Turf Trimming System and Integrated Control System

A method for controlling a trimming system for trimming around stationary objects, comprising;

• selecting manual mode in a trimmer integrated control system, comprising a controller, to perform the following steps:
• moving a trimming system comprising a carrier vehicle, a rotary trimming attachment, and the trimmer integrated control system into initial position such that the carrier vehicle travel path is parallel to a target stationary object centerline;
• placing the rotary trimming attachment carrier assembly casters in contact with the ground;
• selecting a target stationary object preset to establish trimming parameters comprising at least one of circle of avoidance (COA) and cutting head path;
• placing the trimmer integrated control system in engage target mode;
• manually engaging the target stationary object with a cutting head assembly of the rotary trimming attachment;
• then
• selecting auto mode in the trimmer integrated control system to perform the following steps:
• activating auto control in the controller, with manual override, to set a plurality of alignment preset parameters to zero and move the carrier vehicle in a forward direction parallel to the target centerline, while the controller maintains a preset slope and a centerline zero alignment;
• energizing cutting head assembly drive motor;
• initiating controller trimming sequence when the cutting head assembly reaches a preset distance to the target stationary object as determined by at least one proximity sensor and defined by the circle of avoidance;
• continuing controller trimming sequence, as the carrier vehicle travels, to start the cutting head assembly rotation using a rotator motor and retraction of the cutting head assembly;
• providing additional cutting head assembly lateral motion, if needed, using controller commands to first a reach cylinder and then a boom cylinder;
• maintaining the circle of avoidance, with manual override, until a forward or reverse carrier vehicle distance of travel (CDT) equals the approximate radius of the cutting head path;
• returning the alignment preset parameters to zero when the cutting head assembly rotation equals 180 degrees and CDT equals the diameter of the COA;
• and
• seeking a new target stationary object or cancelling trimming operations.

A rotary trimming attachment, comprising:

• a cutting head assembly slidably coupled to a carrier assembly, the cutting head assembly further comprising;
• at least two counter-rotating blades,
• at least one rotator motor configured to rotate the cutting head assembly about a cutting head central axis,
• at least one blade drive motor configured to drive the at least two counter-rotating blades,
• at least one lateral motion drive motor configured to move the cutting head assembly position relative to the carrier assembly,
• an extending boom adjustably extended from a mount,
• a reach boom rotatably coupled to the extending boom at a reach boom proximate end and rotatably coupled to a float boom at an opposing reach boom distal end, and wherein the float boom is rotatably coupled to the carrier assembly at a float boom distal end.