US20140025274A1 - Electronically Controlled Speed Limiting System For Turf Care Machine - Google Patents
Electronically Controlled Speed Limiting System For Turf Care Machine Download PDFInfo
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- US20140025274A1 US20140025274A1 US14/033,985 US201314033985A US2014025274A1 US 20140025274 A1 US20140025274 A1 US 20140025274A1 US 201314033985 A US201314033985 A US 201314033985A US 2014025274 A1 US2014025274 A1 US 2014025274A1
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- Prior art keywords
- wheel
- speed
- controller
- operating
- electronically controlled
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/42—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders
- A01D34/43—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
- A01D34/44—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle with two or more cutters
Definitions
- the present disclosure relates to electronic speed limiting systems for grass cutting and turf care machines.
- Modern golf course turf care vehicles and/or equipment commonly include the capability to vary the operating speed of the vehicle to suit different operating parameters such as to vary operating speed during a mowing operation depending on grass height and terrain conditions, and to provide a higher speed for vehicle transport when mowing operations are not being performed.
- the need for the higher operating speed is the result of the operator's desire to reduce travel time between areas that are to be mowed or to return the vehicle to the storage/maintenance area.
- Systems to control vehicle speed are therefore known.
- Present speed control systems commonly permit operation at the higher operating speed when a mowing operation is occurring, resulting in a mowing speed that is greater than is optimum. This can result in a poor cut quality.
- an electronically controlled speed limiting system for a turf maintenance machine includes a first traction motor rotating a first wheel and a second traction motor rotating a second wheel.
- First and second wheel speed sensors are individually connected to each of the first and second wheels, each outputting an actual wheel speed signal.
- a controller in communication with the first and second traction motors receives the actual wheel speed signal from the first and second wheels, compares the actual wheel speed of the first and second wheels to determine if one of the wheels is rotating faster than the other wheel, and outputs a command to the faster moving one of the wheels to reduce the actual speed of the faster moving one of the wheels to equal the actual speed of the other of the wheels.
- an electronically controlled speed limiting system for a turf maintenance machine includes at least one traction motor rotating at least one wheel. At least one hydraulic pump in fluid communication with the at least one traction motor provides hydraulic fluid to operate the at least one traction motor. At least one actuator in fluid communication with the at least one hydraulic pump operates to vary an output of the at least one hydraulic pump. A controller in communication with the at least one actuator provides input commands to the at least one actuator to control the output of the at least one hydraulic pump and thereby an operating speed of the at least one wheel.
- a first traction motor is rotatably connected to a first wheel and a second traction motor is rotatably connected to a second wheel.
- a hydraulic pump in fluid communication with both the first and second traction motors provides hydraulic fluid to operate the first and second traction motors.
- An actuator in communication with the hydraulic pump operates to vary an output of the hydraulic pump.
- a controller in communication with the actuator automatically provides input commands to the actuator to control the output of the hydraulic pump and thereby an operating speed of the first and second wheels based on one or more signals received by the controller.
- a first wheel speed sensor is in communication with the first wheel and a second wheel sensor is in communication with the second wheel. Output signals from the first and second wheel speed sensors are supplied to the controller and used by the controller to output a traction control signal to one of the first or second traction motors when the first or second wheel is rotating faster than the other wheel.
- FIG. 1 is a block diagram of an electronically controlled speed limiting system for grass cutting and turf care machines of the present disclosure
- FIG. 2 is a front left perspective view of a turf care machine employing the electronically controlled speed limiting system of FIG. 1 ;
- FIG. 3 is a block diagram of an electronically controlled speed limiting system of another embodiment
- FIG. 4 is a block diagram of an electronically controlled speed limiting system of another embodiment having a first traction control option
- FIG. 5 is a block diagram of an electronically controlled speed limiting system of another embodiment having a second traction control option.
- FIG. 6 is a block diagram of an electronically controlled speed limiting system of a further embodiment.
- Example embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.
- first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as “first,” “second,” and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
- Spatially relative terms such as “inner,” “outer,” “beneath”, “below”, “lower”, “above”, “upper” and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the example term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
- an electronically controlled speed limiting (ECSL) system 10 includes at least one traction motor 12 which is driven by hydraulic fluid delivered by a hydraulic pump 14 .
- An actuator 16 such as an electro-hydraulic control unit, having for example a coil that rotates a pilot valve, controls operation of hydraulic pump 14 .
- Actuator 16 uses sensed hydraulic pressure from hydraulic pump 14 in internal circuitry of actuator 16 to control operating speed of a mowing machine shown and described in better detail in FIG. 2 , and directs hydraulic fluid flow to control forward and reverse operation of the mowing machine.
- Examples of hydraulic pumps and actuators suitable for use include hydraulic pumps/motors and hydraulic control units made by the Sauer-Danfoss Company of Ames, Iowa.
- a controller 18 is programmed to provide individual control signals for a variety of operating parameters to actuator 16 .
- a user interface 20 such as an LCD touch-screen display, a keyboard, or similar data input device permits maintenance or programming personnel to input and lock specific control and operating commands to controller 18 .
- Controller 18 contains known components such as a controller board having a memory component and a microchip/microprocessor for performing various operations on the system and sensor data. Controller 18 can be provided for example by Marlin Technologies Inc. of Horicon, Wis. A computer language such as CAN communication language can be used which allows communication between controller 18 and user interface 20 , and between controller 18 and other devices such as a computer or laptop for uploading new software and data for storage, as well as to download data from controller 18 . Controller 18 can also include a feedback loop having a PID control algorithm using constants saved in memory for various operating conditions such as operating speed, mowing speed, inclination angle, and the like.
- ECSL system 10 provides additional data input devices to communicate with controller 18 . These include at least one wheel speed sensor 22 and according to several embodiments a separate wheel speed sensor for each driven wheel, which is/are connected as data input devices to controller 18 providing electronic signals representing actual measured wheel speed and therefore an actual ground speed of the mowing machine.
- An implement enable circuit 24 provides input to controller 18 indicating when a mowing operation is occurring. This input is used by controller 18 to automatically slow the operating speed of the mowing machine to a predetermined mowing speed to optimize the mowing operation.
- An inclinometer 26 provides input data to controller 18 defining an inclination of the mowing machine measured relative to a null horizontal operating orientation using at least one and according to several embodiments two planes of measurement. The data from inclinometer 26 can also be used by controller 18 to adjust actuator 16 and to thereby adjust the operating speed of the mowing machine, for example to reduce operating speed on steep inclines such as hills for improved stability.
- turf care machine 28 is illustrated in the form of a grass cutting machine employing ECSL system 10 .
- turf care machine 28 is a riding mower that generally includes a frame 30 , a turf maintenance implement system 32 , and a ground traction system generally indicated at 34 .
- a turf maintenance vehicle including, for instance, riding, walk-behind, and stand-behind mowers, groomers, sand rakes, aerators, utility vehicles and other turf maintenance equipment, having a power-assisted steering system.
- Turf maintenance implement system 32 is supported by the frame 30 and can be of any suitable type for turf maintenance purposes.
- the turf maintenance implement system 32 includes a plurality of implements 36 such as mowing decks or reel cutters (reel cutters are shown) for cutting grass or for other turf maintenance operations.
- the turf maintenance implement system 32 can include any suitable implement, including, for instance, mowing implements, grooming implements, raking implements, aerating implements, and other turf maintenance implements.
- the ground traction system 34 supports the frame 30 and provides propulsion and steering for turf care machine 28 .
- the ground transportation system 34 includes first and second front wheels 38 , 39 , which can be individually or collectively driven to propel turf care machine 28 , and a rear wheel 40 , which can turn relative to the frame 30 to thereby steer turf care machine 28 .
- the ground traction system 34 includes a brake, schematically indicated at 42 .
- the brake 42 can be of any suitable type for reducing the ground speed of turf care machine 28 .
- the turf care machine 28 includes the at least one traction motor schematically indicated at 12 .
- the one or more traction motors 12 can be used to directly power individual ones of front wheels 38 , 39 or a single traction motor 12 can be used to collectively power both front wheels 38 , 39 .
- a separate or a common traction motor 12 can also be provided to power rear wheel 40 .
- the one or more traction motors 12 is/are hydraulically powered by pressurized hydraulic fluid delivered by hydraulic pump 14 which is powered by a power delivery system broadly referred to as engine 44 .
- the power delivery system 44 can be of any suitable type for generating power and transmitting power to the ground traction system 34 , to hydraulic pump 14 and/or the turf maintenance implement system 32 .
- the power delivery system 44 can include an internal combustion engine for generating mechanical or electrical energy, a plurality of batteries, or a combination of the two. As such, the power delivery system 44 generates and delivers power to the ground traction system 34 to thereby propel the turf care machine 28 and to hydraulic pump 14 to operate hydraulic pump 14 . Also, in one embodiment, the power delivery system 44 delivers power to the turf maintenance implement system 32 to thereby rotate the reels of implement 36 .
- power delivery system 44 also includes the electronically controlled speed limiting system, generally indicated at 10 .
- a speed limit i.e., a top speed “V max ” of turf care machine 28 is set within ECSL system 10 .
- ECSL system 10 operatively applies the actuator 16 (shown in FIG. 1 ) to thereby limit the power available to the ground traction system 34 .
- ECSL system 10 is programmed logic that determines the amount of power delivered from the power delivery system 44 to the ground traction system 34 .
- Turf care machine 28 also includes a steering wheel assembly generally indicated at 46 .
- the steering wheel assembly 46 includes a steering wheel 48 , a shaft 50 extending from the steering wheel 48 and a steering wheel position sensor 52 .
- the steering wheel position sensor 52 detects the rotated position (i.e., the steering angle) of the steering wheel 48 . Also, in one embodiment, the steering wheel position sensor 52 detects a change in position of the steering wheel 48 .
- Turf care machine 28 also includes a seat 54 .
- the seat 54 is positioned behind the steering wheel assembly 46 and provides a place for a user to sit during operation of the turf care machine 28 .
- a ground speed “V 1 ” of turf care machine 28 is determined from the input of one or more wheel speed sensors 22 shown in schematic form.
- a separate wheel speed sensor 22 is provided for each of first and second front wheels 38 , 39 .
- a desired speed “V 2 ” input signal is generated, and this input signal is transmitted and stored in controller 18 .
- the controller 18 compares the actual ground speed “V 1 ” to the desired speed “V 2 ” and outputs a control signal to actuator 16 to change the speed limit or the ground speed of turf care machine 28 to achieve desired speed “V 2 ”.
- the wheel speed sensors 22 can be of any suitable type.
- the user interface 20 for manually inputting data such as the desired speed “V 2 ” into controller 18 can be located in multiple locations, including mounted on a arm support member 56 , or can be positioned proximate to seat 54 as shown by user interface 20 .
- the electronically controlled speed limiting system 10 functions using signals output from controller 18 which control the output of actuator 16 to manage, by throttling hydraulic flow to and also the output of, hydraulic pump 14 .
- the controller 18 is pre-programmed with data for operation, however the pre-programmed data can be modified by data and control function input using user interface 20 .
- the user interface 20 provides maintenance personnel the ability to set a maximum speed “V max ” of the turf care machine 28 , the desired speed “V 2 ” for a specific mowing operation, as well as a rate of machine acceleration.
- an input from the implement enabling circuit 24 allows controller 18 to automatically slow turf care machine 28 to a predetermined speed for different mowing operations such as to control different mowing heights.
- the controller 18 can also be used to limit the speed and acceleration rate of turf care machine 28 when turf care machine 28 is climbing or traversing a steep grade in order to give the operator greater control of operating speed and to minimize wheel slippage that can otherwise result in turf damage.
- the controller 18 can use a plurality of preset angle limits ⁇ preset, ⁇ preset and compare these to sensed inclination angle inputs ⁇ , ⁇ from inclinometer 26 to determine when to reduce an operating or real time speed “V 1 ” and an acceleration rate “AR” and how much to reduce them by.
- Sensed angle input ⁇ can be for example the angle of pitch (forward positive, rearward negative) of turf care machine 28 measured with respect to a horizontal reference plane.
- Sensed angle input ⁇ can be for example the angle of roll (right positive, left negative) of turf care machine 28 measured with respect to the horizontal reference plane.
- controller 18 can be used to precisely control the speed of turf care machine 28 .
- the controller 18 can modify the output of hydraulic pump 14 via the actuator 16 until the desired ground speed “V 2 ” is obtained.
- the desired ground speed “V 2 ” can be a predetermined value programmed and locked in controller 18 , and used for example as a set mowing speed for turf care machine 28 .
- an electronically controlled speed limiting ECSL system 58 uses hydraulic pump 14 , actuator 16 and controller 18 , together with user interface 20 , wheel speed sensors 22 , inclinometer 26 and steering position sensor 52 .
- ECSL system 58 is modified from ECSL system 10 to provide for independent, direct operation of first and second traction motors 12 a, 12 b.
- First traction motor 12 a independently directly controls rotation of first front wheel 38 via a first wheel hydraulic line 60 connected to hydraulic pump 14 .
- Second traction motor 12 b independently directly controls rotation of second front wheel 39 via a second wheel hydraulic line 62 connected to hydraulic pump 14 and in parallel with first wheel hydraulic line 60 .
- the brake system of ECSL system 10 is modified in ECSL system 58 to provide first and second brakes 42 a, 42 b for control of first and second traction motors 12 a, 12 b.
- First brake 42 a is operated by hydraulic fluid in a brake line 63 from hydraulic pump 14
- second brake 42 b is operated by hydraulic fluid in a brake line 64 from hydraulic pump 14 .
- Power output from engine 44 is used to power hydraulic pump 14 .
- An engine throttle control 64 can be used to mechanically or electrically control a throttle position of engine 44 if engine 44 is an internal combustion engine.
- a signal from engine throttle control 64 can also be directed using a signal line 66 to controller 18 to provide further data input for controller 18 to apply when directing operation of actuator 16 .
- a power takeoff (PTO) switch 68 is also connected to controller 18 in this embodiment.
- PTO switch 68 when engaged, signals to controller 18 operation of an implement requiring turf care machine 28 to slow a lower speed, for example to a mowing speed.
- PTO switch 68 When PTO switch 68 is not engaged, a signal for a transport speed equaling the maximum speed “V max ” can be output from controller 18 to actuator 16 .
- controller 18 When a signal is received from inclinometer 26 , controller 18 signals actuator 16 as required to reduce the real time ground speed “V 1 ” to an inclination ground speed “V 3 ”, which can be equal to or vary from the desired ground speed “V 2 ” based on a lookup table 77 of data stored in controller 18 which can alter the inclination ground speed “V 3 ” based on the slope of the ground. Examples of data that can be stored in lookup table 77 include, but are not limited to the following.
- Vehicle operating speeds “V 3 ” such as 1 MPH, 2 MPH, 3 MPH 4 MPH, 5 MPH, 6 MPH, 7 MPH, 8 MPH, 9 MPH, 10 MPH can each have a corresponding set of maximum inclination angles such as ⁇ 1, ⁇ 1; ⁇ 2, ⁇ 2; ⁇ 3, ⁇ 3; ⁇ 4, ⁇ 4; ⁇ 5, ⁇ 5; ⁇ 6, ⁇ 6; ⁇ 7, ⁇ 7; ⁇ 8, ⁇ 8; ⁇ 9, ⁇ 9; ⁇ 10, ⁇ 10, with the inclination angles decreasing from ⁇ 1, ⁇ 1 to ⁇ 10, ⁇ 10 as the operating speed increases, allowing operation at higher operating speeds only to lower or zero inclination angles, while limiting operation at higher inclination angles to lower operating speeds.
- Controller 18 automatically signals the individual traction motors with the required operating speed which precludes override by the operator.
- ECSL system 58 provides a pedal input 70 which is a signal directed to controller 18 based on the position of a pedal 72 such as an accelerator pedal.
- the output from pedal 72 as pedal input 70 is used by controller 18 to automatically vary the speed of turf care machine 28 .
- controller 18 senses no output signal from pedal 72 , after a predetermined period such as 3-5 seconds at the stopped condition controller 18 directs application of first and second brakes 42 a, 42 b via first and second brake signal lines 74 , 76 .
- the signal from controller 18 is delayed to permit time for turf care machine 28 to stop dynamically after pedal 72 is released.
- user interface 20 permits the user to set a mowing speed such as desired speed “V 2 ” and the transport speed “V max ” .
- Interface 20 further permits calibration of the output signal from pedal 72 to maintain consistent operation between different turf care machines. For example only, when a hard or dry ground condition is present, a higher acceleration rate “AR” can be set which does not damage the turf. When soft or wet ground conditions are present, a lower acceleration rate “AR” can be set to reduce the potential of damaging the turf from wheel slip-spin.
- Controller 18 includes a lookup table 77 which stores predetermined data including operating speeds dependent on different vehicle inclinations which is used in conjunction with inclinometer 26 , and anticipated wheel speeds of first and second front wheels during turning operation including different anticipated wheel speeds for each wheel at different steering position angles, and differentiated by which wheel is the inside radial wheel or outside radial wheel in the turn. Different wheel speeds for first and second front wheels 38 , 39 are desired during a turn operation to prevent wheel slip turf damage.
- the wheel speeds corresponding to the steering position signal from steering position sensor 52 can therefore be subtracted from the actual wheel speeds provided as output signals from the wheel speed sensors 22 for the first and second front wheels 38 , 39 to determine if a slip event is occurring.
- the result of this operation is a correction signal generated by controller 18 .
- the correction signal directs the actuator 16 to vary the hydraulic pressure in first and second wheel hydraulic lines 60 , 62 to first and second traction motors 12 a, 12 b to thereby increase an operating speed of the radial outer wheel and/or decrease the operating speed of the radial inner wheel during the turn.
- the correction signal therefore maintains an overall operating speed of turf care machine 28 to maintain the desired mowing speed during the turn without wheel slip.
- a signal from the wheel speed sensors 22 to controller 18 indicating turf care machine 28 is in the stopped condition will generate a vehicle stopped signal which directs application of the first and second brakes 42 a, 42 b via first and second brake signal lines 74 , 76 , which open or close hydraulic control valves of first and second brakes 42 a, 42 b to apply hydraulic pressure from first and second brake lines 63 , 64 to apply or release brake pressure.
- ECSL system 58 also includes a lift position sensor 78 which senses a raised (non-operating) or lowered (operating) position of the cutting units 36 .
- controller 18 Upon receipt of the signal from lift position sensor 78 , controller 18 will automatically decrease the operating speed of turf care machine 28 if the cutting units 36 are in the lowered position, and will permit increased operating speed up to the maximum operating speed “V max ” if the cutting units 36 are in the raised position.
- a password 79 entered into the user interface 20 locks/unlocks data entered and stored in controller 18 to prevent operator override of the automatic operation features of ECSL system 58 .
- an electronically controlled speed limiting ECSL system 80 provides for a first traction control option and includes the features of ECSL system 58 , but is further modified to provide for operation of first and second traction motors 12 a, 12 b through the additional use of a flow divider 82 communicating directly between the hydraulic pump 14 and the first and second traction motors 12 a, 12 b.
- Flow divider 82 communicates directly to first traction motor 12 a via a first hydraulic control line 84 .
- Flow divider 82 communicates directly to second traction motor 12 b via a second hydraulic control line 86 .
- Flow divider 82 permits a limited slip traction control for first and second front wheels 38 , 39 .
- ECSL system 80 also differs from ECSL system 58 by providing hydraulic flow line 87 directly between hydraulic pump 14 and flow divider 82 , and further provides a flow divider signal line 88 which directs internal operation of flow ports within flow divider 82 to individually control the flow of hydraulic fluid to first and second traction motors 12 a, 12 b to provide for individual control of wheel speed for wheels 38 , 39 .
- a directly connected input line 89 is provided between engine 44 and hydraulic pump 14 , and a directly connected actuator output line 90 connects actuator 16 and hydraulic pump 90 .
- Signals from wheel speed sensors 22 are used to determine if first or second front wheel 38 , 39 is slip-spinning, which may be indicated when first or second front wheel 38 , 39 is rotating faster than the other wheel.
- controller 18 supplies a traction control signal to apply brake 42 a or 42 b for the wheel which is rotating faster to provide traction control.
- the steering position signal from steering position sensor 52 is also applied by controller 18 to differentiate a wheel slip event from the anticipated difference in wheel rotation speed between first and second front wheels 38 , 39 while making a turn.
- a wheel rotation speed of first or second front wheel 38 , 39 that is above a pre-determined value saved in controller 18 for speed differences during normal turning events triggers the traction control signal.
- an electronically controlled speed limiting ECSL system 92 provides for a second traction control option and includes the features of ECSL system 58 , but is further modified to provide for independent operation of first and second traction motors 12 a, 12 b through the use of separate actuators and hydraulic pumps for each of the first and second traction control motors 12 a, 12 b.
- ECSL system 92 includes a first hydraulic pump 14 a connected to first traction motor 12 a by a first traction motor hydraulic line 94 .
- a second hydraulic pump 14 b is connected to second traction motor 12 b by a second traction motor hydraulic line 96 .
- a first actuator 16 a is connected to first hydraulic pump 14 a by a first actuator output line 98 .
- a second actuator 16 b is connected to second hydraulic pump 14 b by a second actuator output line 100 .
- Controller 18 communicates with first and second actuators 16 a, 16 b via parallel controller signal lines 102 , 104 .
- An output from engine 44 is commonly applied to first and second hydraulic pumps 14 a, 14 b via common output line 105 .
- Wheel speed signals from first and second wheel speed sensors 22 a, 22 b are used to determine if first or second front wheel 38 , 39 is slipping, which is indicated in a non-turning operation when first or second front wheel 38 , 39 is rotating faster than the other wheel.
- controller 18 supplies a traction control signal to either first or second actuator 16 a, 16 b for the wheel which is rotating faster to reduce the output flow from either first or second hydraulic pump 14 a, 14 b to the faster rotating wheel, thereby reducing the wheel rotation speed to provide traction control.
- the steering position signal from steering position sensor 52 is also applied by controller 18 to differentiate a wheel slip event from the anticipated difference in wheel rotation speed between first and second front wheels 38 , 39 while making a turn.
- First and second hydraulic brake lines 106 , 107 from each of the first and second hydraulic pumps 14 a, 14 b provide hydraulic fluid to first and second brakes 42 a, 42 b.
- an electronically controlled speed limiting ECSL system 108 provides electric power via a power transfer line 109 from a power source 110 such as a battery unit or a generator to provide both drive power and automatic electronic traction control for first and second wheels 38 ′, 39 ′ by separate first and second command signal lines 111 , 112 from controller 18 .
- First and second wheels 38 ′, 39 ′ are individually driven by first and second electrically powered first and second traction motors 114 , 116 which receive power via power transfer line 109 .
- First and second command signal lines 111 , 112 are connected to first and second traction motors 114 , 116 .
- first and second brakes 118 , 120 are individually connected to one of the first and second traction motors 114 , 116 .
- a first brake signal line 122 provides braking signals from controller 18 to first brake 118 .
- a second brake signal line 124 provides braking signals from controller 18 to second brake 120 .
- Power source 110 is in communication with controller 18 via a communication line 126 providing power to controller 18 .
- signals from wheel speed sensors 22 are used to determine if first or second front wheel 38 ′, 39 ′ is slipping, which is indicated when first or second front wheel 38 ′, 39 ′ is rotating faster than the other wheel.
- controller 18 supplies a traction control signal to either first or second traction motor 114 , 116 via either first or second command signal lines 111 , 112 for the wheel which is rotating faster to reduce the operating speed either first or second traction motor 114 , 116 to the faster rotating wheel, thereby reducing the wheel rotation speed to eliminate wheel slip and provide traction control.
- the steering position signal from steering position sensor 52 can also be applied by controller 18 to differentiate a wheel slip event from the anticipated difference in wheel rotation speed between first and second front wheels 38 ′, 39 ′ while making a turn.
- a wheel rotation speed of first or second front wheel 38 ′, 39 ′ that is above a pre-determined value saved in controller 18 for rotational speed differences during normal turning events triggers the traction control signal.
- First and second brake signal lines 122 , 124 from controller 18 provide operating signals to the first and second brakes 118 , 120 when signals from the wheel speed sensors 122 both indicate the vehicle is in a stopped condition.
- the first and second brakes 118 , 120 operate after a predetermined period of indication from wheel speed sensors 122 of zero wheel rotation speed to provide a machine parked condition.
- the speed limiting systems of the present disclosure offer several advantages. Speed control using the controller of the present disclosure allows maintenance personnel to limit a maximum speed for each of the mowing and transport conditions.
- the controller provides for automatic engagement of the different speeds, and permits additional system input such as determination of operation during precarious conditions such as operation on an incline, or when climbing or descending a steep grade.
- the additional system input provides for additional automatic control of the operating speed.
- the automatic control conditions can be locked preventing modification by the operator.
- the use of the controller signaling an actuator to manage an output of a hydraulic pump for controlling vehicle speed provides an automatically operating system that precludes manual manipulation of predetermined operating speeds, thereby providing repeatable operating conditions for operations such as mowing or rapid travel during non-mowing operations.
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Abstract
Description
- This application is a continuation of U.S. patent application Ser. No. 12/955,983 filed on Nov. 30, 2010. This application claims the benefit of U.S. Provisional application Ser. No. 12/955,983 filed on Nov. 30, 2010. The entire disclosure of the above application is incorporated herein by reference.
- The present disclosure relates to electronic speed limiting systems for grass cutting and turf care machines.
- This section provides background information related to the present disclosure which is not necessarily prior art.
- Modern golf course turf care vehicles and/or equipment commonly include the capability to vary the operating speed of the vehicle to suit different operating parameters such as to vary operating speed during a mowing operation depending on grass height and terrain conditions, and to provide a higher speed for vehicle transport when mowing operations are not being performed. The need for the higher operating speed is the result of the operator's desire to reduce travel time between areas that are to be mowed or to return the vehicle to the storage/maintenance area. Systems to control vehicle speed are therefore known. Present speed control systems, however, commonly permit operation at the higher operating speed when a mowing operation is occurring, resulting in a mowing speed that is greater than is optimum. This can result in a poor cut quality. This issue has been addressed in known speed control systems by the addition of a mechanical limiting device that allows maintenance personnel to pre-set a maximum speed for each of mowing and transport. The operator determines when to activate the speed limiting device before mowing or to deactivate the device for transport. This solution therefore permits the operator to override the pre-set speed.
- This section provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features.
- According to several embodiments, an electronically controlled speed limiting system for a turf maintenance machine includes a first traction motor rotating a first wheel and a second traction motor rotating a second wheel. First and second wheel speed sensors are individually connected to each of the first and second wheels, each outputting an actual wheel speed signal. A controller in communication with the first and second traction motors receives the actual wheel speed signal from the first and second wheels, compares the actual wheel speed of the first and second wheels to determine if one of the wheels is rotating faster than the other wheel, and outputs a command to the faster moving one of the wheels to reduce the actual speed of the faster moving one of the wheels to equal the actual speed of the other of the wheels.
- According to other embodiments, an electronically controlled speed limiting system for a turf maintenance machine includes at least one traction motor rotating at least one wheel. At least one hydraulic pump in fluid communication with the at least one traction motor provides hydraulic fluid to operate the at least one traction motor. At least one actuator in fluid communication with the at least one hydraulic pump operates to vary an output of the at least one hydraulic pump. A controller in communication with the at least one actuator provides input commands to the at least one actuator to control the output of the at least one hydraulic pump and thereby an operating speed of the at least one wheel.
- According to still further embodiments, a first traction motor is rotatably connected to a first wheel and a second traction motor is rotatably connected to a second wheel. A hydraulic pump in fluid communication with both the first and second traction motors provides hydraulic fluid to operate the first and second traction motors. An actuator in communication with the hydraulic pump operates to vary an output of the hydraulic pump. A controller in communication with the actuator automatically provides input commands to the actuator to control the output of the hydraulic pump and thereby an operating speed of the first and second wheels based on one or more signals received by the controller. A first wheel speed sensor is in communication with the first wheel and a second wheel sensor is in communication with the second wheel. Output signals from the first and second wheel speed sensors are supplied to the controller and used by the controller to output a traction control signal to one of the first or second traction motors when the first or second wheel is rotating faster than the other wheel.
- Further areas of applicability will become apparent from the description provided herein. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.
- The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.
-
FIG. 1 is a block diagram of an electronically controlled speed limiting system for grass cutting and turf care machines of the present disclosure; -
FIG. 2 is a front left perspective view of a turf care machine employing the electronically controlled speed limiting system ofFIG. 1 ; -
FIG. 3 is a block diagram of an electronically controlled speed limiting system of another embodiment; -
FIG. 4 is a block diagram of an electronically controlled speed limiting system of another embodiment having a first traction control option; -
FIG. 5 is a block diagram of an electronically controlled speed limiting system of another embodiment having a second traction control option; and -
FIG. 6 is a block diagram of an electronically controlled speed limiting system of a further embodiment. - Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings.
- Example embodiments will now be described more fully with reference to the accompanying drawings.
- Example embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.
- The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms “a”, “an” and “the” may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms “comprises,” “comprising,” “including,” and “having,” are inclusive and therefore specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order discussed or illustrated, unless specifically identified as an order of performance. It is also to be understood that additional or alternative steps may be employed.
- When an element or layer is referred to as being “on”, “engaged to”, “connected to” or “coupled to” another element or layer, it may be directly on, engaged, connected or coupled to the other element or layer, or intervening elements or layers may be present. In contrast, when an element is referred to as being “directly on,” “directly engaged to”, “directly connected to” or “directly coupled to” another element or layer, there may be no intervening elements or layers present. Other words used to describe the relationship between elements should be interpreted in a like fashion (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items.
- Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as “first,” “second,” and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
- Spatially relative terms, such as “inner,” “outer,” “beneath”, “below”, “lower”, “above”, “upper” and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the example term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
- Referring to
FIG. 1 , an electronically controlled speed limiting (ECSL)system 10 includes at least onetraction motor 12 which is driven by hydraulic fluid delivered by ahydraulic pump 14. An actuator 16 such as an electro-hydraulic control unit, having for example a coil that rotates a pilot valve, controls operation ofhydraulic pump 14.Actuator 16 uses sensed hydraulic pressure fromhydraulic pump 14 in internal circuitry ofactuator 16 to control operating speed of a mowing machine shown and described in better detail inFIG. 2 , and directs hydraulic fluid flow to control forward and reverse operation of the mowing machine. Examples of hydraulic pumps and actuators suitable for use include hydraulic pumps/motors and hydraulic control units made by the Sauer-Danfoss Company of Ames, Iowa. Acontroller 18 is programmed to provide individual control signals for a variety of operating parameters toactuator 16. Auser interface 20 such as an LCD touch-screen display, a keyboard, or similar data input device permits maintenance or programming personnel to input and lock specific control and operating commands tocontroller 18. -
Controller 18 contains known components such as a controller board having a memory component and a microchip/microprocessor for performing various operations on the system and sensor data.Controller 18 can be provided for example by Marlin Technologies Inc. of Horicon, Wis. A computer language such as CAN communication language can be used which allows communication betweencontroller 18 anduser interface 20, and betweencontroller 18 and other devices such as a computer or laptop for uploading new software and data for storage, as well as to download data fromcontroller 18.Controller 18 can also include a feedback loop having a PID control algorithm using constants saved in memory for various operating conditions such as operating speed, mowing speed, inclination angle, and the like. -
ECSL system 10 provides additional data input devices to communicate withcontroller 18. These include at least onewheel speed sensor 22 and according to several embodiments a separate wheel speed sensor for each driven wheel, which is/are connected as data input devices tocontroller 18 providing electronic signals representing actual measured wheel speed and therefore an actual ground speed of the mowing machine. An implement enablecircuit 24 provides input tocontroller 18 indicating when a mowing operation is occurring. This input is used bycontroller 18 to automatically slow the operating speed of the mowing machine to a predetermined mowing speed to optimize the mowing operation. Aninclinometer 26 provides input data tocontroller 18 defining an inclination of the mowing machine measured relative to a null horizontal operating orientation using at least one and according to several embodiments two planes of measurement. The data frominclinometer 26 can also be used bycontroller 18 to adjustactuator 16 and to thereby adjust the operating speed of the mowing machine, for example to reduce operating speed on steep inclines such as hills for improved stability. - Referring to
FIG. 2 , an exemplaryturf care machine 28 is illustrated in the form of a grass cutting machine employingECSL system 10. In the embodiment shown,turf care machine 28 is a riding mower that generally includes aframe 30, a turf maintenance implementsystem 32, and a ground traction system generally indicated at 34. It will be understood by one skilled in the art that the teachings herein are applicable to any suitable turf maintenance vehicle, including, for instance, riding, walk-behind, and stand-behind mowers, groomers, sand rakes, aerators, utility vehicles and other turf maintenance equipment, having a power-assisted steering system. - Turf maintenance implement
system 32 is supported by theframe 30 and can be of any suitable type for turf maintenance purposes. In some embodiments, the turf maintenance implementsystem 32 includes a plurality ofimplements 36 such as mowing decks or reel cutters (reel cutters are shown) for cutting grass or for other turf maintenance operations. However, it will be appreciated that the turf maintenance implementsystem 32 can include any suitable implement, including, for instance, mowing implements, grooming implements, raking implements, aerating implements, and other turf maintenance implements. - The
ground traction system 34 supports theframe 30 and provides propulsion and steering forturf care machine 28. In the embodiment shown, theground transportation system 34 includes first and secondfront wheels turf care machine 28, and arear wheel 40, which can turn relative to theframe 30 to thereby steerturf care machine 28. Also, theground traction system 34 includes a brake, schematically indicated at 42. Thebrake 42 can be of any suitable type for reducing the ground speed ofturf care machine 28. - Moreover, the
turf care machine 28 includes the at least one traction motor schematically indicated at 12. The one ormore traction motors 12 can be used to directly power individual ones offront wheels single traction motor 12 can be used to collectively power bothfront wheels common traction motor 12 can also be provided to powerrear wheel 40. The one ormore traction motors 12 is/are hydraulically powered by pressurized hydraulic fluid delivered byhydraulic pump 14 which is powered by a power delivery system broadly referred to asengine 44. Thepower delivery system 44 can be of any suitable type for generating power and transmitting power to theground traction system 34, tohydraulic pump 14 and/or the turf maintenance implementsystem 32. For instance, thepower delivery system 44 can include an internal combustion engine for generating mechanical or electrical energy, a plurality of batteries, or a combination of the two. As such, thepower delivery system 44 generates and delivers power to theground traction system 34 to thereby propel theturf care machine 28 and tohydraulic pump 14 to operatehydraulic pump 14. Also, in one embodiment, thepower delivery system 44 delivers power to the turf maintenance implementsystem 32 to thereby rotate the reels of implement 36. - In the embodiment shown,
power delivery system 44 also includes the electronically controlled speed limiting system, generally indicated at 10. Generally speaking, a speed limit, i.e., a top speed “Vmax”, ofturf care machine 28 is set withinECSL system 10. In various embodiments,ECSL system 10 operatively applies the actuator 16 (shown inFIG. 1 ) to thereby limit the power available to theground traction system 34. Also, in various embodiments,ECSL system 10 is programmed logic that determines the amount of power delivered from thepower delivery system 44 to theground traction system 34. -
Turf care machine 28 also includes a steering wheel assembly generally indicated at 46. Thesteering wheel assembly 46 includes asteering wheel 48, ashaft 50 extending from thesteering wheel 48 and a steeringwheel position sensor 52. The steeringwheel position sensor 52 detects the rotated position (i.e., the steering angle) of thesteering wheel 48. Also, in one embodiment, the steeringwheel position sensor 52 detects a change in position of thesteering wheel 48.Turf care machine 28 also includes aseat 54. Theseat 54 is positioned behind thesteering wheel assembly 46 and provides a place for a user to sit during operation of theturf care machine 28. - With continued reference to
FIG. 2 and again toFIG. 1 a ground speed “V1” ofturf care machine 28 is determined from the input of one or morewheel speed sensors 22 shown in schematic form. According to several embodiments, a separatewheel speed sensor 22 is provided for each of first and secondfront wheels controller 18. Thecontroller 18 compares the actual ground speed “V1” to the desired speed “V2” and outputs a control signal toactuator 16 to change the speed limit or the ground speed ofturf care machine 28 to achieve desired speed “V2”. Thewheel speed sensors 22 can be of any suitable type. Theuser interface 20 for manually inputting data such as the desired speed “V2” intocontroller 18 can be located in multiple locations, including mounted on aarm support member 56, or can be positioned proximate toseat 54 as shown byuser interface 20. - Referring to
FIGS. 1 and 2 , the electronically controlledspeed limiting system 10 functions using signals output fromcontroller 18 which control the output ofactuator 16 to manage, by throttling hydraulic flow to and also the output of,hydraulic pump 14. Thecontroller 18 is pre-programmed with data for operation, however the pre-programmed data can be modified by data and control function input usinguser interface 20. Theuser interface 20 provides maintenance personnel the ability to set a maximum speed “Vmax” of theturf care machine 28, the desired speed “V2” for a specific mowing operation, as well as a rate of machine acceleration. Additionally, an input from the implement enablingcircuit 24 allowscontroller 18 to automatically slowturf care machine 28 to a predetermined speed for different mowing operations such as to control different mowing heights. Thecontroller 18 can also be used to limit the speed and acceleration rate ofturf care machine 28 whenturf care machine 28 is climbing or traversing a steep grade in order to give the operator greater control of operating speed and to minimize wheel slippage that can otherwise result in turf damage. Thecontroller 18 can use a plurality of preset angle limits α preset, β preset and compare these to sensed inclination angle inputs α, β frominclinometer 26 to determine when to reduce an operating or real time speed “V1” and an acceleration rate “AR” and how much to reduce them by. Sensed angle input α can be for example the angle of pitch (forward positive, rearward negative) ofturf care machine 28 measured with respect to a horizontal reference plane. Sensed angle input β can be for example the angle of roll (right positive, left negative) ofturf care machine 28 measured with respect to the horizontal reference plane. - By using
wheel speed sensor 22 to measure the actual or real time ground speed “V1” ofturf care machine 28,controller 18 can be used to precisely control the speed ofturf care machine 28. By comparing the real time ground speed “V1” to a desired ground speed “V2”, thecontroller 18 can modify the output ofhydraulic pump 14 via theactuator 16 until the desired ground speed “V2” is obtained. The desired ground speed “V2” can be a predetermined value programmed and locked incontroller 18, and used for example as a set mowing speed forturf care machine 28. - Referring to
FIG. 3 and again toFIG. 2 , according to another embodiment an electronically controlled speed limitingECSL system 58 useshydraulic pump 14,actuator 16 andcontroller 18, together withuser interface 20,wheel speed sensors 22,inclinometer 26 andsteering position sensor 52.ECSL system 58 is modified fromECSL system 10 to provide for independent, direct operation of first andsecond traction motors First traction motor 12 a independently directly controls rotation of firstfront wheel 38 via a first wheelhydraulic line 60 connected tohydraulic pump 14.Second traction motor 12 b independently directly controls rotation of secondfront wheel 39 via a second wheelhydraulic line 62 connected tohydraulic pump 14 and in parallel with first wheelhydraulic line 60. The brake system ofECSL system 10 is modified inECSL system 58 to provide first andsecond brakes second traction motors brake line 63 fromhydraulic pump 14, andsecond brake 42 b is operated by hydraulic fluid in abrake line 64 fromhydraulic pump 14. Power output fromengine 44 is used to powerhydraulic pump 14. Anengine throttle control 64 can be used to mechanically or electrically control a throttle position ofengine 44 ifengine 44 is an internal combustion engine. A signal fromengine throttle control 64 can also be directed using asignal line 66 tocontroller 18 to provide further data input forcontroller 18 to apply when directing operation ofactuator 16. - A power takeoff (PTO) switch 68 is also connected to
controller 18 in this embodiment.PTO switch 68, when engaged, signals tocontroller 18 operation of an implement requiringturf care machine 28 to slow a lower speed, for example to a mowing speed. When PTO switch 68 is not engaged, a signal for a transport speed equaling the maximum speed “Vmax” can be output fromcontroller 18 toactuator 16. When a signal is received frominclinometer 26,controller 18signals actuator 16 as required to reduce the real time ground speed “V1” to an inclination ground speed “V3”, which can be equal to or vary from the desired ground speed “V2” based on a lookup table 77 of data stored incontroller 18 which can alter the inclination ground speed “V3” based on the slope of the ground. Examples of data that can be stored in lookup table 77 include, but are not limited to the following. Vehicle operating speeds “V3” such as 1 MPH, 2 MPH, 3 MPH 4 MPH, 5 MPH, 6 MPH, 7 MPH, 8 MPH, 9 MPH, 10 MPH can each have a corresponding set of maximum inclination angles such as α1, β1; α2, β2; α3, β3; α4, β4; α5, β5; α6, β6; α7, β7; α8, β8; α9, β9; α10, β10, with the inclination angles decreasing from α1, β1 to α10, β10 as the operating speed increases, allowing operation at higher operating speeds only to lower or zero inclination angles, while limiting operation at higher inclination angles to lower operating speeds. Similar data can be provided for the desired speeds for each given cutting operation. For example cutting operations can be established allowing different maximum cutting speeds for different cutting conditions such as rough, green apron, and fairway cutting conditions, which can be further modified for wet, dry and normal moisture conditions.Controller 18 automatically signals the individual traction motors with the required operating speed which precludes override by the operator. - Referring still to
FIG. 3 and again toFIG. 2 ,ECSL system 58 provides apedal input 70 which is a signal directed tocontroller 18 based on the position of a pedal 72 such as an accelerator pedal. The output frompedal 72 aspedal input 70 is used bycontroller 18 to automatically vary the speed ofturf care machine 28. Whencontroller 18 senses no output signal frompedal 72, after a predetermined period such as 3-5 seconds at the stoppedcondition controller 18 directs application of first andsecond brakes brake signal lines controller 18 is delayed to permit time forturf care machine 28 to stop dynamically afterpedal 72 is released. - As previously noted,
user interface 20 permits the user to set a mowing speed such as desired speed “V2” and the transport speed “Vmax ”. Interface 20 further permits calibration of the output signal frompedal 72 to maintain consistent operation between different turf care machines. For example only, when a hard or dry ground condition is present, a higher acceleration rate “AR” can be set which does not damage the turf. When soft or wet ground conditions are present, a lower acceleration rate “AR” can be set to reduce the potential of damaging the turf from wheel slip-spin. - With continued reference to
FIG. 3 and again toFIG. 2 , thesteering position sensor 52 outputs a signal which is based on a steering position angle of rotation ofsteering wheel 48 differentiating between left hand and right hand turns.Controller 18 includes a lookup table 77 which stores predetermined data including operating speeds dependent on different vehicle inclinations which is used in conjunction withinclinometer 26, and anticipated wheel speeds of first and second front wheels during turning operation including different anticipated wheel speeds for each wheel at different steering position angles, and differentiated by which wheel is the inside radial wheel or outside radial wheel in the turn. Different wheel speeds for first and secondfront wheels steering position sensor 52 can therefore be subtracted from the actual wheel speeds provided as output signals from thewheel speed sensors 22 for the first and secondfront wheels controller 18. The correction signal directs theactuator 16 to vary the hydraulic pressure in first and second wheelhydraulic lines second traction motors turf care machine 28 to maintain the desired mowing speed during the turn without wheel slip. A signal from thewheel speed sensors 22 tocontroller 18 indicatingturf care machine 28 is in the stopped condition will generate a vehicle stopped signal which directs application of the first andsecond brakes brake signal lines second brakes second brake lines -
ECSL system 58 also includes alift position sensor 78 which senses a raised (non-operating) or lowered (operating) position of the cuttingunits 36. Upon receipt of the signal fromlift position sensor 78,controller 18 will automatically decrease the operating speed ofturf care machine 28 if the cuttingunits 36 are in the lowered position, and will permit increased operating speed up to the maximum operating speed “Vmax” if the cuttingunits 36 are in the raised position. A password 79 entered into theuser interface 20 locks/unlocks data entered and stored incontroller 18 to prevent operator override of the automatic operation features ofECSL system 58. - Referring to
FIG. 4 and again toFIGS. 2 and 3 , according to another embodiment an electronically controlled speed limitingECSL system 80 provides for a first traction control option and includes the features ofECSL system 58, but is further modified to provide for operation of first andsecond traction motors flow divider 82 communicating directly between thehydraulic pump 14 and the first andsecond traction motors Flow divider 82 communicates directly tofirst traction motor 12 a via a firsthydraulic control line 84.Flow divider 82 communicates directly tosecond traction motor 12 b via a secondhydraulic control line 86.Flow divider 82 permits a limited slip traction control for first and secondfront wheels -
ECSL system 80 also differs fromECSL system 58 by providinghydraulic flow line 87 directly betweenhydraulic pump 14 andflow divider 82, and further provides a flowdivider signal line 88 which directs internal operation of flow ports withinflow divider 82 to individually control the flow of hydraulic fluid to first andsecond traction motors wheels input line 89 is provided betweenengine 44 andhydraulic pump 14, and a directly connectedactuator output line 90 connectsactuator 16 andhydraulic pump 90. Signals fromwheel speed sensors 22 are used to determine if first or secondfront wheel front wheel controller 18 supplies a traction control signal to applybrake steering position sensor 52 is also applied bycontroller 18 to differentiate a wheel slip event from the anticipated difference in wheel rotation speed between first and secondfront wheels front wheel controller 18 for speed differences during normal turning events triggers the traction control signal. - Referring to
FIG. 5 and again toFIGS. 2 and 3 , according to another embodiment, an electronically controlled speed limitingECSL system 92 provides for a second traction control option and includes the features ofECSL system 58, but is further modified to provide for independent operation of first andsecond traction motors traction control motors ECSL system 92 includes a firsthydraulic pump 14 a connected tofirst traction motor 12 a by a first traction motorhydraulic line 94. A secondhydraulic pump 14 b is connected tosecond traction motor 12 b by a second traction motorhydraulic line 96. Afirst actuator 16 a is connected to firsthydraulic pump 14 a by a firstactuator output line 98. Asecond actuator 16 b is connected to secondhydraulic pump 14 b by a secondactuator output line 100.Controller 18 communicates with first andsecond actuators controller signal lines engine 44 is commonly applied to first and secondhydraulic pumps common output line 105. - Wheel speed signals from first and second wheel speed sensors 22 a, 22 b are used to determine if first or second
front wheel front wheel controller 18 supplies a traction control signal to either first orsecond actuator hydraulic pump ECSL system 58 the steering position signal fromsteering position sensor 52 is also applied bycontroller 18 to differentiate a wheel slip event from the anticipated difference in wheel rotation speed between first and secondfront wheels front wheel controller 18 for rotation speed differences during normal turning events triggers the traction control signal. First and secondhydraulic brake lines hydraulic pumps second brakes - Referring to
FIG. 6 , and again toFIGS. 2 and 3 , according to another embodiment, an electronically controlled speed limitingECSL system 108 provides electric power via apower transfer line 109 from apower source 110 such as a battery unit or a generator to provide both drive power and automatic electronic traction control for first andsecond wheels 38′, 39′ by separate first and secondcommand signal lines controller 18. First andsecond wheels 38′, 39′ are individually driven by first and second electrically powered first andsecond traction motors power transfer line 109. First and secondcommand signal lines second traction motors second brakes second traction motors brake signal line 122 provides braking signals fromcontroller 18 tofirst brake 118. A secondbrake signal line 124 provides braking signals fromcontroller 18 tosecond brake 120.Power source 110 is in communication withcontroller 18 via acommunication line 126 providing power tocontroller 18. - Similar to the previous embodiments, signals from
wheel speed sensors 22 are used to determine if first or secondfront wheel 38′, 39′ is slipping, which is indicated when first or secondfront wheel 38′, 39′ is rotating faster than the other wheel. In this condition,controller 18 supplies a traction control signal to either first orsecond traction motor command signal lines second traction motor ECSL system 58 the steering position signal fromsteering position sensor 52 can also be applied bycontroller 18 to differentiate a wheel slip event from the anticipated difference in wheel rotation speed between first and secondfront wheels 38′, 39′ while making a turn. A wheel rotation speed of first or secondfront wheel 38′, 39′ that is above a pre-determined value saved incontroller 18 for rotational speed differences during normal turning events triggers the traction control signal. First and secondbrake signal lines controller 18 provide operating signals to the first andsecond brakes wheel speed sensors 122 both indicate the vehicle is in a stopped condition. The first andsecond brakes wheel speed sensors 122 of zero wheel rotation speed to provide a machine parked condition. - The speed limiting systems of the present disclosure offer several advantages. Speed control using the controller of the present disclosure allows maintenance personnel to limit a maximum speed for each of the mowing and transport conditions. The controller provides for automatic engagement of the different speeds, and permits additional system input such as determination of operation during precarious conditions such as operation on an incline, or when climbing or descending a steep grade. The additional system input provides for additional automatic control of the operating speed. The automatic control conditions can be locked preventing modification by the operator. The use of the controller signaling an actuator to manage an output of a hydraulic pump for controlling vehicle speed provides an automatically operating system that precludes manual manipulation of predetermined operating speeds, thereby providing repeatable operating conditions for operations such as mowing or rapid travel during non-mowing operations.
- The foregoing description of the embodiments has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departure from the invention, and all such modifications are intended to be included within the scope of the invention.
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Also Published As
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US20120136539A1 (en) | 2012-05-31 |
US8543295B2 (en) | 2013-09-24 |
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