Embodiments of the present disclosure relate to soil penetrating apparatus (e.g., turf aerators) and, more particularly, to systems and methods for controlling soil penetration depth of a tool (e.g., aerator tines).

BACKGROUND

Soil penetrating machines are well-known for promoting turf health. For example, turf aerators are used to create perforations in a soil surface. Such perforations allow water, air, and nutrients to more effectively reach grass roots. Aeration may be especially beneficial in areas where high soil compaction is common.

While various methods of forming soil perforations are known, one common method involves the use of a set of penetrating coring tines that are driven into the soil surface during operation. Some aerators utilize tubular coring tines that, when withdrawn, extracts a “plug” of soil, leaving a perforation in its place. The soil core may be ejected onto the turf, where it eventually breaks down. Other aerators may utilize solid tines.

To set tine penetration depth, an aerator operator typically sets a physical down stop and/or a maximum downward force applied to a coring head supporting the tines, wherein the down stop/force is selected to produce the desired tine depth penetration based upon turf/soil conditions. While effective, soil hardness may vary not only from site-to-site, but also across different turf areas of the same property. As a result, inconsistent penetration depth may result as the aerator moves from a turf area having a first soil hardness to an area having a second soil hardness. For example, setting the coring head downward force to an appropriate value for a first turf area may result in a coring depth that is too shallow, or too deep, for an adjacent turf area.

SUMMARY

Embodiments described herein may provide soil penetrating systems and methods that address these and other issues by providing, in one embodiment, a soil penetrating apparatus having: a chassis; and a tool head assembly operatively attached to the chassis, wherein the tool head assembly is movable relative to a soil surface between an elevated position and any one of a plurality of soil penetrating positions. A control input is provided and adapted to select a desired soil penetration depth corresponding to one of the plurality of soil penetrating positions of the tool head assembly. An actuator may move the tool head assembly between the elevated position and any one of the plurality of soil penetrating positions, and a controller may command the actuator to a position corresponding to the desired soil penetration depth. A sensor provides a feedback signal to the controller corresponding to the position of the tool head assembly.

In another embodiment, a turf aerator is provided that includes: a chassis; and a coring head assembly operatively attached to the chassis and movable between an elevated position and any one of a plurality of aerating positions. A control input adapted to select a desired soil penetration depth corresponding to one of the plurality of aerating positions of the coring head assembly is also included, as is a linear hydraulic actuator adapted to move the coring head assembly between the elevated position and any one of the plurality of aerating positions. A controller is included and adapted to command the actuator to a position corresponding to the desired soil penetration depth, and a sensor is adapted to provide a feedback signal to the controller corresponding to the position of the coring head assembly. A valve is also included and adapted to: deliver hydraulic flow to the hydraulic actuator while the coring head assembly moves from the elevated position to the desired soil penetration depth; and bypass, with the hydraulic flow, the hydraulic actuator while the coring head assembly is at the desired soil penetration depth.

In yet another embodiment, a turf aerator is provided. The aerator includes: a chassis supported upon a soil surface by left and right drive members; and a coring head assembly operatively attached to the chassis and adapted to rotate about a coring head axis transverse to a longitudinal axis of the aerator, the coring head assembly movable between an elevated position and any one of a plurality of aerating positions. A prime mover attached to the chassis is provided and adapted to power the coring head assembly and one or more of the drive members, while a depth control system is adapted to maintain a desired soil penetration depth of the coring head assembly as the coring head assembly moves over turf areas of different soil hardness. The control system includes: a control input adapted to set a desired soil penetration depth corresponding to one of the plurality of aerating positions of the coring head assembly; a sensor operable to estimate a position of the coring head assembly; a relief adapted to permit a reduction of soil penetration depth to a depth less than the desired soil penetration depth when the coring head assembly encounters a soil hardness exceeding a predetermined hardness threshold; an actuator adapted to return the coring head assembly to the desired soil penetration depth when the soil hardness is again at or below the predetermined hardness threshold; and a controller adapted to energize the actuator to move the coring head assembly to the desired soil penetration depth.

In still another embodiment, an actuator assembly is provided that includes a linear actuator having a cylinder and a rod adapted to extend and retract from the cylinder. The assembly further includes: a rail support positioned proximate the cylinder; and a sensor rail supported by the rail support and attached to the rod. The sensor rail translates relative to the rail support as the sensor rail moves with the rod. The sensor rail further defines a series of edges. A quadrature encoder is included and attached to the rail support, wherein the encoder detects the passage of edges of the series of edges as the rod extends and retracts from the cylinder.

The above summary is not intended to describe each embodiment or every implementation. Rather, a more complete understanding of illustrative embodiments will become apparent and appreciated by reference to the following Detailed Description of Exemplary Embodiments and claims in view of the accompanying figures of the drawing.

