US-20260123563-A1 - DIFFERENTIAL STEER CRAWLING CONTROL SYSTEM FOR DUAL PATH MACHINE

US20260123563A1US 20260123563 A1US20260123563 A1US 20260123563A1US-20260123563-A1

Abstract

An agricultural machine includes a harvesting component, a differential axle assembly, a steering mechanism, first and second drive wheels, a steering motor coupled to the differential axle assembly and a control system. The control system includes a status sensor, a GPS sensor, and a plurality of input sensors. The controller is configured to determine when the agricultural machine is operating in a crawl condition, and based on the determination, operate the agricultural machine in a crawl mode corresponding to the crawl condition. The crawl mode includes actuating the steering motor to increase torque applied to one of the first and second drive wheels until the agricultural machine is no longer operating in the crawl condition.

Inventors

Benjamin Adam WELLE
Brendon C. Nafziger

Assignees

AGCO CORPORATION

Dates

Publication Date: 20260507
Application Date: 20251106

Claims (20)

1 . A control system for an agricultural machine, the agricultural machine having a harvesting component, a differential axle assembly, a steering mechanism, first and second drive wheels, and a steering motor coupled to the differential axle assembly and configured to increase torque applied to one of the first and second drive wheels while simultaneously decreasing torque applied to the other of the first and second drive wheels, the control system comprising: a status sensor configured to interface with the harvesting component and generate a status signal representative of an operational status of the harvesting component; a GPS sensor coupled to the agricultural machine and configured to generate a GPS signal representative of a ground speed of the agricultural machine; one or more input sensors, each input sensor configured to generate an input signal; and a controller communicatively coupled to the status sensor, the GPS sensor, and the one or more input sensors, the controller configured to: receive the GPS signal from the GPS sensor; based on the GPS signal, determine that the ground speed of the agricultural machine is below a threshold ground speed value; receive the status signal from the status sensor; based on the status signal, determine that the harvesting component is operating in an operating mode; receive the one or more input signals from the one or more input sensors; based on the one or more input signals, determine that the agricultural machine is in a crawl condition; and based on the crawl condition determination, initiate a crawl mode corresponding to the crawl condition, wherein initiating the crawl mode comprises actuating the steering motor to increase the torque applied to one of the first and second drive wheels.
2 . The control system in accordance with claim 1 , the one or more input sensors comprising a steering angle sensor, wherein the input signal of the steering angle sensor is representative of an angle of the steering mechanism of the agricultural machine, the controller configured to: detect a change of the angle of the steering mechanism based on the input signal of the steering angle sensor; and based on the detected change, stop the crawl mode.
3 . The control system in accordance with claim 1 , wherein the agricultural machine further includes a propel motor configured to drive the first and second drive wheels, the one or more input sensors comprising a propel motor speed sensor, wherein the input signal of the propel motor speed sensor is representative of a speed of the propel motor, wherein the operation to determine that the agricultural machine is in the crawl condition includes: receiving the input signal of the propel motor speed sensor; and determining that the input signal of the propel motor speed sensor and the GPS signal both indicate that the ground speed of the agricultural machine is below a commanded ground speed input to the controller by an operator of the agricultural machine.
4 . The control system in accordance with claim 3 , the one or more input sensors including a first pressure sensor and a second pressure sensor, the input signal of the first pressure sensor being representative of a first fluid pressure at a first side of the steering motor, the input signal of the second pressure sensor being representative of a second fluid pressure at a second side of the steering motor, the controller configured to: receive the input signals of the first and second pressure sensors; compare the input signals of the first and second pressure sensors; and based on the comparison, determine that the input signals of the first and second pressure sensors match one another within a threshold amount.
5 . The control system in accordance with claim 4 , wherein the threshold amount is equal to or less than two hundred pounds per square inch (200 psi).
6 . The control system in accordance with claim 4 , wherein actuating the steering motor to increase the torque applied to one of the first and second drive wheels includes: actuating the steering motor in an alternating manner in a first direction and a second direction while commanding an increased ground speed relative to the commanded ground speed.
7 . The control system in accordance with claim 6 , wherein actuating the steering motor in an alternating manner in a first direction and a second direction includes: transmitting a first speed signal to the steering motor, the first speed signal actuating the steering motor in the first direction; and transmitting a second speed signal to the steering motor, the second speed signal actuating the steering motor in the second direction opposite the first direction.
8 . The control system in accordance with claim 7 , the controller configured to determine, before transmitting the second speed signal to the steering motor and based on the GPS signal, that the ground speed of the agricultural machine has not reached the increased ground speed commanded by the controller.
9 . The control system in accordance with claim 7 , the controller configured to: determine, after transmitting the second speed signal to the steering motor and based on the GPS signal, that the agricultural machine is moving at the increased ground speed; and based on the determination, return the agricultural machine to the commanded ground speed.
10 . The control system in accordance with claim 9 , wherein returning the agricultural machine to the commanded ground speed comprises the controller transmitting a third speed signal to the propel motor commanding a propel motor speed decrease.
11 . The control system in accordance with claim 1 , wherein the agricultural machine further includes a propel motor configured to drive the first and second drive wheels, the one or more input sensors comprising: a propel motor speed sensor, a first pressure sensor, and a second pressure sensor, the input signal of the propel motor speed sensor being representative of a speed of the propel motor, the input signal of the first pressure sensor being representative of a first fluid pressure at a first side of the steering motor, and the input signal of the second pressure sensor being representative of a second fluid pressure at a second side of the steering motor, wherein the operation to determine that the agricultural machine is in a crawl condition includes: receiving the input signals of the propel motor speed sensor and the first and second pressure sensors; determining that a predicted ground speed of the agricultural machine based on the input signal of the propel motor speed sensor does not match the ground speed of the agricultural machine indicated by the GPS signal; compare the input signals of the first and second pressure sensors; and based on the comparison, determine that the input signals of the first and second pressure sensors match one another within a threshold amount.
12 . The control system in accordance with claim 11 , wherein the threshold amount is equal to or less than two hundred pounds per square inch (200 psi).
13 . The control system in accordance with claim 11 , wherein actuating the steering motor to increase the torque applied to one of the first and second drive wheels includes: actuating the steering motor in an alternating manner in a first direction and a second direction, comprising: transmitting a first speed signal to the steering motor, the first speed signal actuating the steering motor in the first direction; and transmitting a second speed signal to the steering motor, the second speed signal actuating the steering motor in the second direction opposite the first direction; and commanding an increased ground speed relative to a commanded ground speed input to the controller by an operator of the agricultural machine.
14 . The control system in accordance with claim 1 , wherein the agricultural machine further includes a propel motor configured to drive the first and second drive wheels, the one or more input sensors comprising a yaw sensor, wherein the input signal of the yaw sensor is representative of an angular velocity of the agricultural machine, wherein the operation to determine that the agricultural machine is in a crawl condition includes: receiving the input signal of the yaw sensor; determining that the input signal of the yaw sensor indicates an angular velocity of greater than or less than zero.
15 . The control system in accordance with claim 14 , the one or more input sensors further comprising a first pressure sensor and a second pressure sensor, the input signal of the first pressure sensor being representative of a first fluid pressure at a first side of the steering motor, the input signal of the second pressure sensor being representative of a second fluid pressure at a second side of the steering motor, the controller being configured to: receive the input signals of the first and second pressure sensors; compare the input signals of the first and second pressure sensors; and based on the comparison, determine that the input signals of the first and second pressure sensors do not match one another within a threshold amount.
16 . The control system in accordance with claim 15 , wherein the threshold amount is equal to or less than two hundred pounds per square inch (200 psi).
17 . The control system in accordance with claim 15 , wherein actuating the steering motor to increase the torque applied to one of the first and second drive wheels includes: transmitting a first speed signal to the steering motor, the first speed signal actuating the steering motor in a first direction configured to steer the agricultural machine in a direction opposite the angular velocity indicated by the input signal of the yaw sensor; and determining, based on the input signal of the yaw sensor, that the angular velocity of agricultural machine has changed and is about zero; and based on the determination of about zero angular velocity, transmitting a stop signal to the steering motor, returning the steering motor to an unactuated state.
18 . The control system in accordance with claim 1 , wherein the agricultural machine further includes a propel motor configured to drive the first and second drive wheels, the one or more input sensors comprising: a yaw sensor, and a steering angle sensor, the input signal of the yaw sensor being representative of an angular velocity of the agricultural machine, and the input signal of the steering angle sensor being representative of an angle of the steering mechanism of the agricultural machine; wherein the operation to determine that the agricultural machine is in a crawl condition includes: receiving the input signal of the yaw sensor; receiving the input signal of the steering angle sensor; determining that the input signal of the yaw sensor indicates an angular velocity that does not match an angle of the steering mechanism of the agricultural machine indicated by the input signal of the steering angle sensor.
19 . The control system in accordance with claim 18 , wherein actuating the steering motor to increase the torque applied to one of the first and second drive wheels includes transmitting a speed signal to the steering motor, the speed signal actuating the steering motor in a first direction configured to correct the mismatch between the angular velocity indicated by the input signal of the yaw sensor and the angle of the steering mechanism of the agricultural machine indicated by the input signal of the steering angle sensor.
20 . The control system in accordance with claim 19 , the controller configured to: monitor the input signal of the yaw sensor and the input signal of the steering angle sensor; determine that the angular velocity indicated by the input signal of the yaw sensor and the angle of the steering mechanism of the agricultural machine indicated by the input signal of the steering angle sensor match; and based on the determination, transmit a stop signal to the steering motor, returning the steering motor to an unactuated state.

Description

CROSS-REFERENCE TO RELATED APPLICATION This application claims the benefit of the filing date of U.S. Provisional Patent Application 63/717,315, filed on Nov. 7, 2024, the entire disclosure of which is incorporated herein by reference. BACKGROUND The present disclosure relates to control systems and methods for controlling operation of agricultural machines, such as self-propelled windrowers. Some situations may occur where the agricultural machine cannot fully climb a hill with the gradeability capability of the drive system. Additionally, the agricultural machine may become stuck in a rut and may need some extra ground drive torque to get out of the stuck condition. Furthermore, in some cases, the agricultural machine may be driven on uneven and sometimes muddy surfaces. This may cause one or more of the drive wheels to become stuck and slip, which can cause the agricultural machine to pivot around the stuck wheel. BRIEF DESCRIPTION This brief description is provided to introduce a selection of concepts in a simplified form that are further described in the detailed description below. This brief description is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Other aspects and advantages of the present disclosure will be apparent from the following detailed description of the embodiments and the accompanying figures. In one aspect, a control system for an agricultural machine is provided. The agricultural machine includes a harvesting component, a differential axle assembly, a steering mechanism, first and second drive wheels, and a steering motor coupled to the differential axle assembly and configured to increase torque applied to one of the first and second drive wheels while simultaneously decreasing torque applied to the other of the first and second drive wheels. The control system includes a status sensor configured to interface with the harvesting component and generate a status signal representative of an operational status of the harvesting component. The control system also includes a GPS sensor coupled to the agricultural machine and configured to generate a GPS signal representative of a ground speed of the agricultural machine. Furthermore, the control system includes one or more input sensors. Each input sensor is configured to generate an input signal. The control system also includes a controller communicatively coupled to the status sensor, the GPS sensor, and the one or more input sensors. The controller is configured to receive the GPS signal from the GPS sensor, and, based on the GPS signal, determine that the ground speed of the agricultural machine is below a pre-determined threshold ground speed value. The controller is also configured to receive the status signal from the status sensor, and, based on the status signal, determine that the harvesting component is operating in an operating mode. Additionally, the controller is configured to receive the one or more input signals from the one or more input sensors, and, based on the input signals, determine that the agricultural machine is in a crawl condition. Moreover, the controller is configured to initiate a crawl mode corresponding to the crawl condition based on the crawl condition determination. Initiating the crawl mode includes actuating the steering motor to increase the torque applied to one of the first and second drive wheels. A variety of additional aspects will be set forth in the detailed description that follows. These aspects can relate to individual features and to combinations of features. Advantages of these and other aspects will become more apparent to those skilled in the art from the following description of the exemplary embodiments which have been shown and described by way of illustration. As will be realized, the present aspects described herein may be capable of other and different aspects, and their details are capable of modification in various respects. Accordingly, the figures and description are to be regarded as illustrative in nature and not as restrictive. BRIEF DESCRIPTION OF THE DRAWINGS The figures described below depict various aspects of systems and methods disclosed therein. It should be understood that each figure depicts an embodiment of a particular aspect of the disclosed systems and methods, and that each of the figures is intended to accord with a possible embodiment thereof. Further, wherever possible, the following description refers to the reference numerals included in the following figures, in which features depicted in multiple figures are designated with consistent reference numerals. FIG. 1A is a perspective view of an agricultural machine constructed in accordance with an embodiment of the invention; FIG. 1B is a front plan view of the agricultural machine of FIG. 1A, with the harvesting component removed for clarity; FIG. 2 is a schematic diagram of a contr