I have sprinkler heads all over my lawn, if the lawn mower avoided them I'd have patches of long grass. My sprinkler heads will routinely get stuck in the "up"

I have sprinkler heads all over my lawn, if the lawn mower avoided them I'd have patches of long grass. My sprinkler heads will routinely get stuck in the "up" position due to sand/dirt that gets stuck in the sliding mechanism. This actually seems solvable by robotics, but it's not a viable solution for beacons or markers as they are meant to be "passed over" by lawn mowers.