fork-lift tines and/or snow throwers. In one embodiment, the lawn mower may also include a motorized lift system for lifting an implement. In one embodiment, a manual lift is used for lifting the implements. In one embodiment, the lawn mower is configured to supply tractive, rotating or hydraulic power for the lawn/garden implements.

In one embodiment, the frame12of the lawn mower10is configured to support all the (major) components of the lawn mower10including, but not limited to, a power supply348(an internal combustion engine350or a battery source48for electric motor(s) arrangement), wheel assemblies290,296, the steering assembly20, the motor assembly18, the blade assembly16, transmission(s)352, operator support14, one or more physical processors32, user interface(s)40, communication interface(s)340(e.g., seeFIG.23A), etc. In one embodiment, as described and shown with respect toFIGS.29,30and35, a battery compartment38is also disposed in the frame12. In one embodiment, the frame12is configured to support the weight of one or more batteries48stored in the battery compartment38. In one embodiment, the frame12of the lawn mower10is configured to support the entire weight of the operator seated in or is standing on the operator support14.

In one embodiment, as described and shown with respect toFIG.36, a storage space36for articles (including tools and a workspace surface/table) is disposed in the frame12. In one embodiment, the frame12is configured to support the weight of the articles stored in the storage space36. In one embodiment, the frame12of the lawn mower10may also be referred to as chassis. In one embodiment, the lawn mower10includes a body that is part of the frame12. In one embodiment, the frame12is made of a metal material or other materials that are strong/sturdy enough to support the weight of an operator and the weights of all the different components of the lawn mower10that are discussed above, with a reasonable margin of safety.

In one embodiment, the lawn mower10includes four wheels22,24(only two right side wheels are shown in theFIGS.1and2). In one embodiment, the lawn mower10includes a front wheel assembly290disposed on a front portion294of the lawn mower10and a rear wheel assembly296disposed on a rear portion298of the lawn mower10. In one embodiment, each of the front and rear wheel assemblies290,296includes a pair of wheels22,24and axles292,302connecting the respective pair of wheels22,24. In one embodiment, the front wheel assembly290is steerable by the steering assembly20. That is, the front wheel assembly290is steered by the operator using the steering assembly20in a desired direction during a grass cutting or lawn mowing operation. The steering assembly20is connected to the front wheels22by a mechanical linkage. In one embodiment, the rear wheel assembly296is operatively connected with a drive or traction motor TR, TL(as shown inFIGS.24and26) to receive drive power therefrom. In one embodiment, the motor assembly18includes the right traction motor TRand the left traction motor TL. In one embodiment, the lawn mower10is a four-wheel or an all-drive drive system. In one embodiment, the lawn mower10includes bar-tread tires/wheels. In one embodiment, the lawn mower10includes turf wheels/tires. In one embodiment, as shown inFIG.2, the front wheels22of the lawn mower10are smaller than the rear wheels24.

In one embodiment, the lawn mower10is powered by an internal combustion engine (ICE)350. In one embodiment, the lawn mower10includes a single cylinder engine. In one embodiment, the lawn mower10includes a multi-cylinder engine. In one embodiment, the lawn mower10includes a diesel engine. In one embodiment, the lawn mower10includes an air-cooled system or a water-cooled system that is configured to remove heat from the engine350. In one embodiment, the lawn mower10includes an engine with a vertical crankshaft. In one embodiment, the lawn mower10includes an engine with a horizontal crankshaft. In one embodiment, the internal combustion engine350typically drives rotating mower blades28through a transmission352Bthat is separate from the transmission352used to drive the traction wheels24R,24L(as shown inFIGS.24and26), which propel the lawn mower10over the ground26.

In one embodiment, the lawn mower10includes one or more electric motors18a,18b(as shown inFIG.4) and the one or more batteries48for providing power to the one or more electric motors18a,18b. In one embodiment, the lawn mower10includes multiple electric motors. In one embodiment, the number of electric motors in the lawn mower10may vary. In one embodiment, an electric motor is often used to a drive each blade28of the lawn mower10. In one embodiment, the lawn mower10includes a separate motor or set of motors that are used to drive the traction wheels24R,24L. In one embodiment, the electric motor(s) of the lawn mower10typically drive rotating blades28through the transmission352Bthat is separate from the transmission352(coupled to the other electric motor) used to drive the traction wheels24R,24L, which propel the lawn mower10over the ground26.

In one embodiment, the lawn mower10has an engine arrangement that is disposed in a rear section of the lawn mower10. In one embodiment, the lawn mower10has a battery/motor arrangement that is disposed in a rear section of the lawn mower10.

In one embodiment, the lawn mower10has an engine arrangement that is disposed in a front section of the lawn mower10. In one embodiment, the lawn mower10has a battery/motor arrangement that is disposed in a front section of the lawn mower10.

In one embodiment, the transmission(s)352of the lawn mower10is selected from the group consisting of a manual transmission, a gear transmission, a belt transmission, a continuously variable transmission (or hydrostatic transmission), or an electric transmission as would be appreciated by one skilled in the art. In one embodiment, the hydrostatic transmission is controlled by the operator using either a hand lever or one or two foot pedals. In one embodiment, a cruise control is provided with a hydrostatic transmission so that the operator can remove his or her foot from the pedal while mowing. In one embodiment, the transmission352is configured to drive the driving wheels24R,24L. In one embodiment, the rear wheels24R,24Lof the lawn mower10are the driving wheels.

In one embodiment, the lawn mower10includes the user interface40and one or more controls or control levers that are associated the lawn mower10. In one embodiment, the user interface40and one or more controls or control levers are carried by the frame10. In one embodiment, the user interface40and the one or more controls are positioned proximate the operator support14and are accessible to the operator when supported by the operator support14. In one embodiment, the one or more controls are operable to control the speed of the lawn mower10, the direction of the lawn mower10, the blades28of the lawn mower10, one or more accessories142on the trailer138removably coupled to the lawn mower10, etc.

In one embodiment, the one or more controls include a steering wheel42of the steering assembly20. In one embodiment, the steering assembly20generally includes a steering column that operatively connected at its lower end to the front wheel assembly290. In one embodiment, the steering wheel42is positioned at the upper end of the steering column. In one embodiment, the steering wheel42is positioned proximate the operator support14so that the steering wheel42is within reach of the operator seated on the operator support14. In one embodiment, the steering assembly20also includes steering mechanism (not shown). In one embodiment, the steering mechanism generally includes rack and pinion, tie rods or kingpins that connect the steering column to the front wheel assembly290. In one embodiment, the steering wheel42is configured to change the angular position of the wheels22. In another embodiment, the steering mechanism may have a recirculating ball mechanism or a worm and sector mechanism as would be appreciated by one skilled in the art. In one embodiment, the steering assembly20includes an electrical power steering (EPS), an active front steering (AFS), or other steering systems as would be appreciated by one skilled in the art.

In one embodiment, the one or more controls include a joystick that facilitates the steering of the lawn mower10in a desired direction.

In one embodiment, the one or more controls include two levers44,46(as shown inFIG.2) that are positioned on either side of the operator and are accessible to the operator when supported by the operator support14. In one embodiment, the steering includes changing the speeds of the wheels. In one embodiment, the wheel speed is controlled by the levers44,46. In one embodiment, the lawn mower10also includes throttles that control the rotational speed and direction of each drive wheel and the throttles are moved by the seated operator who operates one or more controls or control levers.

In one embodiment, the operator support14of the lawn mower10is configured to be fixedly mounted to and supported by the frame12. In one embodiment, the operator support14is a seat assembly as shown in the illustrated embodiments. In one embodiment, the seat assembly14is adjustably mounted on the frame12so as to be selectively movable, in a forward and a reverse direction, to a desired position (e.g., to suit the operator). In one embodiment, the seat assembly14is adjustable in at least in a direction parallel to a longitudinal axis of the lawn mower10so as to comfortably position the operator relative to the control levers and the user interface.

In one embodiment, the operator support14of the lawn mower10is a platform that is configured to be fixedly mounted to and carried by the frame12. In one embodiment, the operator support14of the lawn mower10is configured to support a standing operator. In one embodiment, the platform is disposed in a rear portion of the lawn mower10and between the rear drive wheels.

In one embodiment, the blade assembly16is positioned between the front wheel assembly290and the rear wheel assembly296. In one embodiment, the blade assembly16is positioned in front of the rear wheel assembly296. In one embodiment, the blade assembly16of the lawn mower10generally includes a housing304(as shown inFIGS.8and9) that encloses the blade(s)28. In one embodiment, the housing304of the cutting assembly16is configured to enclose the blade(s)28both from above and the sides. In one embodiment, the housing304of the blade assembly is configured to prevent the operator of the lawn mower from accidentally coming into contact with the blades28. In one embodiment, the housing304of the blade assembly16is also configured to prevent any grass/foreign bodies from the blade assembly16, when the blade(s)28are in rotation, from being thrown out of the lawn mower10in unwanted directions. In one embodiment, the housing304of the blade assembly16may act as a guard for the blade(s)28. In one embodiment, the mower deck64serves as the housing304of the blade assembly16. In one embodiment, the mower deck64is different from the housing304of the blade assembly16.

In one embodiment, the one or more blades28are referred to as mower blades. In one embodiment, the one or more blades28is made of a metal material or other materials that are able to withstand high-speed contact with different objects in addition to grass. In one embodiment, the size, the number, the thickness and the design of the one or more blades28may vary. In one embodiment, the one or more blades28are selected from the group consisting of cylinder/reel blades, deck blades, mulching blades, and lifting blades. In one embodiment, the one or more blades28are made of a rigid material such as steel material. In one embodiment, the one or more blades28are made of a flexible member such as nylon or wire rope.

In one embodiment, the lawn mower10includes a cut grass collection compartment that is configured to collect the cut grass. In one embodiment, the lawn mower10includes an outlet that is configured to allow the cut grass to pass from the blade assembly16to a rear of the lawn mower10for collection in the cut grass collection compartment. In one embodiment, the outlet is at least disposed in the housing304of the blade assembly16. In one embodiment, the outlet is at least partially disposed on a mower deck64. In one embodiment, the lawn mower10includes two outlets to enable the cut grass to pass from the blade assembly16to the cut grass collection compartment. In one embodiment, the cut grass collection compartment is carried by the frame12and is disposed on the rear portion of the lawn mower10.

In one embodiment, the motor assembly18includes one or more motors that are configured to directly or indirectly (via a transmission) drive one or more blades28. In one embodiment, the blade(s)28are configured to be driven by the one or more motors and are configured to turn about an axis generally perpendicular to the surface/ground26. In one embodiment, one or more motors of the lawn mower10are also configured to power a drive transmission for propelling the lawn mower.

In one embodiment, the one or more motors include a plurality of independent motors. In one embodiment, the motors for driving the one or more blades28are independent of the motors for the wheels24R,24L.

In one embodiment, the present patent application provides a system100(as shown inFIG.7) of the lawn mower10that automatically adjusts the ground speed of the lawn mower10. In one embodiment, the system100is configured to aid both a skilled and un-skilled operator. In one embodiment, the system100is configured to reduce the ground speed of the lawn mower10as conditions of the turf call for prolong dwell time over a region of ground. In one embodiment, once the lawn mower10has passed over the adverse conditions, the ground speed of the lawn mower10is automatically increased. In one embodiment, the system100is configured to maintain the quality of cut, reduce cut grass collection blockage events and optimize the time it takes to provide for the quality cut. In one embodiment, the system100includes multiple methods for detecting when adverse conditions exist. The present patent application provides a mechanism for the operator to variably control the ground speed of the (either an ICE350or an electric motor powered) lawn mower10. For example, in one embodiment, in an ICE powered lawn mower, the ground speed of the lawn mower10is controlled by throttling the ICE350itself or by controlling the drive ratio of its transmission352. In one embodiment, in an electrical motor powered lawn mower, the ground speed of the lawn mower10is controlled by controlling the average current going to the drive motor or motors TL, TR.

FIG.7shows an exemplary block diagram for the system100for controlling ground speed of the lawn mower100. In one embodiment, the automated ground speed control system100includes an electronic circuit (with the one or more physical processors32) that is operatively connected to one or more sensors34. In one embodiment, the one or more sensors34are configured to measure (either directly or indirectly) one or more attributes of the turf/grass being cut. In one embodiment, the one or more processors32are configured to process the measured/detected/sensed attributes and derive/determine an output signal that is used to actuate a speed control on an ICE powered motor or control the current of the traction motor (or motors) TL, TRon an electrically power mower.

In one embodiment, the lawn mower10includes a sensor50,52,54that is configured to measure an attribute of the grass being cut. In one embodiment, the lawn mower10includes a blade speed sensor that is configured to measure an attribute of the grass being cut. Although the sensor is described in this embodiment with references to sensors50,52,54, it is contemplated that the sensor may also include a blade speed sensor (in addition to or alternative to the sensors50,52,54). In one embodiment, the attribute of the grass being cut includes the density of the flow of cut grass. In one embodiment, the density of the cut grass is measured, using a grass chute discharge sensor52, as the cut grass is discharged from the mower deck64or through a cut grass collection system (to the cut grass collection compartment). In one embodiment, the density of the cut grass is a function of the blade motor current. That is, higher blade motor currents are generally associated with more density of the cut grass and more difficult cutting conditions. In one embodiment, the density of the cut grass is measured using a blade motor current sensor50. In one embodiment, the density of the cut grass is measured using a blade speed sensor. In one embodiment, the attribute of the grass being cut includes the length of the grass being cut. In one embodiment, the length of the grass being cut is measured using a grass height sensor54.

In one embodiment, the blade speed is derived from the drive motor speed. In one embodiment, the motor speed sensors include electrical, optical, magnetic or mechanical switch sensors that are configured to detect a cyclostationary signal with a frequency that is directly proportional to the speed (RPM) of the motor. In one embodiment, for example, an optical sensor having an emitter and a detector is used as the motor speed sensor. In one embodiment, the optical sensor is configured to detect the interruption of light as one or more slots on a disk attached to the shaft pass between the emitter/detector pair of the optical sensor. In one embodiment, a magnetic field detector is used as the motor speed sensor. In one embodiment, the magnetic field detector is configured to detect the variations in a magnet field as it rotates synchronously with the motor shaft. In one embodiment, the variations in the electric potential used to drive the motor windings are also synchronous to the rotating shaft and are used to determine the motor speed. In one embodiment, the motor is directly coupled to the blades28or is coupled through the transmission352Bwith a known ratio. This allows the blade speed to be calculated.

In one embodiment, the capacitive grass height sensor is generally a capacitor that is affected by objects that are near it. In one embodiment, an electric field is formed between the plates of a capacitor. In one embodiment, nearby object such as blades of grass affect the electric field formed between the capacitor plates. In one embodiment, the electric field changes as the object is moved a relative distance from the capacitive plates. In one embodiment, the change in the electric field is detectable by measuring the change in capacitance. In one embodiment, the change in capacitance is measured by controlling a fixed electric current between the capacitor plates and measuring the time required to charge or discharge the capacitor plates to a given voltage potential. In one embodiment, the voltage is proportional to the product of the electrical current, capacitance and time. In one embodiment, as the capacitance increases, the time required to reach a voltage increases. In one embodiment, the time is then related to the distance to the grass because the time is affected by the capacitance, which is affected by the distance of the capacitive plates to the grass.

In one embodiment, the grass height is also estimated by using two cameras separated by a fixed distance (e.g., stereo imaging). In one embodiment, the stereo imaging camera is configured to provide a depth mapping matrix which is used to estimate the height of grass in sub region of the field of view of the camera.

In one embodiment, the one or more processors32are configured to receive input from the sensor50,52,54and control the motor assembly18to adjust the speed of the lawn mower10along the ground surface26based on the input from the sensor50,52,54. In one embodiment, the one or more processors32are configured to receive input from the blade speed sensor and control the motor assembly18to adjust the speed of the lawn mower10along the ground surface26based on the input from the blade speed sensor. In one embodiment, the vehicle control module306(with the one or more processors32) is configured to receive inputs from one or more sensors50,52,54. In one embodiment, the one or more sensors34include the blade motor current sensor50, the grass chute discharge sensor52, and the grass height sensor54.

In one embodiment, the sensors50,52,54and the blade speed sensor are calibrated when the lawn mower10is manufactured to provide signals that are correlated with empirically established rules. In one embodiment, for each sensor, there are two or more operating points, for which the sensor outputs are measured. The operating points are chosen to provide discernable signals. The following operating points are suggested, however, other operating points may be used. In one embodiment, the operating points for the sensor include 1) mowing grass that is below the blade height; 2) mowing dry grass that is one inch above the blade height; 3) mowing wet grass that is once inch above the blade height; and 4) mowing dry grass that is two inches above the blade height.

In one embodiment, for mowers that use the electric motors to drive the blades28, increased load on the blades28is measured by measuring the electrical current used to power the blade motors. In one embodiment, the blade motor current sensor50is used to measure the electrical current used to power the blade motors (or the amount of current used to drive the mower's blades). In one embodiment, larger cutting loads generally require higher current to maintain the same blade speed.

In one embodiment, the blade motor current sensor50is configured to provide current required to sustain cutting at each operating point. In one embodiment, higher currents are generally associated with more difficult cutting conditions. In one embodiment, the blade motor current sensor50is shown inFIGS.4and7.

In one embodiment, the grass chute discharge sensor52is configured to measure the density of the flow of grass as the cut grass is discharged from the mower deck64or through a cut grass collection system (to the cut grass collection compartment). In one embodiment, the grass chute flow sensor52is configured to measure the velocity and density of the cut grass being discharged from the mower deck. In one embodiment, an increase in the density of flow of the cut grass corresponds to an increase load on the blades28. In one embodiment, the detection of the increased load is an indication to the system100to reduce the ground speed so that the blades28and the grass collection system have time to process the cut material without creating clogs in the grass collection system, and without creating an uneven cut due to stalled blades or reduced cutting blade edge velocity.

FIG.3shows an underside view of the mower deck64of the lawn mower10showing the blade assembly16and grass discharge chute60. In one embodiment, referring toFIG.3, the grass chute discharge sensor52includes an optical emitter and detector arrangement52that is configured to be positioned in the grass discharge chute60of the lawn mower10and is configured to measure the density of the flow of grass as the cut grass is discharged therein.

In one embodiment, the grass chute discharge sensor52includes an optical sensor arrangement that is positioned across the grass discharge port. In one embodiment, the optical sensor arrangement includes an emitter and a detector. In one embodiment, the light transmitted from the emitter mounted across from the detector is measured at each operating point. The emitter-detector pair of the optical sensor arrangement is chosen to be insensitive to ambient light. In one embodiment, this is accomplished by using optical filters, optical wave length selection, or by modulating the light. Lower transmittance of light is generally associated with more difficult cutting conditions.

In one embodiment, the grass chute discharge sensor52includes an ultrasonic sensor arrangement. In one embodiment, ultrasonic transducers are used to transmit a high pitched chirp and then look at the returned echo of the chirp. In one embodiment, returns with larger signal strength are generally associated with more difficult cutting conditions.

In one embodiment, the grass height sensor54is configured to measure or estimate the length of the grass being cut. In one embodiment, the grass height sensor54is configured to provide the following physical measurements. In one embodiment, the grass height sensor54includes a capacitive grass height sensor as shown inFIG.5. In one embodiment, the capacitive grass height sensor is configured to estimate the height of the grass by measuring changes in the electric field projected electrodes. In one embodiment, the measured capacitance changes in repeatable ways as objects are brought into close proximity of the sensors. In one embodiment, higher capacitances are generally associated with more difficult cutting conditions.

In one embodiment, the grass height sensor54includes a visual grass height sensor. In one embodiment, the visual grass height sensor includes image capture grass height sensor. In one embodiment, the image capture grass height sensor is configured to estimate the density and height of grass. Edge detection digital filtering is used to detect grass edges. Statistics about the length and quantity of detected edges are calculated for each image. Longer and higher edge density statistics are associated with more difficult cutting conditions.

In one embodiment, the grass height sensor54includes an optical emitter and detector arrangement54as shown inFIG.6.

In one embodiment, the lawn mower10includes a blade speed sensor that is configured to measure the blade speed and provide that information as an input for the one or more processors32of the vehicle processor module. In one embodiment, the blade speed may also be used to measure the cutting load of either an ICE or an electric motor powered blade. In one embodiment, when the blades28encounter an increased cutting load, the ground speed of the mower is reduced.

In one embodiment, any combination of the blade speed sensor, the blade motor current sensor50, the grass chute flow sensor52and the grass height sensor54may be used in the system100. For example, in one embodiment, the system100may only utilize a blade motor current sensor50, while, in another embodiment, the system100may use both a grass chute flow sensor52and a grass height sensor54but not use the blade motor current sensor50.

In one embodiment, each of the blade motor current sensor50, the grass chute flow sensor52, the blade speed sensor and the grass height sensor54may use a range of sensor technologies including, but not limited to, mechanical, optical, chromatic, laser, radio frequency, capacitive, inductive, ultrasound or other type of sensors as would be appreciated by one skilled in the art as long as they are configured to measure the increased cutting load and provide that information as an input to the one or more processors32of the vehicle control module306.

In one embodiment, the one or more processors32are also configured to receive an input from an operator. For example, an accelerator input56provides a means for an operator to control the base ground speed of the lawn mower. In one embodiment, the accelerator input56is a foot operated pedal, a hand operated knob or lever, or a set of switches to increase or decrease speed.

In one embodiment, the measurements provided by the sensors50,52, and54, the blade speed sensor and the accelerator input56provided by the operator are processed by the one or more processors32of the vehicle control module306to provide control signals to the traction motor controller58, which is configured to control the speed of the mower's wheels24R,24L.

In one embodiment, the one or more processors32of the vehicle processor module comprise a digital microprocessor configured to execute software modules. In one embodiment, the one or more processors use the sensor inputs, for example, to estimate the level of difficulty of cutting the grass. In one embodiment, as the estimated difficult cutting conditions increase, the maximum ground speed is reduced. In one embodiment, an operator remains in control of the ground speed of the vehicle between zero ground speed and the maximum calculated ground speed. In one embodiment, if the maximum ground speed is calculated to be lower than the current ground speed, the ground speed will automatically be reduced. In one embodiment, the one or more processors32are configured to transmit the control speed to the traction motor controller58. The traction motor controller58is configured to regulate the torque to a drive motor (i.e., electric or hydraulic) in a feedback loop so as to maintain the speed of the lawn mower10as requested by the vehicle control module306. The traction motor controller58is configured to receive output/signals from the one or more processors32of the vehicle control module306and control the speed of the wheels24R,24L.

In one embodiment, an ICE powered lawn mower is controlled by throttling the ICE itself or by controlling the drive ratio of its transmission352. In one embodiment, an electrical motor powered lawn mower is controlled by controlling the average current going to the drive motor or motors.

In one embodiment, referring toFIGS.8-13A, an active height control system400is configured to self-adjust (automatically and independently) the mower deck64, the one or more blades28, or both when bumpy or uneven terrain is traversed. In one embodiment, the active height control system400is configured to compensate for terrain irregularities (including, but not limited to, front to rear or side to side). In one embodiment, the active height control system, in response to irregularities in the terrain detected by a sensor62along the path of travel of the lawn mower10, is configured to compensate for variances/changes in levels, for grade changes and for uneven terrain. In one embodiment, the sensor62is referred to as ground contour sensor, ground angle sensor, or ground contour and angle sensor. In one embodiment, the sensor62is a ground height sensor.

In one embodiment, as shown inFIGS.8and9, the mower deck64of the lawn mower10includes an upper wall66and a plurality of side walls68generally extending vertically downwardly from the upper wall66. In one embodiment, the plurality of the side walls68and the upper wall66form a cavity70. In one embodiment, the one or more blades28are at least partially disposed in the cavity70and configured to cut grass on the ground surface26.

In one embodiment, the lawn mower10includes the sensor62that is configured to detect variations in the angle and the contour of the ground surface26. In one embodiment, the one or more processors32are configured to receive input from the sensor62. In one embodiment, the lawn mower10includes an actuator system72that is configured to receive signals from the one or more processors32. In one embodiment, the actuator system72is operatively connected to the mower deck64, the one or more blades28, or both. In one embodiment, the one or more processors32are configured to control the actuator system72to adjust the mower deck64, the one or more blades28or both to compensate for the variations in the ground surface26.

In one embodiment, the mower deck64includes at least one hole74for the cutting or blade motor's shaft to pass therethrough. In one embodiment, the mower deck64includes mounting points for cutting/blade motor(s)76and/or control linkages/members associated with the mower deck64. In one embodiment, the mower deck64also includes mounting points for blade adjustment motor78and control linkages/members associated with the blades28.

In one embodiment, the mower deck64is configured to be detachable by a releasable coupling. In one embodiment, the mower deck64is configured to be not detachable. In one embodiment, the mower deck64is a center-mounted mower deck. In one embodiment, the mower deck64is a rear-mounted mower deck.

In one embodiment, the active height control is achieved through powered actuators that lift/raise or lower the cutting blades28of the mower10relative to the ground26automatically by lifting/raising or lowering the mower deck64relative to the ground26based on sensor feedback from the sensor62. In one embodiment, the active height control is achieved through powered actuators that lift/raise or lower the cutting blades28of the mower10relative to the ground26automatically and independently (e.g., without lifting or lowering the mower deck64relative to the ground26) based on sensor feedback from the sensor62. In one embodiment, the active height control is achieved through powered actuators that lift/raise or lower the mower deck64relative to the ground26automatically and independently (e.g., without lifting/raising or lowering the cutting blades28of the mower10relative to the ground26) based on sensor feedback from the sensor62.

In one embodiment, the active height control system includes the sensor62, the one or more processors32, the mower deck64, the one or more cutting blades28, blade motor(s)76, and the actuator system72. In one embodiment, the blade motor(s)76are operatively associated with the one or more blades28and are configured to drive the one or more blades28relative to the ground surface26to cut grass.

In one embodiment, the sensor62is configured to detect the contour of the ground surface26for changes in landscape (e.g., its position relative to the ground as it travels over uneven terrain). In one embodiment, the ground height sensor62may use a range of sensor technologies including, but not limited, to Radio Frequency (RF), Laser range finding, ultrasonic distance measuring, physical probing, and/or any other sensor technologies as would be appreciated by one skilled in the art. In one embodiment, the ground height sensor62includes a plurality of sensors that are positioned, for example, at a front portion, a rear portion, a central portion, a right side portion, a left side portion of the mower deck64, and anywhere in between. In one embodiment, the ground height sensor62is configured to measure the distance of the mower deck64above the ground surface26.

In one embodiment, the actuator system72includes control linkages/members81associated with the mower deck64and deck adjustment/control motor80. In one embodiment, the actuator system72includes control linkages/members83associated with the blades28and blade adjustment motor78. In one embodiment, the actuator system72includes the control linkages/members associated with the mower deck64, the deck adjustment/control motor80, the control linkages/members associated with the blades28and the blade adjustment motor78.

In one embodiment, referring toFIGS.12and13, the control linkages/members81associated with the mower deck64include deck adjustment members90,92and a hinge88that is configured to connect the two halves64aand64bof the mower deck64. In one embodiment, the mower deck64may have a plurality of mower deck members64a. . .64nthat are hingedly connected to each other to form the mower deck64. In one embodiment, the mower deck64is a hinged deck or flexible deck. In one embodiment, the hinged deck or flexible deck is used to gain greater articulation and conform to the ground surface26more evenly.

In one embodiment, as the lawn mower10travels over uneven terrain, the sensor62feeds information to the one or more processors32of the deck motor controller. In one embodiment, as the lawn mower10approaches an area where scalping is likely to occur, the mower deck64is articulated or pivoted using the control linkages/members81associated with the mower deck64and the deck adjustment/control motor80. In one embodiment, the mower deck motor80is configured to interact with the control linkages/members associated with the mower deck64to pull or push the mower deck64to contour to the ground surface26. In one embodiment, the mower deck64is configured to pivot upwardly (as shown by arrows P inFIG.12) and downwardly in response to surface terrain and to compensate for differences in the ground surface or terrain. In one embodiment, the mower deck64is configured to pivot about portions of the frame12. In one embodiment, the mower deck64is configured to pivot about the central hinge88. In one embodiment, the mower deck64is configured to be movable vertically upwardly and downwardly in response to surface terrain and to compensate for differences in the ground surface or terrain. In one embodiment, the angle and the height of the mower deck64are configured to be adjustable to ensure a more even cut regardless of the angle and the contour of the ground surface26.

In one embodiment, the one or more blades28are flexible or articulated blades. In one embodiment, the flexible blades are used to conform to the ground surface26(e.g., its surface contour) more evenly. In one embodiment, the articulated blades are used to conform to the ground surface26(e.g., its surface contour) more evenly.

In one embodiment, referring toFIGS.8-10, the control linkages/members83associated with the cutting blades28include a blade control ring82(also referred to herein as a blade guide member82) and a blade control member84. In one embodiment, the blade28is configured to rotate within the blade control ring or guide member82. In one embodiment, edges of the blade28are configured to slide in a slot312formed in the blade control ring82to control the angle of the blade control ring82. In one embodiment, the slot312contains bearings that provide for the sliding action between the edges of the blade and the blade guide member82. In one embodiment, the blade control ring82is attached to the blade control member84. In one embodiment, the blade control member84is operatively associated with and controlled by the blade adjustment motor78. In one embodiment, the blade adjustment motor78is configured to adjust the height and/or angle of the blade control ring82. In one embodiment, the blade control member84comprises a screw assembly that is rotated by the motor78or a winch assembly that is actuated by the motor78to enable one side of the blade control ring82to move vertically (i.e., up and down along the axis V-V inFIG.8) while articulated in the center about a slidable ball joint94(e.g., seeFIG.9). In another embodiment, the mechanism comprises a cylinder478and piston484, wherein the piston484can be selectively extended or retracted from the cylinder to cause vertical movement of one side of the control ring82. In one embodiment, the blade control member84is lengthened or shortened only when the irregularities in the terrain are detected that, without compensation, may cause the blade28to come too close to the ground and cause bald spots that may hurt grass health. In one embodiment, as the blade control ring82is tilted, this configuration allows the angle of the blade28to change. In one embodiment, the blade angle can be controlled so that it remains essentially parallel to the ground.

In one embodiment, referring toFIGS.8-10, the control linkages/members83associated with the cutting blades28includes the aforementioned sliding ball joint94that is automatically controlled in response to the surface terrain to compensate for changes in the ground surface or terrain. In one embodiment, the entire blade28(i.e., the blade as a whole) also travels about its axis B-B enabling small adjustments to be made to the blade height without the need to change the height of the mower deck64. In one embodiment, the blade28is constructed and arranged to be attached to the drive shaft314of the blade motor76via the sliding ball joint94. In one embodiment, the sliding ball joint94is configured to interact with a keyway86on the drive shaft314of the blade motor76. This configuration enables it to receive rotational input while not being constrained axially. In one embodiment, the sliding ball joint94includes a ball and one or more vertical grooves formed in a member of the sliding ball joint94. In one embodiment, the member of the sliding ball joint94is coupled to the one or more blades28. In one embodiment, the ball of the sliding ball joint94is also coupled to the drive shaft314of the blade motor76via the keyway86. In one embodiment, the sliding ball joint94is configured to allow the one or more blades28connected thereto to translate up and down (along the central longitudinal axis B-B, which is oriented vertically) relative to the mower deck64(as vertical grooves slide up and down relative to the ball). In one embodiment, the sliding ball joint94is optional and the drive shaft314of the blade motor76is operatively coupled to the blade shaft334of the blades28.

In one embodiment, the one or more blades28are configured to pivot upwardly and downwardly in response to surface terrain and to compensate for differences in the ground surface or terrain. In one embodiment, the upwardly and downwardly pivotal movement of the one or more blades28is facilitated by the arrangement of blade control ring82and blade control member84. In one embodiment, the one or more blades28are configured to be movable vertically upwardly and downwardly in response to surface terrain and to compensate for differences in the ground surface or terrain. In one embodiment, the upwardly and downwardly pivotal movement of the one or more blades28is facilitated by the interaction of the sliding ball joint94with the keyway86on the drive shaft314of the blade motor76. In one embodiment, the angle and the height of the one or more blades28are configured to be adjustable to ensure a more even cut regardless of the angle and the contour of the ground surface26.

In one embodiment, multiple other sensors and/or motors are used to gain greater articulation of the mower deck64. For example, in one embodiment, an angle sensor at the mower deck64is used to measure the distance of the mower deck64above the ground surface26. In one embodiment, an image capture sensor/camera at the mower deck64is used to measure the distance of the mower deck64above the ground surface26. In one embodiment, an optical sensor at the mower deck64is used to measure the distance of the mower deck64above the ground surface26. Any combination of these sensors may be used to adjust the actuator system72to adjust the mower deck64, the one or more blades28, or both to compensate for differences in the ground surface or terrain.

In one embodiment, an electric, a mechanical, a hydraulic, a pneumatic, or any other type of actuators may also be used to adjust the angle and the height of the one or more blades28relative to the ground surface and/or to the angle and the height of the mower deck64relative to the ground surface in response to the detected surface terrain and to compensate for differences in the ground surface or terrain.

In one embodiment, referring toFIGS.14-18, the lawn mower10includes a sensor(s)96,98,102,104that is configured to detect an edge310(as shown inFIGS.14and15) between an unmowed area UAG (as shown inFIGS.14and15) of grass and a mowed area MAG (as shown inFIGS.14and15) of grass. In one embodiment, as will be clear from the detailed discussion below, the sensor(s) is selected from the group consisting of image sensor96and video image processor104associated therewith, grass height sensor98, GPS sensor102, and RTK sensor102. In one embodiment, the one or more processors32of the vehicle control module306are configured to receive input from the sensor(s)96,98,102,104, determine a subsequent path for the lawn mower10based on the input from the sensor96,98,102,104and provide input to the steering system20based on the determined subsequent path.

In one embodiment, the operator steers the lawn mower10close to the previous cut area of grass. In one embodiment, as shown inFIGS.14and15, the system200detects the edge310between the unmowed area UAG of grass and a mowed area MAG of grass. In one embodiment, the operator receives acknowledgment/indication (visual, auditory, tactile, or a combination thereof) from the autonomous driving system200that it has detected the edge of the previous cut area of grass at which time the operator leaves the control over the steering wheel42and the lawn mower10autonomously drives itself along the edge of cut grass with an appropriate overlap. In one embodiment, this is accomplished using a combination of computer vision (image sensor96and video image processor104associated therewith, grass height sensor98, GPS sensor102, and RTK sensor102) and electrically actuated power steering control system/module358. In one embodiment, if the lawn mower10loses sight of the edge of the previous cut area of grass, the lawn mower10is configured to warn (visual, auditory, tactile, or a combination thereof) the operator to take over the steering wheel42and to stop the lawn mower10if the operator fails to take over the steering wheel42in time. In one embodiment, operator output/signaling mechanisms such as visual, auditory, tactile, any combination thereof or other operator output/signaling mechanisms are readily appreciated by one skilled in the art and hence these operator output/signaling mechanisms will not be described here in detail.

In one embodiment, the visual indication is provided to the operator using the one or more processors32and the user interface40. In one embodiment, the audio indication is provided to the operator using the one or more processors32and the speaker330(as shown inFIG.17). In one embodiment, the tactile indication is provided to the operator using the one or more processors32and an electromechanical device/actuator332operatively associated with the operator support14or the steering wheel42.

In one embodiment, by incorporating an electrically actuated power steering control system/module with a steering angle sensor110, it is possible to steer the lawn mower10in a given direction electronically and autonomously without user input. Using additional sensors (e.g., steering wheel torque sensor108as shown inFIGS.16and17) to detect the torque applied to the steering wheel42, it is also possible to allow the operator the override this electrically actuated power steering control system/module358by detecting when the user is attempting to manually steer the tractor and disabling the autonomous navigation and reverting back to a traditional power steering arrangement.

In one embodiment, by providing optical (cameras, machine vision systems) and/or other sensors (capacitive grass detection, Global Positioning System (GPS), Real Time Kinematic (RTK)), the one or more processors32of the vehicle control module306are configured to determine the edge of previously cut areas of grass. This is accomplished by optically looking (e.g., image sensor96and video image processor104associated therewith, cameras, machine vision systems) for features such as color/contrast edges in the image and using statistical computing methods to determine the most likely part of the image to contain the edge of cut grass. In one embodiment, a curve or line can then be fitted to this detected edge. In one embodiment, this curve or line is then compared to the known location of the edge of the mower deck64. In one embodiment, the difference in location of this curve or line and the edge of the mower deck64is then used as a corrective input to the direction control for the power steering system/unit20.

In one embodiment, referring toFIG.16, the semi-autonomous steering system200for the lawn mower10includes an image sensor96, a video image processor104operatively associated with the image sensor96, a grass height sensor98, a position receiver102(e.g., Global Positioning System (GPS), Real Time Kinematic (RTK)), the vehicle control module306and the one or more processors32therewithin, a mode switch112, a steering wheel angle sensor110, a steering wheel torque sensor108, a steering wheel drive motor106, and a traction motor controller58. In one embodiment, the steering system200is configured to control direction of travel of the lawn mower10in the predetermined area.

In one embodiment, each of the image sensor96, the video image processor104operatively associated with the image sensor96, the grass height sensor98, the position receiver102(e.g., GPS, RTK), the mode switch112, the steering wheel angle sensor110, and the steering wheel torque sensor108is carried by the frame12of the lawn mower10and is operatively coupled to the one or more processors32of the vehicle control module306to provide an input thereto. In one embodiment, the one or more processors32of the vehicle control module306are configured to receive and process inputs from the mode switch112, the steering angle sensor110, the steering wheel torque sensor108, the grass height sensor98, the video processor104and image sensor96, and the GPS or RTK position receivers102.

In one embodiment, the image sensor96and the video image processor104operatively associated thereto are configured to determine the length of the grass being cut and provide the grass length information as the input to the one or more processors32of the vehicle control module306.

In one embodiment, the grass height sensor98is configured to measure or estimate the length of the grass being cut and provide the grass length information as the input to the one or more processors32of the vehicle control module306. In one embodiment, the grass height sensor98of the system200has the same configuration and operation as that of the grass height sensor54(shown and described with respect toFIGS.5-7) and hence the grass height sensor98is not described in detail here again.

In one embodiment, the grass height sensor98is in the form of a capacitive sensor bar116.FIG.18shows how capacitive plate pairs114distributed across the capacitive sensor (bar)116are used to detect the difference in grass height (i.e., difference between the short grass and the tall grass). In one embodiment, the measured capacitance is calibrated to correspond with specific grass heights. In one embodiment, electric field lines118are affected differently by short grass versus tall grass. For example,118Sare the electric field lines for short grass and118Tare the electric field lines for tall grass. In one embodiment, the difference in electric field lines118affects the measured capacitance between plate pairs114. In one embodiment, a capacitance measurement circuit is configured to measure capacitance of each capacitive plate pair114.

In one embodiment, the system200includes a GPS antenna that is configured to receive GPS information/data from one or more GPS satellites and a GPS receiver that is configured to process the received GPS information/data to provide the position information (e.g., geographic location of the lawn mower10and, therefore, the mower deck64) to the one or more processors32. In one embodiment, the GPS antenna and the GPS receiver are carried by the frame12of the lawn mower10and are operatively coupled to the one or more processors32of the vehicle control module306to provide an input thereto. In one embodiment, the GPS position receiver102is configured to determine the geographic location of the lawn mower10.

In one embodiment, when using the RTK position receiver102, GPS signal corrections are transmitted, in real time, from a reference receiver at a known location to the RTK position receiver102carried by the frame12of the lawn mower10. In one embodiment, the RTK position receiver102is configured to use differential corrections, provide the precise GPS positioning and compensate for atmospheric delay, orbital errors and other variables in GPS geometry.

In one embodiment, the GPS or RTK position receivers102are configured to provide location information to the lawn mower10and to provide better tracking and boundary detection. In one embodiment, the GPS or RTK position receivers102are optional. That is, in one embodiment, the one or more processors32of the vehicle control module306are configured to operate without receiving any input from the GPS or RTK position receivers102.

In one embodiment, the mode switch112is configured to permit the operator to select between a manual operation mode and an autonomous operation mode. In one embodiment, when the mode switch112is in the manual operation mode, the lawn mower10is operated by the operator in a normal manner using the steering system20, the brake and accelerator pedals, etc. In one embodiment, when the mode switch112is in the autonomous operation mode, the lawn mower10is operated by the one or more processors32of the vehicle control module306. In one embodiment, the mode switch112is a physical switch. In one embodiment, the mode switch112is actuated (without physical switch) using software.

In one embodiment, the steering wheel angle sensor110is also referred to as steering angle sensor. In one embodiment, the steering angle sensor110is operatively associated with the steering wheel42or the steering column or a portion of the steering mechanism. In one embodiment, the steering angle sensor110is operatively associated with the AFS or the EFS steering systems of the lawn mower10. In one embodiment, the steering angle sensor110is configured to generate a steering wheel angle signal indicative of the relative rotational position of the steering column.

In one embodiment, the steering wheel torque sensor108is also referred to as steering torque sensor. In one embodiment, the steering wheel torque sensor108is configured to generate a steering wheel torque signal indicative of the steering torque induced in the steering wheel42. In one embodiment, the steering torque sensor108is operatively associated with the steering wheel42(or steering column) or a portion of the steering mechanism. In one embodiment, the steering torque sensor108includes a torque meter, a torsion bar, a torque transducer a torsion sensor, or other torque measuring devices. In one embodiment, the steering torque sensor108is operatively associated with the AFS or the EFS steering systems of the lawn mower10.

In one embodiment, the one or more processors32of the vehicle control module306are configured to receive input from only the grass height sensor98(and not from the image sensor96and its associated video image processor104), to determine a subsequent path for the lawn mower10based on the input from the grass height sensor98and provide input to the steering system20based on the determined subsequent path.

In one embodiment, the one or more processors32of the vehicle control module306are configured to receive input from only the image sensor96and its associated video image processor104(and not from the grass height sensor98), to determine a subsequent path for the lawn mower10based on the input from the image sensor96and its associated video image processor104and provide input to the steering system20based on the determined subsequent path.

In one embodiment, the one or more processors32of the vehicle control module306are configured to receive input from both the image sensor96(and its associated video image processor104) and the grass height sensor98, to determine a subsequent path for the lawn mower10based on the input from the image sensor96(and its associated video image processor104) and the grass height sensor98and provide input to the steering system20based on the determined subsequent path.

In one embodiment, the one or more processors32of the vehicle control module306are configured to calculate a trajectory that provides a most likely direction for the lawn mower10to move to next, so as to keep the lawn mower10on a track that minimizes the amount of redundant mowing of previously cut grass. In one embodiment, the one or more processors32of the vehicle control module306are configured to control automatic steering system20to automatically guide/steer the lawn mower10along the calculated trajectory paths until the area is covered/completely mowed. In one embodiment, the lawn mower10includes an electric power-assisted steering (EPAS) system that includes an electric steering motor for turning the steered wheel42to a steering angle based on a steering command based on the determined subsequent path.

In one embodiment, the one or more processors32of the vehicle control module306are configured to provide voice commands to the operator to guide the operator (to drive the lawn mower10) along the determined subsequent path. In one embodiment, the one or more processors32of the vehicle control module306are configured to display the determined subsequent path to the operator on the user interface40(as shown inFIG.17and that is carried by the frame12of the lawn mower10) so as to guide the operator (to drive the lawn mower10) along the determined subsequent path. In one embodiment, the user interface40is a graphical user interface. In one embodiment, the user interface40is a display screen. In one embodiment, the user interface40is a touch activated screen. In one embodiment, the user interface40may display various buttons and icons through which the operator can interact with the system200.

In one embodiment, an operator takes control of the steering of the lawn mower10by applying torque to the steering wheel42or by actuation of the manual mode with a switch112. In one embodiment, when there is a conflict between the manual inputs/commands from the operator and input received from the one or more processors32and when the lawn mower10is in the autonomous control mode, the lawn mower10is configured respond with a manual override of the autonomous control system. In one embodiment, the present patent application allows manual operation to override specific or all functions of the lawn mower10. In one embodiment, the present patent application allows autonomous control to override specific or all functions of the lawn mower10.

In one embodiment, the one or more processors32of the vehicle control module306are configured to also autonomously control the speed of the lawn mower10by sending control signals to the traction motor controller58.

In one embodiment, referring toFIGS.19-21, the lawn mower10includes one or more sensors120,122,124,126, or128that are configured to detect the presence of a person or an animal in a predetermined area proximate the lawn mower10. In one embodiment, the one or more processors32are configured to receive input from the one or more sensors120,122,124,126, or128and stop driving the one or more blades28, the wheels22,24, or both based on the input from the sensor120,122,124,126, or128.

In one embodiment, the lawn mower10can be made safer by automatically shutting down the blades28or warning an inattentive operator to the presence of near-by humans or animals that may sustain injuries from coming into contact with an operating blade or being impacted by debris from an operating mower10. In one embodiment, the present patent application provides a safety system300for increasing operational safety of the lawn/grass mower10by detecting humans or animals that are near an operating lawn mower10. If the human or animal is detected in a predetermined area proximate the lawn mower10, the operator is warned and the mower10automatically shuts off/down the motor assembly18that drives the blades28, to shuts off/down the motor assembly18that drives the wheels24R,24Lor to shuts off/down the motor assembly18that drives both.

In one embodiment, referring toFIG.21, the present patent application provides a mower safety system300. In one embodiment, the mower safety system300includes one or more of the sensors120,122,124,126or RF receiver128. In one embodiment, an operator always has control over the mower blades28through the operator interface40. In one embodiment, as will be clear from the detailed discussion below, the one or more sensors are selected from the group consisting of image sensor120, LIDAR sensor124, RADAR sensor124, RF receiver128that is associated with RF transmitter126, and ultrasonic proximity sensor122. In one embodiment, these sensors are configured to a) measure or estimate the distance between the mower10and nearby objects, b) detect the presence of a person or an animal in a predetermined area proximate the lawn mower10, or c) measure or estimate the distance between the mower10and nearby objects and detect the presence of a person or an animal in a predetermined area proximate the lawn mower10.

In one embodiment, there are multiple mechanisms to detect the presence of a human or an animal within a close proximity to the operating mower10. In one embodiment, a distance measuring sensor120,122,124, such as a distance measuring transducer is used to estimate the distance between the mower10and nearby objects. In one embodiment, the distance measuring transducers are selected from the group consisting of ultrasonic range sensor122, RADAR sensor124, LIDAR sensor124, and optical range sensors120. In one embodiment, the one or more distance measuring transducers are located on the outer surfaces of the mower10. In one embodiment, the distance to nearby objects in estimated, and processed by the one or more processors32. If the estimated distance is less than a predetermined threshold, the one or more processors32are configured to shut down the motor assembly18that drives the blades28, to shut down the motor assembly18that drives the wheels22,24or to shut down the motor assembly18that drives both. In one embodiment, if the estimated distance is less than a predetermined threshold, the one or more processors32are configured to apply/actuate a brake to stop the ground travel/movement of the lawn mower10. In one embodiment, the predetermined threshold is between 0 and approximately 5 feet.

In one embodiment, any suitable distance measuring sensor(s) as would be appreciated by one skilled in the art, can be used in the lawn mower10. For example, in one embodiment, the sensor, which is configured to detect the presence of a person or an animal in a predetermined area proximate the lawn mower10, includes an ultrasonic range sensor, a Radio Detection And Ranging (RADAR) sensor, a Light Detection and Ranging (LIDAR) sensor, an optical range sensor, and/or other distance measuring transducers as would be appreciated by one skilled in the art.

In one embodiment, proximity tags126,128are used for detecting the presence of a human or an animal within a close proximity to the operating mower10. In one embodiment, the proximity tag126is configured to transmit a short message over a Radio Frequency (RF) signal. In one embodiment, the RF signal is received by the one or more processors32(or an electrical circuit) on the lawn mower10. In one embodiment, the one or more processors32are configured to analyze the received radio signal and estimate the distance to the transmitting proximity tag based on the received signal strength of the RF signal, and information transmitted by the proximity tag pertaining to the transmitted signal strength. In one embodiment, if the estimated distance is less than a predetermined threshold, the one or more processors32are configured to shut down the motor assembly18that drives the blades28, to shut down the motor assembly18that drives the wheels24R,24Lor to shut down the motor assembly18that drives both the blade28and wheels24R,24L. In one embodiment, if the estimated distance is less than a predetermined threshold, the one or more processors32are configured to apply/actuate a brake to stop the ground travel/movement of the lawn mower10. In one embodiment, this mechanism relies on the necessity of a nearby human or an animal to be wearing a proximity tag that is transmitting at a frequency and with a protocol that is compatibility with the receiving circuit/one or more processors32located on the lawn mower10. In one embodiment, the proximity tags are configured to be compatible with the Blue-Tooth BLE Beacon protocol.

In one embodiment, a RF receiver128requires that a person or an animal be wearing an RF tag126which transmits a signal that can be received by the RF receiver128. In one embodiment, the RF receiver128is configured to measure the RF signal strength of the RF transmitter126and use this measurement to estimate the distance to the RF transmitter126. In one embodiment, this mechanism has the advantage that a potential hazard can easily be identified.

In one embodiment, ultrasonic proximity sensors122are configured to emit an ultrasonic acoustic chirp. In one embodiment, when an echo of the chirp from the ultrasonic proximity sensors122is received by an ultrasonic proximity receiver122R, the distance to the ultrasonic proximity transmitter/source of the echo is calculated based on the round trip transit time of the chirp. Acoustic energy propagates in a radial direction from the ultrasonic proximity transducer/transmitter, and the ultrasonic proximity receiver has a narrow “field of view.” Several sensors, dispersed about the lawn mower10, allow a potential hazard to be localized to a particular side of the mower10.

In one embodiment, RADAR sensor124works much like an ultrasonic sensor, except that the RADAR uses RF energy instead of acoustic energy. In one embodiment, the RADAR sensor124is configured to locate a potential hazard to a particular side of the mower10. In one embodiment, LIDAR sensor124works by transmitting modulated light measuring the phase angle of the reflected light off of a nearby object. In one embodiment, the LIDAR sensor124is also directional like ultrasound and RADAR.

In one embodiment, image sensors120are configured to be combined with an image processing system120pto detect the shape of objects. In one embodiment, the processed images are configured to be used to discriminate objects. In one embodiment, a person or an animal can be discriminated from false hazards such as trees and bushes using the image sensors120and their corresponding image processing system.

In one embodiment, the mower safety system300is configured to implement only a single sensor type. In one embodiment, the sensor type is selected from the ground consisting of image sensors (with image processing capabilities), ultrasonic proximity sensors, LIDAR sensors, RADAR sensors, and RF Tags.

In one embodiment, the mower safety system300is configured to implement several different sensor types. In one embodiment, the mower safety system300having several different sensor types takes advantage of the strengths of each sensor type to create a more effective system with a fewer false hazard detections. In one embodiment, for example, the mower safety system300that uses both RF Tags and ultrasonic proximity sensors can be configured to only take action if both the RF Tag signal strength is high and the ultrasonic proximity sensor measures a close object.

In one embodiment, the predetermined area proximate the lawn mower10is determined based on the size of the lawn mower10, the power of the lawn mower10, the size of the blades of the lawn mower10, etc. In one embodiment, the predetermined area proximate the lawn mower10is determined based on type of the sensor technology being used, etc. In one embodiment, the predetermined area proximate the lawn mower10is input by the manufacture during the time of manufacture of the lawn mower10based on the specifications of the lawn mower10and/or the sensor technology of the sensors being used (for detecting the presence of a person or an animal in a predetermined area proximate the lawn mower10). In one embodiment, the predetermined area proximate the lawn mower10is between 12 and 300 square feet.

In one embodiment, the mower safety system300includes an automatic blade safety monitor including an electrical circuit or circuits (e.g., one or more processors32of the mower controller/control module308) that detect the close proximity of a human or an animal. In one embodiment, the vehicle control module306includes the mower/control module308.

In one embodiment, the one or more processors32of the mower controller308are configured to control the electrical power to the actuator136of blade motor to cause the mower's blade28to stop rotating. In one embodiment, powered mowers10(e.g., using either electrical motors or ICE to power blades28) include a brake or other system to stop the rotation of the mower's blades28. Such a system to stop blade rotation, in one embodiment, can be electrically controlled. In one embodiment, for the ICE powered lawn mower, an electrical signal enables or disables power to the actuator136, which in turn disengages the blade shaft334from the drive shaft314(as shown inFIGS.8and9) of the blade motor76and applies a braking force and thus operates as the aforementioned brake. In one embodiment, for the electric motor powered lawn mower, the current to the electric motor18can be momentarily reversed to apply a braking force to the spinning blades28.

In one embodiment, the one or more processors32of the mower controller/control module308are configured to monitor the inputs from the sensors120,122,124,126, or128and make a determination if the sensors inputs represent a situation. In one embodiment, as noted above, the one or more sensors are selected from the group consisting of image sensor120, LIDAR sensor124, RADAR sensor124, RF receiver128that is associated with RF transmitter126, and ultrasonic proximity sensor122. In one embodiment, if a situation is detected, the one or more processors32of the mower controller/control module308are configured to take an action by, shutting off the motor assembly18that drives the blades28and/or stopping the motor assembly18that drives the wheels24L,24R.

In one embodiment, the one or more processors32are configured to receive input from the one or more sensors120,122,124,126, or128and stop driving the motor assembly18that drives the one or more blades28based on the input from the sensor120,122,124,126, or128. In one embodiment, the one or more processors32are configured to receive input from the one or more sensors120,122,124,126, or128and stop driving the motor assembly18that drives the wheels24L,24Rbased on the input from the sensor120,122,124,126, or128. In one embodiment, the one or more processors32are configured to receive input from the one or more sensors120,122,124,126, or128and stop driving the motor assembly18that drives the wheels24L,24Rand stop driving the motor assembly18that drives the one or more blades28based on the input from the sensor120,122,124,126, or128.

In one embodiment, if a situation is detected, the one or more processors32of the mower controller/control module308are configured to display a visual message to the operator via the electronic display or user interface40, or generate an audible warning (via the speaker330as shown inFIGS.19and20) to the operator using the audio transducer132. In one embodiment, the one or more processors32are configured to vibrate the operator's seat or the steering wheel to alert/warn the operator of various detected conditions. In one embodiment, a tactile transducer or an electromechanical output device (or actuator) is used to vibrate the operator's seat or the steering wheel to alert/warn the operator of various detected conditions.

In one embodiment, the one or more processors32of the mower controller/control module308may falsely detect the situation. That is, for example, a nearby tree may be incorrectly detected as a nearby person/animal. In one embodiment, the operator can override the action of the one or more processors32of the mower controller/control module308by depressing a switch130to indicate to the one or more processors32of the mower controller/control module308that the situation is safe and the mower blades28may continue to run. In one embodiment, an operator always has control over the mower blades28through the operator interface40. In one embodiment, the switch130, the audio transducer132and the user interface40is carried by the frame12and is accessible to the operator when the operator is supported by the operator support14.

In one embodiment, the operator may provide input (via the user interface40and/or other controls/switches) to the one or more processors32to shut off the blades28, for example, before traversing sidewalks, roads, driveways, or other non-grassy areas to avoid any stones, mulch or lose gravel being thrown out of the lawn mower10in unwanted directions.

In one embodiment, referring toFIGS.22-25, the lawn mower10includes a trailer138that is configured to be removably coupled to a hitch140of the frame12. In one embodiment, the one or more processors32of the vehicle control module306are communicatively connected to the motor assembly18to control the blade assembly16as described in detail above. In one embodiment, the one or more processors32are further communicatively connected to the trailer138via one or more wired or wireless connections to control one or more accessories142on the trailer138. In one embodiment, the lawn mower10further comprises one or more battery cells48(as shown inFIG.2) carried by the frame12. In one embodiment, the one or more battery cells48are configured to power the motor assembly18and the trailer138. In one embodiment, the lawn mower10further comprises the user interface40carried by the frame12and accessible to the operator when supported by the operator support14.

In one embodiment, the one or more accessories142on the trailer138include rototillers/rotavators, lawn carts, fertilizer spreader, mulch spreader, snow plows, snow blowers, tiller plows, dozer blades, yard vacuums, cultivators, plows, sweepers, rotary tillers, buckets, fork-lift tines and/or snow throwers. In one embodiment, the one or more accessories142on the trailer138may also be referred to as garden/lawn implements. In one embodiment, the one or more accessories142on the trailer138are attached to the lawn mower10in different ways and at different locations. In one embodiment, the one or more accessories142are attached under, on the rear of, on the sides of and/or on the front of the lawn mower10.

In one embodiment, the hitch140comprises a drawbar hitch, a sleeve hitch or a three-point hitch. In one embodiment, the hitch140is removably or detachably mounted on the frame12with a releasable coupling. In one embodiment, the hitch140is permanently mounted on the frame12.

In one embodiment, the mower10comprises a universal mechanism/system600,700configured to attach, control and power the accessories142. In one embodiment, the system600,700is configured to attach the accessories142(that require power) to the lawn mower10without a powered attachment system. In one embodiment, the system600,700is configured for interfacing an operator device (personal terminal)40or152, the lawn mower10, and the accessories142through a common wireless or wired interface as well as a common mechanical and electrical interface.

In one embodiment, the system700includes an app/application on the wireless device152(phone, tablet, computer or media player) to display an expanded list of controls as well as display additional gauges not feasible to have in physical form. In one embodiment, the list of controls includes switches to turn on or off the attachments or accessories such as snow throwers, wagon dumps, switches to turn on or off the electric lights, proportional controls to control height of blades, proportional controls to control the temperature of beverage coolers, proportional controls to control the amplitude of sound transducers, proportional controls to control the sensitivity of proximity sensors, etc. In one embodiment, the additional gauges include ground speed gauge, blade speed gauge, power consumption gauge, battery charge gauge, gauge for the distance to detected objects, etc. In one embodiment, the system700is configured to allow for customizing these controls into a “virtual dashboard.” In one embodiment, the system is configured to allow control from both virtual dashboard controls as well as standard physical controls.

In one embodiment, as shown inFIGS.24and25, the system700is configured to allow for wireless control of the mower10using an app/application on the operator device152(a phone, tablet or computer). In one embodiment, as shown inFIGS.24and25, the system700is configured to allow for wireless control of the accessory142using an app/application on the operator device152(a phone, tablet or computer). In one embodiment, as shown inFIGS.24and25, the system700is configured to allow for wireless control of both the mower10and the accessory142using an app/application on the operator device152(a phone, tablet or computer). In one embodiment, as shown inFIGS.24and25, when paired or combined with a phone, tablet or media player152, the system700is configured to allow for wireless control of the mower10over the Bluetooth technology.

In one embodiment, as shown in theFIG.25, the lawn mower10includes a Controller Area Network (CAN bus) to Bluetooth Low Energy (BLE) battery receiver154. In one embodiment, the CAN to BLE receiver154is a battery powered unit that plugs into the electric accessories142. In one embodiment, the CAN to BLE receiver154is configured to be connected to an app/application (just like the electric mower) on the device152and act as a controller for any accessory142plugged into it. In one embodiment, just like the lawn mower10, the CAN to BLE receiver154is configured to provide connectivity to the app/application, which provides device specific control of the accessory142wirelessly. In one embodiment, this configuration allows for control of a single accessory142by both gas and electric mowers, in conjunction with the mobile device (e.g., phone, tablet or media player)152.

In one embodiment, the lawn mower10is configured to retain the standard set of controls in their usual location. In one embodiment, as shown inFIG.22, the system600is configured to allow for software controls via the mobile device40attached to or near the steering wheel42via this system600.

In one embodiment, as shown inFIGS.22-23A, an electrical accessory interface148for the electrically powered lawn tractor/mower10is provided. In one embodiment, the electrical accessory interface148includes mechanical means (e.g., hitch140) for attaching the accessory142thereto. In one embodiment, the electrical accessory interface148is also referred to as electrical control and communication interface. In one embodiment, the electrical accessory interface148is configured to provide only power to operate the accessory142. In one embodiment, the electrical accessory interface148is configured to provide only control signals to control the accessory142. In one embodiment, the electrical accessory interface148is configured to provide both power to operate the accessory142and control signals to control the accessory142. In one embodiment, the control signals include an on control signal to start the accessory142, an off control signal to stop the accessory142, a speed control signal to adjust/control the speed of the accessory142, a height control signal to adjust/control the height of the accessory142, an angle control signal to adjust/control the angle of the accessory142, a direction control signal to adjust/control the direction of travel of the accessory142, etc.

In one embodiment, the electrical accessory interface148on the lawn and garden tractor10comprises a port336to allow charging the tractor battery48. In one embodiment, the accessory port is configured to allow for charging of the lawn tractor10as well as operating the accessory142. In one embodiment, a connector338is configured to allow the battery power connections and control signals to be accessible to a charger. In one embodiment, the accessory port uses communication bus to determine charge scheme/operation.

In one embodiment, as shown inFIGS.22and23, the system with the accessory interface148is configured to enable the development of lawn and garden tractor implements142for lawn tractors/mowers10that are electrically powered and do not have an internal combustion engine to power a mechanical power take off. In one embodiment, the accessory interface148provides an electrical connection to the lawn tractor battery for powering to drive motors/actuators/lights of the implement142and a connection to an electrical communication bus340to provide control inputs to the implement142.

In one embodiment, the electrical communication bus340is integrated to any control bus on the lawn tractor/mower10or it is independent. In one embodiment, by utilizing a control bus that is connected to the lawn tractor's control systems, the implement/accessory is controlled via the human machine interface40that already exists on the lawn tractor/mower10.

In one embodiment, the lawn mower10includes an electrically operated accessory142. In one embodiment, the electrically operated accessory142is configured to receive power through the complimentary electrical accessory interface148. In one embodiment, the electrically operated accessory142is configured to receive control signals through the complimentary electrical accessory interface148. In one embodiment, the electrically operated accessory142is configured to receive power and control signals through the complimentary electrical accessory interface148. In one embodiment, the control signals include an on control signal to start the accessory142, an off control signal to stop the accessory142, a speed control signal to adjust/control the speed of the accessory142, a height control signal to adjust/control the height of the accessory142, an angle control signal to adjust/control the angle of the accessory142, a direction control signal to adjust/control the direction of travel of the accessory142, etc. In one embodiment, the electrically operated accessory142includes mechanical means for attaching the accessory142to the electrical accessory interface148.

In one embodiment, the system700is configured to implement control algorithms wherein the implement/accessory142has features such as matching accessory speed to wheel speed or stopping the forward motion of the tractor should the accessory142detect a fault or jam. In one embodiment, if a wireless gateway is part of the communication bus on the lawn tractor10or the accessory142, the control of the implement/accessory142is achieved via an app/application on a wireless device152such as a smartphone.

As described in detail below, the electrically operated accessory142is configured to receive power from an adaptor156.

In one embodiment, the lawn mower10includes the adapter156that is configured to allow the electrically operated accessory142to be used on the lawn tractor10, which does not have the electrical accessory interface148. In one embodiment, the adaptor156includes a battery to power the electrically operated accessory142. In one embodiment, the adaptor156includes a gateway to connect the control signals from the accessory142to another device. In one embodiment, the other device is a smartphone running a control app/application on a wireless device152such as a smartphone. In one embodiment, the adaptor156includes a dedicated remote control panel that is configured to operate the attached accessory142. In one embodiment, a controlling device (with one or more processors) is wired or wirelessly connected to the adapter gateway. In one embodiment, the adapter156includes universal mounting points to attach to a variety of electrically operated accessories142. In one embodiment, the adapter156or a supplemental adapter is configured to provide a mechanical interface to differing mounting systems for lawn and garden tractors10.

In one embodiment, the adapter156allows mechanical attachment to the lawn tractor/mower10with non-electrically enabled mounting point. In one embodiment, the adapter156is configured to allow a separate battery or configured to be integral to power the electrically operated implement142. In one embodiment, the adapter156includes a wired or wireless gateway to provide the control signals for the electrically operated accessory/implement142. In one embodiment, the gateway is configured to connect to a wired or wireless controller or a smartphone app/application on a wireless device152.

In one embodiment, a method of communicating with an electrically operated accessory142to download characteristic information is provided. In one embodiment, the method is configured to customize displays and menus that present the operator with configuration information/options. In one embodiment, the method is configured to display operating parameters to the operator. In one embodiment, the method is configured to customize controls on the dashboard of the lawn mower10to control the accessory142. In one embodiment, the method is configured to allow the addition of supplemental control devices (levers, buttons etc.) onto the communication bus. In one embodiment, the method is configured to allow for code or script execution to provide additional control.

In one embodiment, referring toFIGS.26-28, a sensor(s)158,162is configured to detect the presence of the trailer138in an area proximate the lawn mower10. In one embodiment, as will be clear from the detailed discussion below, the sensor(s) is selected from the group consisting of proximity sensor158, angle sensor162and hitch sensor162. In one embodiment, the one or more processors32are configured to: receive input from the sensor158,162, and limit, based on the input from the sensor158,162, movements of the lawn mower10to avoid collision between the lawn mower10and the trailer138. In one embodiment, the one or more processors32are configured to limit, based on the input from the sensor158,162, rearward movements of the lawn mower10to avoid collision between the lawn mower10and the trailer138. In one embodiment, the one or more processors32are further configured to determine, based on the input from the sensor158,162, a turn radius of the lawn mower10that is sufficient to avoid collision between the lawn mower10and the trailer138.

In one embodiment, as the lawn mower10is operated, the measured distance from the left rear sensor on the lawn mower10and the measured distance from the right rear sensor on the lawn mower10provide an indication of the likelihood that the lawn mower10will collide with the trailer138during a turn. In one embodiment, when the lawn mower10is moving in a straight line, the left distance (i.e., measured distance from the left rear sensor on the lawn mower10) and the right distance (i.e., measured distance from the right rear sensor on the lawn mower10) will be equal. In one embodiment, as the lawn mower10starts to turn, the differential distance (i.e., right distance-left distance) increases or decreases until the radius of the turn of the lawn mower10is the same as the radius of the turn of the trailer138. In one embodiment, if the absolute value of the rate of change of the differential distance is not zero (i.e., when the distance is measured to be below a threshold value), then the turn radius is reduced until absolute value of the differential distance starts to decrease to zero. In one embodiment, the threshold value is 2 inches.

In one embodiment, a hitch angle sensor is also used in determining if the lawn mower10and the trailer138are on a collision course. In one embodiment, when the lawn mower10is pulling the trailer138in a straight path, the angle is 180 degrees. In one embodiment, as the lawn mower10starts to turn, the angle decreases. In one embodiment, if the rate of decrease continues and does not return to zero prior to reaching an angle threshold, then the lawn mower10's steering angle is reduced so that the rate of change of the angle is zero. In one embodiment, the angle threshold is dependent on the width of the trailer138, the width of the lawn mower10, the length of the hitch of the lawn mower10and the length of the trailers' tongue.

In one embodiment, for example, if the trailer138is 50 inches wide, the lawn mower10is also 50 inches wide, and the hitch is 10 inches long, then the trailer138collides with the lawn mower10when at an angle is measured to be approximately 137 degrees. The threshold angle is given by the following equation:
(threshold angle)=(arctangent(((Mower width)/2)/(mower hitch length))+(arctangent(((Trailer width)/2)/(Trailer Tongue length).

In one embodiment, the width of the lawn mower10and the length of the lawn mower's hitch are known to the manufacture of the lawn mower10. In one embodiment, the trailer tongue and the width of the trailer138are not known to the manufacturer. In one embodiment, if the dimensions of the trailer138are not known, then the distance measuring transducers are used to calculate the trailer tongue length by the following formula:
(trailer tongue length)=((left transducer distance)+(right transducer distance))/2−(mower hitch length).

In one embodiment, the width dimension of the trailer138cannot be measured. In that case, if the width dimension of the trailer138is assumed to be equal to the width of the lawn mower10, the calculation of the threshold angle provides stable results.

In one embodiment, the one or more processors32are further configured to provide input to the steering system20based on the determined turn radius.

In one embodiment, a stability control system500for a ZTR lawn mower is provided. In one embodiment, the ZTR lawn mower may be any lawn mower as described in detail throughout this patent application with the ZTR capability. In one embodiment, the lawn mower may be a different/special lawn mower with the ZTR capability. In one embodiment, the ZTR lawn mowers maneuver by independently applying torque to two or more drive wheels24R,24L. In one embodiment, an operator is configured to control the applied torque by either manipulating two levers or through a steering wheel mechanism20. In one embodiment, a torque is applied to the drive wheels24R,24Luntil both wheels24R,24Lare moving at the same rate of speed to move the lawn mower10directly forward. In one embodiment, to turn the lawn mower, more torque is applied to one wheel of the two drive wheels24R,24Lversus the other wheel of the two drive wheels24R,24Lso that the speed of one wheel24R,24Lis greater than the other wheel24R,24L. In one embodiment, a forward torque is applied to one wheel while reverse torque is applied to the other wheel to achieve a very tight or near zero radius turn. In one embodiment, a reverse torque is applied to both the drive wheels24R,24Lto move the lawn mower in a reverse direction. When the trailer138is attached to the ZTR lawn mower10, the turning ratio is so tight that the mower10can essentially turn into the trailer138, causing a collision between the lawn mower10and the trailer138.

In one embodiment, as shown inFIG.28, the ZTR stability control system500includes proximity sensors158, angle sensors162, hitch sensors162, the one or more processors32, the traction motor controller58, and a mode switch164.

In one embodiment, the operator may indicate to an electronic circuit (i.e., the one or more processors32of the vehicle control module306) through the mode switch164or other connected system such as a machine-operator interface that the trailer138is attached to the lawn mower10. In one embodiment, the one or more processors32of the vehicle control module306are configured to determine the mode that it is in based on either the mode switch164or a hitch sensor switch162. In one embodiment, if a trailer138is indicated, then the one or more processors32of the vehicle control module306are configured to limit operation of the traction motors TR, TL. In one embodiment, if a trailer138is not indicated, then the one or more processors32of the vehicle control module306are configured to not limit operation of the traction motors TR, TL.

In one embodiment, the sensors162may automatically detect the presence of the trailer based on a switch164in the trailer hitch140. In one embodiment, if the one or more processors32of the vehicle control module306are configured to detect the attached trailer or is switch to a state to behave as if the trailer is attached, the one or more processors32of the vehicle control module306are configured to limit the turning radius of the lawn mower10to prevent the possibility of the trailer138colliding with the lawn mower10in the forward direction and limiting the possibility of the trailer138colliding with the lawn mower10in the reverse direction. In one embodiment, additional proximity sensors158may also be incorporated into the lawn mower10to detect if the attached trailer138is about to collide with the lawn mower10and limit only reverse trajectories that will not allow for a collision between the lawn mower10and the trailer138.

In one embodiment, the one or more processors32of the vehicle control module306are configured to provide stability control for the ZTR lawn mower10. In one embodiment, the one or more processors32of the vehicle control module306are configured to intercept the operator control interfaces (either levers or steering wheel mechanism20), to calculate modified control parameters and then apply torque to the drive motors (TR, TLas shown inFIGS.24and26, for example) through actuators to the transmissions or directly through the control of electric motor current.

In one embodiment, the applied torque to each independent wheel24L,24Rcan be controlled by the one or more processors32of the vehicle control module306. In one embodiment, in the case of a hydraulically driven transmission, the wheel torque can be controlled using an electrically controlled actuator applied to the transmission control input. In one embodiment, the electrically controlled actuator is part of the traction motor controller58. In one embodiment, if the ZTR drive wheels24L,24Rare powered by the electric motors18, the motor currents can be controlled by the one or more processors32of the vehicle control module306. In one embodiment, the motor current determines the applied torque of the motor18.

In one embodiment, when the ZTR system includes the proximity sensors158, the one or more processors32of the vehicle control module306are configured to determine distance to left proximity sensor158Land compare the distance to the left proximity sensor158Lto a predefined threshold. In one embodiment, if the distance to the left proximity sensor158Lis less than the predefined threshold, then the one or more processors32of the vehicle control module306are configured to move the left traction motor TLa forward direction at a speed that is greater than the right traction motor TR. In one embodiment, if the distance to the left proximity sensor158Lis less than the predefined threshold, then the one or more processors32of the vehicle control module306are configured to move the right traction motor TRin a reverse direction. In one embodiment, the predefined threshold is between 1 and 12 inches.

In one embodiment, when the ZTR system includes the proximity sensors158, the one or more processors32of the vehicle control module306are configured to determine distance to right proximity sensor158Rand compare the distance to the right proximity sensor158Rto a predefined threshold. In one embodiment, if the distance to the right proximity sensor158Ris less than the predefined threshold, then the one or more processors32of the vehicle control module306are configured to move the right traction motor TRin a forward direction at a speed that is greater than the left traction motor TL. In one embodiment, if the distance to the right proximity sensor158Ris less than the predefined threshold, then the one or more processors32of the vehicle control module306are configured to move the left traction motor TLin a reverse direction. In one embodiment, the predefined threshold is between 1 and 12 inches.

In one embodiment, when the ZTR system includes the proximity sensors158, the one or more processors32of the vehicle control module306are configured to determine distance to both left and right proximity sensors158L,158Rand compare the distance to the left and right proximity sensors158L,158Rto a predefined threshold. In one embodiment, if the distance to the left and right proximity sensors158L,158Ris greater than the predefined threshold, then the one or more processors32of the vehicle control module306are configured to move either the right traction motor TRor the left traction motor TLin either a forward direction or a reverse direction. In one embodiment, the predefined threshold is between 1 and 12 inches.

In one embodiment, when the ZTR system includes the angle sensors162, the one or more processors32of the vehicle control module306are configured to determine an angle between the mower hitch140and trailer tongue and compare the angle between the mower hitch140and trailer tongue to a left predefined angle. In one embodiment, the left predefined angle is less than 180 degrees. In one embodiment, if the angle between the mower hitch140and trailer tongue is less than the left predefined angle, then the one or more processors32of the vehicle control module306are configured to move the left traction motor TLin a forward direction at a speed that is greater than the right traction motor TR. In one embodiment, if the angle between the mower hitch140and trailer tongue is less than the left predefined angle, then the one or more processors32of the vehicle control module306are configured to move the right traction motor TRin a reverse direction. In one embodiment, the left predefined angle is between 130 and 160 degrees.

In one embodiment, when the ZTR system includes the angle sensors162, the one or more processors32of the vehicle control module306are configured to determine an angle between the mower hitch140and trailer tongue and compare the angle between the mower hitch140and trailer tongue to a right predefined angle. In one embodiment, the right predefined angle is greater than 180 degrees. In one embodiment, if the angle between the mower hitch140and trailer tongue is greater than the right predefined angle, then the one or more processors32of the vehicle control module306are configured to move the left traction motor TLin a forward direction at a speed that is greater than the right traction motor. In one embodiment, if the angle between the mower hitch140and trailer tongue is greater than the right predefined angle, then the one or more processors32of the vehicle control module306are configured to move the right traction motor TRin a reverse direction. In one embodiment, the right predefined angle is between 200 and 230 degrees.

In one embodiment, when the ZTR system includes the angle sensors162, the one or more processors32of the vehicle control module306are configured to determine an angle between the mower hitch140and trailer tongue and compare the angle between the mower hitch140and trailer tongue to the right predefined angle and the left predefine angle. In one embodiment, if the angle between the mower hitch140and trailer tongue is greater than the right predefined angle and is less than the left predefine angle, then the one or more processors32of the vehicle control module306are configured to move either the left traction motor TLor the right traction motor TRin either a forward direction or a reverse direction.

The present patent application provides a stability control system500for a non-ZTR lawn mower. In one embodiment, when the non-ZTR system includes the proximity sensors158, the one or more processors32of the vehicle control module306are configured to determine distance to left proximity sensor158Land compare the distance to the left proximity sensor158Lto a predefined threshold. In one embodiment, if the distance to the left proximity sensor158Lis less than the predefined threshold, then the one or more processors32of the vehicle control module306are configured to move the lawn mower only in a forward direction. In one embodiment, the predefined threshold is between 1 and 12 inches.

In one embodiment, when the non-ZTR system includes the proximity sensors158, the one or more processors32of the vehicle control module306are configured to determine distance to right proximity sensor158Rand compare the distance to the right proximity sensor to158Ra predefined threshold. In one embodiment, if the distance to the right proximity sensor158Ris less than the predefined threshold, then the one or more processors32of the vehicle control module306are configured to move the lawn mower only in a forward direction. In one embodiment, the predefined threshold is between 1 and 12 inches.

In one embodiment, when the non-ZTR system includes the proximity sensors158, the one or more processors32of the vehicle control module306are configured to determine distance to both left and right proximity sensors158L,158Rand compare the distance to the left and right proximity sensors158L,158Rto a predefined threshold. In one embodiment, if the distance to the left and right proximity sensors158L,158Ris greater than the predefined threshold, then the one or more processors32of the vehicle control module306are configured to move lawn mower10in either a forward direction or a reverse direction. In one embodiment, the predefined threshold is between 1 and 12 inches.

In one embodiment, when the non-ZTR system includes the angle sensors162, the one or more processors32of the vehicle control module306are configured to determine an angle between the mower hitch140and trailer tongue and compare the angle between the mower hitch140and trailer tongue to a left predefined angle. In one embodiment, the left predefined angle is less than 180 degrees. In one embodiment, if the angle between the mower hitch140and trailer tongue is less than the left predefined angle, then the one or more processors32of the vehicle control module306are configured to move the lawn mower10only in a forward direction. In one embodiment, the left predefined angle is between 130 and 160 degrees.

In one embodiment, when the non-ZTR system includes the angle sensors162, the one or more processors32of the vehicle control module306are configured to determine an angle between the mower hitch140and trailer tongue and compare the angle between the mower hitch140and trailer tongue to a right predefined angle. In one embodiment, the right predefined angle is greater than 180 degrees. In one embodiment, if the angle between the mower hitch140and trailer tongue is greater than the right predefined angle, then the one or more processors32of the vehicle control module306are configured to move the lawn mower10only in a forward direction. In one embodiment, the right predefined angle is between 200 and 230 degrees.

In one embodiment, when the non-ZTR system includes the angle sensors162, the one or more processors32of the vehicle control module306are configured to determine an angle between the mower hitch140and trailer tongue and compare the angle between the mower hitch140and trailer tongue to the right predefined angle and the left predefine angle. In one embodiment, if the angle between the mower hitch140and trailer tongue is greater than the right predefined angle and is less than the left predefine angle, then the one or more processors32of the vehicle control module306are configured to move the lawn mower10in either a forward direction or a reverse direction.

In one embodiment, referring toFIGS.29-35, the lawn mower10includes a battery module48that is removably coupled to the frame12and configured to power the motor assembly18. That is, in one embodiment, a removable energy storage system is provided for the electric lawn mowers10. This is in contrast to traditional methods where the battery pack is not removable and is protected by a steel frame and body paneling.

In one embodiment, the lawn mower10may be a hybrid lawn mower. In one embodiment, the motor assembly18of the lawn mower10is configured to drive the wheels24R,24L(as shown inFIGS.24and26) so as to move the frame12along the ground surface26. In one embodiment, the motor assembly18of the lawn mower10is powered by the first rechargeable battery module48. In one embodiment, the lawn mower10may also include a different or another power source (e.g., gas or other power source) that is configured to drive the one or more blades28relative to the ground surface26to cut grass30.

In one embodiment, the motor assembly18of the lawn mower10is configured both to drive the wheels24R,24L(as shown inFIGS.24and26) so as to move the frame12along the ground surface26and to drive the one or more blades28relative to the ground surface26to cut grass30. In one embodiment, the motor assembly18of the lawn mower10is powered by the first rechargeable battery module48.

In one embodiment, the tractor10is configured such that it can receive the primary battery48and an auxiliary battery pack208. In one embodiment, the auxiliary battery pack208is smaller and typically used to power outdoor equipment or power tools. In one embodiment, the tractor10can be powered of the rechargeable auxiliary battery pack208, the primary battery pack48or both. In one embodiment, the primary battery pack includes one or more battery cells. In one embodiment, the auxiliary battery pack includes one or more battery cells. In one embodiment, the primary battery48is referred to as the first battery module. In one embodiment, the primary battery48is a rechargeable battery. In one embodiment, the auxiliary battery pack208is referred to as the second battery module. In one embodiment, the auxiliary battery pack208is a rechargeable battery.

Referring toFIGS.1-2,4,8-9, and29-35, in one embodiment, the present patent application provides a method of charging the battery module48of the lawn mower10. The lawn mower10comprises the frame12supported on the rotatable wheels22,24for movement over a ground surface26; the operator support14coupled to the frame12and configured to support the entire weight of an operator of the lawn mower10during use thereof; the blade assembly16comprising the one or more blades28that are configured to cut the grass30on the ground surface26; the steering system20configured to manipulate the steering direction of the wheels22,24; the motor assembly18configured to drive the wheels22,24so as to move the frame12along the ground surface26; and the battery module48removably coupled to the frame12and configured to power the motor assembly18. In one embodiment, the motor assembly18is configured to drive the one or more blades28relative to the ground surface26to cut the grass30. In one embodiment, the motor assembly18is configured both to drive the wheels22,24so as to move the frame12along the ground surface26and to drive the one or more blades28relative to the ground surface26to cut the grass30.

The method comprises removing the battery module48from the lawn mower10; recharging the battery module48by supplying a charge current from an external power source to the battery module48; and reinserting the battery module48into the lawn mower10to facilitate mating between electrical contacts210or212of the battery module48and electrical contacts210or212of the lawn mower10so as to enable the battery module48to power the motor assembly18of the lawn mower10.

In one embodiment, the reinserting procedure of the method further comprises: engaging a coupler224of the battery module48with a coupler226of the frame12of the lawn mower10without lifting the battery module48off the ground surface26, the engagement between the couplers224,226of the battery module48and the frame12provides a pivot axis; pivoting the battery module48, about the pivot axis and through the couplers224,226of the battery module48and the frame12, into a battery compartment38in the frame12of the lawn mower10; sliding the battery module48into the battery compartment38and into its final connected position on the frame12in which the electrical contacts210or212of the battery module48are mated with the electrical contacts210or212of the lawn mower10to enable the battery module48to power the motor assembly18of the lawn mower10; and locking, using the latch248, the battery module48in its final connected position. In one embodiment, the coupler226of the battery module48includes the pivot latch224. In one embodiment, the coupler226of the frame12includes the pivot bar226. In one embodiment, the removing procedure of the method further comprises disconnecting the latch248to remove the battery module48from the battery compartment.

In another embodiment, the primary battery48may be charged while the primary battery48is still in the battery compartment38of the lawn mower10(i.e., charged without removing the primary battery48from the battery compartment38of the lawn mower10). That is, as shown inFIG.29, the battery charge port214of the primary battery48is exposed and is accessible when the primary battery48is still in the battery compartment38of the lawn mower10such that a charge current from an external power source is transferred to the primary battery48in the battery compartment38of the lawn mower10via the battery charge port214.

In one embodiment, a method of operating the lawn mower10is provided. The lawn mower10comprises the frame12supported on the rotatable wheels22,24for movement over a ground surface26; the operator support14coupled to the frame12and configured to support the entire weight of an operator of the lawn mower10during use thereof; the blade assembly16comprising the one or more blades28that are configured to cut the grass30on the ground surface26; the steering system20configured to manipulate the steering direction of the wheels22,24; the motor assembly18configured to drive the wheels22,24so as to move the frame12along the ground surface26; and the battery module48and the battery module208both removably coupled to the frame12and configured to power the motor assembly18. In one embodiment, the motor assembly18is configured to drive the one or more blades28relative to the ground surface26to cut the grass30. In one embodiment, the motor assembly18is configured both to drive the wheels22,24so as to move the frame12along the ground surface26and to drive the one or more blades28relative to the ground surface26to cut the grass30.

In one embodiment, the method comprises providing power solely from the first rechargeable battery module48to the motor assembly18to drive the wheels22,24of the lawn mower10; and providing power solely from the second rechargeable battery module208to the motor assembly18when the charge of the first battery module48is depleted so as to drive the wheels22,24of the lawn mower10.

In one embodiment, referring toFIGS.32and33, the primary battery module48includes wheels202mounted towards the bottom of the battery module48for rotation about an axis to provide rolling support for the battery module48and a manually engageable pulling/transport handle240. In one embodiment, the handle240and the ground engaging wheels202are arranged to enable the operator to manually pull the handle240generally rearwardly so as to tilt the primary battery48rearwardly to a tilted rolling movement position, thereby enabling the operator to roll the primary battery48to a desired location by pushing or pulling the handle240in a desired direction.

In one embodiment, the handle240is made of metal, plastic, wood, or other materials. In one embodiment, rubber or other anti-slip material is provided on the surface of the handle240to facilitate the grasping of the handle240. In one embodiment, the handle240is constructed and arranged to be extendable. It is also contemplated that the handle240may have other configurations, shapes, and arrangements.

In one embodiment, the handle240includes a telescopic handle member and a frame member. When the handle240is to be extended, the handle240is pulled upwards, thereby causing the telescopic handle member to move relative to the frame member. In one embodiment, the primary battery module48also includes a handle actuator that is actuatable to release/move a lock member of the handle240from a lock position to a release position wherein the handle240can be extended (as shown inFIG.33) or retracted (as shown inFIG.32).

In one embodiment, each of the wheels202is a molded structure reinforced by a plurality of wheel ribs318and each wheel202is mounted on an end of an elongated axle by two hubs or other appropriate structure. In one embodiment, the axle320is an elongated cylindrical shaft320that is snap fit into rotational engagement with a receiving structure of the primary battery housing322in conventional fashion. Alternatively, the axle can be mounted to the primary battery housing through a pair of axially aligned through-holes formed in the primary battery housing. The wheels202may have rubber treads or other anti-slip material provided on the surface to provide friction with the ground26when the primary battery48is to be rolled from one location to another.

In one embodiment, referring toFIGS.31-33, the lawn mower frame12includes a male terminal block210that is configured to engage with a female terminal block212disposed on the battery module48. In one embodiment, the lawn mower10includes a female terminal block210that is configured to engage with a male terminal block212disposed on the battery module48.

In one embodiment, referring toFIGS.32and33, the battery module48includes one or more AC power outlets218for powering tools and/or accessory equipment. In one embodiment, the battery module48includes an on-off switch220for the inverter. In one embodiment, additional electrical components can be added to the battery pack48to add functionality such as lights, Inverters, USB ports, interfaces, radios, receivers, additional controllers, or other electrical I/O ports.

In one embodiment, referring toFIGS.32and33, the battery module48includes a battery charge port214that is configured to transfer charge current from an external power source to the lawn mower10. In one embodiment, the charge port214is a conductive charge port. In one embodiment, the battery module48is charged by plugging a charge connector of the external power source into the charge port214of the lawn mower10. In one embodiment, the charge current from the external power source conducts through the connected charge connector of the external power source and charge port214to the battery module48. In one embodiment, the battery module48includes an inductive charge port324that allows the operator to easily and safely charge the battery module48without any type of conventional electrical plug.

In one embodiment, the battery module48and/or battery module208are charged using a charging mechanism that is selected from the group consisting of inductive charging, conductive charging, wireless charging and other charging technologies as would be appreciated by one skilled in the art.

In one embodiment, referring toFIGS.32and33, the battery module48has a state of the charge indicator216that is configured to display state-of-charge of the battery module48. For example, the state of the charge indicator includes a plurality of indicators (LEDs) that will display the state-of-charge at 0%, 25%, 50%, 75% and 100%. In one embodiment, the plurality of indicators (LEDs) includes colored LEDs. For example, a green LED may display the state-of-charge at 75% and 100%, a yellow LED may display the state-of-charge at 25% and 50%, and a red LED may display the state-of-charge at 0%.

In one embodiment, referring toFIGS.30,30A and31, the lawn mower10includes battery internal support structure38. In one embodiment, the lawn mower10includes the primary battery support structure38and the auxiliary battery support structure206. In one embodiment, the primary battery pack48has components402on the bottom of the battery48that act as a bumper402in the event of a collision. In one embodiment, the components interface with the tractor10in such a way that when a load is applied, the energy is transferred to the tractor10and the battery internal support structure, not to the outer housing322of the battery pack48or the battery pack cells.

In one embodiment, as shown inFIG.34, the lawn mower10includes a lift assist handle246to help/assist the operator load the primary battery48into the battery compartment38of the trailer10. In one embodiment, the lift assist handle246is stored in (lift assist handle capture) grooves244in the hood168when the lift assist handle246not in use. In one embodiment, the lift assist handle246is removed from the grooves244in the hood168and the lift assist handle246is then engaged with lift assist handle grooves242disposed on the battery module48when needed or during use (i.e., load the primary battery48into the battery compartment38of the trailer10).

In one embodiment, the battery compartment38in the frame12includes course guides234, precision guides230, fine guides228and rollers232that are configured to engage with guide rail interface236disposed on the primary battery module48to facilitate the sliding movement of the battery module48into the battery compartment38of the lawn mower10.

In one embodiment, as shown inFIG.32, the lawn mower10includes an installation handle238that is configured to enable the operator grasp the primary battery48when the primary battery48is being lifted into the battery compartment38of the lawn mower10.

In one embodiment, referring toFIGS.30and31, a coupling204of the battery module48engages the battery module48with the frame12without lifting the battery module48off the ground26. In one embodiment, the coupling204facilitates manipulation of the battery module48into its final connected position FCP (as shown inFIGS.29,30and35) on the frame12, including lifting of the battery module48through the coupling204.

In one embodiment, the coupling204includes a pivot bar226that is disposed on the frame12of the lawn mower10and a pivot latch224disposed on the primary battery48.

In one embodiment, the primary battery pack48is configured to be wheeled (on the wheels202) into position and aligned using with at least one locating feature. In one embodiment, when the primary battery48is aligned with the locating feature, the pivot latch224disposed on the primary battery48interacts with the pivot bar226that is disposed on the tractor10.

In one embodiment, the pivot latch224and the pivot bar226are configured to allow the primary battery48to remain in a position without the operator's assistance. In one embodiment, the operator then grasps the loading handle246and lifts the primary battery48into the battery compartment38in the tractor10. In one embodiment, when the operator grasps the loading handle246and lifts the bottom portion of the primary battery48, the engagement between the pivot latch224and the pivot bar226serves as a pivot point/axis about which the primary battery48pivots as it moves into the battery compartment38in the tractor10. In this way, the coupling204bears a substantial portion of the weight of the primary battery48while it is pivoted into position. In one embodiment, as shown inFIG.34A, the center of mass of the battery48is shown as COM and the operator's Force Application is shown as OFA. In one embodiment, a mechanical advantage is achieved for moving the heavy battery into the storage position and for lightening the load to move the battery into the storage position.

In one embodiment, the primary battery pack48slides into the tractor10on one or more rails (e.g., course guides234, precision guides230, fine guides228and rollers232) in the battery compartment38that guide the primary battery48into position enabling mating between the male and female terminal blocks210and212. In one embodiment, the course guides234, precision guides230, fine guides228and rollers232in the battery compartment38are configured to engage with the guide rail interface236disposed on the primary battery module48to facilitate the sliding movement of the battery module48into the battery compartment38of the lawn mower10. In one embodiment, when the male and female terminal blocks210and212are mated, the power is able to flow from the primary battery48into the tractor10supplying power for traction, cutting and other onboard electrical loads.

In one embodiment, as shown inFIG.31, a latch248is configured to secure the battery48in place. In one embodiment, the latch248is depressed as the primary battery48is loaded into the battery compartment38of the lawn mower10. In one embodiment, the latch248moves from a first position to a second position to lock the primary battery48in the battery compartment38of the lawn mower10. In one embodiment, an operator input is required to disconnect the latch248. In one embodiment, the latch248is located on the tractor10and interfaces with the primary battery latch interface on the primary battery48.

In one embodiment, the primary battery48is configured to be loaded from any side of the tractor or ZTR. That is, although the illustrated embodiments show the primary battery48being loaded from the front, it is contemplated that in, other embodiments, the primary battery48is loaded from any side of the tractor or the ZTR tractor10.

In one embodiment, the lawn mower10includes a second battery receptacle206that is configured to receive the second battery208. In one embodiment, the second battery208is removably coupled to the frame12and is transported by the frame12. In one embodiment, the auxiliary battery208is configured to be used when the charge of the primary battery48is completely depleted. In one embodiment, the auxiliary battery208is configured to provide enough power to drive the lawn tractor10(i.e., power the traction motor) back to a charging station/area (e.g., shed/garage, etc.) if the primary battery48dies/is depleted. In one embodiment, this auxiliary battery configuration improves the electrically powered riding lawn tractor10by limiting driving range concerns. In one embodiment, the second battery208is smaller than the primary battery48.

In one embodiment, the second battery208is configured to be compatible with power tools/power hand tools. In one embodiment, the second battery208is configured to be compatible with existing power hand tools that user already owns.

In one embodiment, voltage of the second battery208is lower than voltage of the primary battery48. In one embodiment, capacity of the second battery208is less than capacity of the primary battery48.

In one embodiment, referring toFIGS.30and31, the lawn mower10includes a male terminal block222that is configured to engage with a female terminal block326disposed on the secondary battery module208. In one embodiment, the lawn mower10includes a female terminal block222that is configured to engage with a male terminal block326disposed on the secondary battery module208.

In one embodiment, the second battery208is configured such that, if the second battery208is inserted in the lawn mower10, the second battery208automatically turns on once the main battery48is depleted. In one embodiment, the second battery208is configured such that it requires an operator intervention. In one embodiment, when the primary battery48is depleted, the operator actuates a manual switch or provides a control system signal to turn on the second battery208.

In one embodiment, when the lawn mower10is being operated by the auxiliary battery pack208, a load shedding operation is employed to extend the range of the lawn mower10further. In one embodiment, the load shedding mode is turned on automatically or is actuated by the operator using a manual switch or a control system signal. In one embodiment, the load shedding operation includes disabling light, disabling the blades, etc. In one embodiment, the auxiliary battery pack208is configured to power only the wheels of the lawn mower10when the primary battery48is dead. In one embodiment, the auxiliary battery pack208may be a 20 volts battery. In one embodiment, the auxiliary battery pack208may be a 40 volts battery. In one embodiment, additionally, a mode is provided to operate all systems from the auxiliary battery208for a short period. In one embodiment, this mode is actuated by the operator using a manual switch328or a control system signal.

In one embodiment, referring toFIG.36, the frame12comprises a container portion166and a cover168. In one embodiment, the container portion166is disposed forwardly of the steering system20and the operator support14. In one embodiment, the container portion166has side walls170defining an upwardly facing opening172into the storage space36in which articles174to be transported can be stored.

In one embodiment, the cover168is constructed and arranged to be movable between an open condition (as shown inFIG.36) permitting access to the storage space36and a closed condition (as shown inFIG.38) preventing access to the storage space36. In one embodiment, as will be explained in detail below, the cover168is hingedly or pivotably connected to the tractor10to facilitate its movement between its open condition and its closed condition. In one embodiment, the cover168, in its closed condition, may completely cover the opening172so as to completely prevent access to the storage space36. In one embodiment, as will be explained in detail below, the cover168is removable from the tractor10.

In one embodiment, the container portion166is referred to as tool/equipment carrying system and the cover168is referred to as hood of the lawn tractor10.

In one embodiment, as shown inFIG.36, the articles174stored in the storage space36are tools (e.g., hand or electric). In one embodiment, the electric tools are powered by the lawn mower10. In one embodiment, the articles174are lawn and garden tools (e.g., hand or electric). In one embodiment, the electric lawn and garden tools are powered by the lawn mower10. In one embodiment, the storage space36may also be used to transport fertilizer, mulch, soil, and any other articles as would be appreciated by one skilled in the art.

In one embodiment, referring toFIGS.38and39, the tractor frame12has pins186attached thereto. In one embodiment, the hood168is held on the pins186via a mounting bracket184. In one embodiment, the movement of the pins186is limited by one or more cotter pins182. In one embodiment, the cotter pins182are disposed in the pins186. In one embodiment, the cotter pins182are configured to engage the side201of the mounting bracket184, when the pins186are engaged with the mounting bracket184, to limit the movement of the pins186. In one embodiment, the cotter pins182are also configured to hold the pins186and the mounting bracket184together. In one embodiment, instead of the cotter pins, any other fasteners, as would be appreciated by one skilled in the art, are used to hold the pins186and the mounting bracket184together. In one embodiment, other hinge/attachment/connection assemblies, as would be appreciated by one skilled in the art, with different configurations are used to connect the hood168to the tractor10as long as the hinge/attachment/connection assembly provides pivotal movement of the hood168with respect to the tractor10and/or enables removal of the hood168from the tractor10.

In one embodiment, as shown inFIGS.37and40, the tractor hood168is configured to pivot about the axis of the pins186to reveal the tool/equipment carry bay166and to permit access to the opening172of the tool/equipment carry bay166.

In one embodiment, the tractor hood168is configured to be removable from the tractor10to reveal the tool/equipment carry bay166. In one embodiment, as shown inFIG.36, when the tractor hood168is removed, the hood68can be easily converted into a workspace178to support articles188thereon. In one embodiment, to remove the hood168, one or more cotter pins182are removed first. This allows the hood168to simply slide off the pins186. The hood168can, thus, be removed from the tractor10.

In one embodiment, when the tractor hood168pivots out about the axis of the pins186, a workspace176can be expanded for use. In one embodiment, as shown inFIGS.37and40, the workspace176has an extended/use configuration EC and a folded/storage/collapsed configuration FC. In one embodiment, when in the extended configuration EC, the workspace176is configured to support articles thereon.

FIG.41shows a side view of the workspace176when it is in its folded configuration FC, whileFIG.43shows a side view of the workspace176when it is in its extended configuration EC.FIG.42shows a front view of the workspace176when it is in its folded configuration FC, whileFIG.44shows a front view of the workspace176when it is in its extended configuration EC.

In one embodiment, the workspace176includes four legs192(1921,1922, . . . ), four slide tracks198(1981,1982, . . . ) and two detent locks196. In one embodiment, the workspace176also includes a lock408. In one embodiment, the lock408is configured to lock the workspace176in its folded configuration FC. In one embodiment, the number of legs for the workspace176may vary.

In one embodiment, a portion of the each leg192is disposed in a corresponding slide rail/guide/track198to facilitate the movement of the leg192in the corresponding slide rail/guide/track198. In one embodiment, each leg192includes members that enable the movement of the leg in the corresponding slide rail/guide/track198.

In one embodiment, the slide rails/guides/tracks198are attached to the hood168. In one embodiment, the slide rails/guides/tracks198are configured to guide their corresponding legs192therein during the movement of the corresponding leg. In one embodiment, this configuration of the legs192and the slide tracks/guides198facilitates the movement of the workspace176between the extended configuration EC and the folded configuration FC. In one embodiment, the legs192and the slide rails/guides/tracks198are of such dimensions as to permit the movement of the workspace176between the extended configuration EC and the folded configuration FC. In one embodiment, a spring arrangement is provided in each slide rail/guide/track and is operatively coupled with the corresponding leg. In one embodiment, the spring arrangement is configured to assist with the movement of the legs as the workspace176is being moved between the extended configuration EC and the folded configuration FC.

In one embodiment, the workspace176extends when the operator pulls up on the surface allowing the legs192to fold out. In one embodiment, the legs192are offset from each other allowing them to move relative to each other. In one embodiment, the workspace176is pulled up (i.e., to the extended configuration EC) until the detent lock196engages at the end of the slide track198.

In one embodiment, the workspace176is fully collapsible into its folded configuration FC and is stored under the hood168as shown inFIG.40. Also shown inFIG.40, along with the workspace176in its folded configuration FC, are 1) the container portion166with the storage space36in which the articles to be transported can be stored and 2) battery receiving portion38configured to receive the primary battery48therein.

In one embodiment, the workspace176has variable height adjustment to accommodate operators of varying height. In one embodiment, the workspace176can be set to different working heights to enable the operator to use the workspace176while either standing or sitting. In one embodiment, means are provided on the legs or other portions of the workspace176to allow for multiple height adjustments. In one embodiment, the legs192are telescopically extendable. In one embodiment, the workspace176includes a lock mechanism that is configured to lock the workspace176at any desired height. That is, additional locks can be added to the workspace176to provide a variety of heights to the operator. Any adjustment mechanism known to one skilled in the art is used to provide the variable height adjustment to the workspace176. In one embodiment, the workspace176has the extended configuration EC, the folded configuration CC, and a plurality of intermediate, variable height adjustment configurations. In one embodiment, the variable height adjustment of the workspace176is optional and the workspace176has only the extended configuration EC and the folded configuration FC.

As described in the present patent application, with the advent of battery operated electric lawn tractors, there is the possibility of new electrically operated features for the lawn mower10. This is due to the availability of communication buses on the lawn mower10that are necessary to operate the electric motors and a robust electrical system that provides power to these electric motors. In one embodiment, a subset of these electrically operated features/systems includes semi-autonomous power steering system200(as shown and described with respect toFIGS.14-18), stability control system for ZTR or non-ZTR lawn mowers (as shown and described with respect toFIGS.26-28), automatic mowing blades control system400(as shown and described with respect toFIGS.8-13A), automatic mower safety control system300(as shown and described with respect toFIGS.19-21), and automatic ground speed control system100(as shown and described with respect toFIGS.3-7). By incorporating elements of autonomous control system, the mowing operation can be enhanced to allow for faster, more precise operation of the lawn mower10.

In one embodiment, any information from/to the lawn mower can be communicated wirelessly with systems and devices surrounding the lawn mower by WiFi, Bluetooth, NFC, by radio frequency, or through cell tower transmissions, just for example.

In one embodiment, the terms “one or more processors” as used herein are one or more physical processors of a computer system. In one embodiment, the one or more physical processors32are programmed with computer program instructions which, when executed cause the computer system to perform various functions or operational procedures as described in detail above.

It should be appreciated that the description of the functionality provided by the different modules/processors/controllers described herein is for illustrative purposes, and is not intended to be limiting, as any of modules/processors/controllers may provide more or less functionality than is described. For example, one or more of modules/processors/controllers may be eliminated, and some or all of its functionality may be provided by other ones of modules/processors/controllers. As another example, additional subsystems may be programmed to perform some or all of the functionality attributed herein to one of the modules/processors/controllers.

In one embodiment, the various systems and subsystems illustrated here may comprise one or more computing devices that are programmed to perform the functions described herein. In one embodiment, the computing devices include one or more electronic storages (e.g., database, or other electronic storages), one or more physical processors32programmed with one or more computer program instructions, and/or other components. In one embodiment, the computing devices include communication lines or ports to enable the exchange of information with a network (e.g., network) or other computing platforms via wired or wireless techniques (e.g., Ethernet, fiber optics, coaxial cable, WiFi, Bluetooth, near field communication, or other communication technologies). In one embodiment, the computing devices include a plurality of hardware, software, and/or firmware components operating together to provide the functionality attributed herein to the servers. For example, in one embodiment, the computing devices are implemented by a cloud of computing platforms operating together as the computing devices.

The electronic storages may comprise non-transitory storage media that electronically stores information. In one embodiment, the electronic storage media of the electronic storages includes one or both of system storage that is provided integrally (e.g., substantially non-removable) with the servers or removable storage that is removably connectable to the servers via, for example, a port (e.g., a USB port, a firewire port, etc.) or a drive (e.g., a disk drive, etc.). In one embodiment, the electronic storages include one or more of optically readable storage media (e.g., optical disks, etc.), magnetically readable storage media (e.g., magnetic tape, magnetic hard drive, floppy drive, etc.), electrical charge-based storage media (e.g., EEPROM, RAM, etc.), solid-state storage media (e.g., flash drive, etc.), and/or other electronically readable storage media. In one embodiment, the electronic storages include one or more virtual storage resources (e.g., cloud storage, a virtual private network, and/or other virtual storage resources). The electronic storages may store software algorithms, information determined by the processors, information received from the servers, information received from client computing platforms, or other information that enables the servers to function as described herein.

In one embodiment, the one or more processors32are programmed to provide information processing capabilities. As such, in one embodiment, the processors32include one or more of a digital processor, an analog processor, or a digital circuit designed to process information, an analog circuit designed to process information, a state machine, and/or other mechanisms for electronically processing information. In one embodiment, the processors32include a plurality of processing units. In one embodiment, these processing units are physically located within the same device, or the processors32may represent processing functionality of a plurality of devices operating in coordination. In one embodiment, the one or more processors32are programmed to execute computer program instructions to perform functions described herein. In one embodiment, the one or more processors32are programmed to execute computer program instructions by software; hardware; firmware; some combination of software, hardware, or firmware; and/or other mechanisms for configuring processing capabilities on the processors32. It should be appreciated that the description of the functionality provided by the systems described herein is for illustrative purposes, and is not intended to be limiting, as systems may provide more or less functionality than is described. As another example, in one embodiment, additional systems are programmed to perform some or all of the functionality attributed herein to systems.

In one embodiment, the user interface40that is described in various embodiments of the present patent application include touch screen capabilities where the operator can provide input or control an information processing system (one or more processors32) of the system through touch gestures by touching the user interface40. In one embodiment, the user interface40is configured to switch to a power-saving mode if no input (e.g., video) signal is received. In one embodiment, the user interface40is a liquid crystal display (LCD), a plasma display, an organic light emitting diode display (OLED), a light emitting diode display (LED), a field emission display (FED), etc. In one embodiment, the size of the user interface40may vary. In one embodiment, the user interface is a flat panel display. In one embodiment, the thickness of the user interface40may vary. In one embodiment, the resolution of the user interface40may vary. In one embodiment, the visual information, data or content presented on the user interface40includes any graphical, text, audio, video, data, multimedia or other digital or electronic content. In one embodiment, the user interface40includes one or more ports that serve as an interface between the user interface40and other additional or peripheral devices. In one embodiment, the user interface40includes a Universal Serial Bus (USB) port, a High-Definition Multimedia Interface (HDMI) port, a Video Graphics Array (VGA) port, a video cable connection port, an RF (coaxial cable) connection port, etc. In one embodiment, these connection ports are used facilitate communication between the other additional or peripheral devices and the user interface40. In one embodiment, the user interface40is in communication with other additional or peripheral devices using wired or wireless signal systems (e.g., Near Field Communication (NFC), Local Area Network (LAN), Wireless Local Area Network (WLAN), Bluetooth, RF, Wi-Fi etc.).

In one embodiment, the dimensions described in the present patent application, are up to 5 percent greater than or up to 5 percent less than those described above. In one embodiment, the dimensions described in the present patent application, are up to 10 percent greater than or up to 10 percent less than those described above. In one embodiment, the dimensions described in the present patent application, are up to 20 percent greater than or up to 20 percent less than those described above. In one embodiment, all the dimensions shown in the present patent application are in inches, in degrees or in feet.

Although the present patent application has been described in detail for the purpose of illustration, it is to be understood that such detail is solely for that purpose and that the present patent application is not limited to the disclosed embodiments, but, on the contrary, is intended to cover modifications and equivalent arrangements that are within the spirit and scope of the appended claims. In addition, it is to be understood that the present patent application contemplates that, to the extent possible, one or more features of any embodiment can be combined with one or more features of any other embodiment.