US-20260125056-A1 - SYSTEMS AND METHODS FOR GROUND TRAVEL SPEED CONTROL

US20260125056A1US 20260125056 A1US20260125056 A1US 20260125056A1US-20260125056-A1

Abstract

A ground control system for controlling a wheel speed and a ground travel speed of an agricultural machine. A user selected wheel slip aggressiveness level can provide a predetermined threshold for wheel slip. The actual ground travel speed and current wheel speed can be used to determine wheel slip. If the wheel slip does not exceed the predetermined threshold, a wheel speed command can be modified to increase wheel speed. However, if the slip exceeds the predetermined slip threshold, the ground speed control system may seek to maintain the current wheel speed. Optionally, if the wheel slip exceeds the predetermined threshold and another threshold associated with spinout prevention, the ground speed control system can modify a wheel speed command(s) for decreasing wheel speed. Changes to the wheel speed command can also be temporarily disabled, including in response to a determination that the machine is currently underpowered or performing certain tasks or maneuvers.

Inventors

SHANE M. BODEN
William J. Vande Haar
Alex J. IRLBECK
Sean McFadden

Assignees

DEERE & COMPANY
IOWA STATE UNIVERSITY RESEARCH FOUNDATION, INC.

Dates

Publication Date: 20260507
Application Date: 20241106

Claims (20)

1 . A system for controlling a wheel speed and a ground travel speed of an agricultural machine, the system comprising: a ground speed sensor configured to provide information for a determination of an actual ground travel speed of the agricultural machine; a wheel speed sensor configured to provide information for a determination of a current wheel speed of a ground engagement body of the agricultural machine; at least one processor; and a memory coupled to the at least one processor, the memory including instructions that when executed by the at least one processor cause the at least one processor to: receive a signal indicative of a selected first predetermined threshold for a wheel slip of the ground engagement body; determine, using at least the actual ground travel speed and the current wheel speed, a current wheel slip, the determination of the current wheel slip being at least periodically updated to reflect a change in at least either or both the current wheel speed and the actual ground travel speed; generate, if the current wheel slip does not exceed the selected first predetermined threshold for the wheel slip, a first wheel speed signal to increase the current wheel speed, the increase being based at least in part on an attempt to increase the ground travel speed to attain a preselected speed setpoint; and generate, if the current wheel slip does exceed the first predetermined threshold, a second wheel speed signal to not modify the current wheel speed.
2 . The system of claim 1 , wherein the memory further includes instructions that when executed by the at least one processor cause the at least one processor to: identify, based on the selected first predetermined threshold, a second predetermined threshold, the second predetermined threshold corresponding to a higher degree of wheel slip than the first predetermined threshold; and generate, if the current wheel slip exceeds both the selected first predetermined threshold and the second predetermined threshold, a third wheel speed signal to reduce the current wheel speed.
3 . The system of claim 2 , wherein the memory further includes instructions that when executed by the at least one processor cause the at least one processor to: identify, when the current wheel slip no longer exceeds the second predetermined threshold; generate, in response to the current wheel slip no longer exceeding the second predetermined threshold, a fourth wheel speed signal to either increase or maintain the current wheel speed.
4 . The system of claim 1 , wherein the memory further includes instructions that when executed by the at least one processor cause the at least one processor to: detect a state of one or more components or systems of the agricultural machine; and suspend, at least temporarily and in response to the state of the one or more components or systems, generation of the first wheel speed signal.
5 . The system of claim 4 , wherein the state of one or more components or systems of the agricultural machine comprises at least one of: a shift in a transmission gear or ratio of the agricultural machine; a stoppage in a travel of the agricultural machine; a direction of the travel of the agricultural machine; and a position of a clutch or a throttle of the agricultural machine.
6 . The system of claim 1 , wherein the memory further includes instructions that when executed by the at least one processor cause the at least one processor to: identify a movement of the agricultural machine that satisfies one or more predetermined criteria; and generate, if the movement of the agricultural machine satisfies the one or more predetermined criteria, a third wheel speed signal to maintain the current wheel speed.
7 . The system of claim 6 , wherein the movement is a turn, and wherein the one or more predetermined criteria comprise a range of a curvature of the turn.
8 . The system of claim 1 , wherein the memory further includes instructions that when executed by the at least one processor cause the at least one processor to: identify a current engine load at speed of the agricultural machine; and generate, if current engine load at speed satisfies a predetermined criteria, a third wheel speed signal to maintain the current wheel speed.
9 . The system of claim 8 , wherein the memory further includes instructions that when executed by the at least one processor cause the at least one processor to: generate, in response to the predetermined criteria being satisfied, a signal to a user interface of the agricultural machine that indicates the agricultural machine is being operated in an underpowered condition.
10 . The system of claim 1 , wherein the signal indicative of the selected first predetermined threshold is based at least in part on a selection of a slip aggressiveness level by an operator of the agricultural machine, the slip aggressiveness level being selected from a plurality of slip aggressiveness levels, the first predetermined threshold being different for each of the plurality of slip aggressiveness levels.
11 . A method for controlling a wheel speed and a ground travel speed of an agricultural machine, the method comprising: receiving a signal indicative of a selected first predetermined threshold for a wheel slip of a ground engagement body of the agricultural machine; determining, using at least an actual ground travel speed and a current wheel speed, a current wheel slip of an engagement body of the agricultural machine, the determined current wheel slip being at least periodically updated to reflect a change in at least either or both the current wheel speed and the actual ground travel speed; generating, if the current wheel slip does not exceed the selected first predetermined threshold, a first wheel speed signal for an increase in the current wheel speed, the increase being based at least in part on an attempt for the actual ground travel speed to attain a preselected speed setpoint; and generating, if the current wheel slip does exceed the first predetermined threshold, a second wheel speed signal to not modify the current wheel speed.
12 . The method of claim 11 , further comprising: identifying, based on the selected first predetermined threshold, a second predetermined threshold, the second predetermined threshold corresponding to a higher degree of wheel slip than the first predetermined threshold; and generating, if the current wheel slip exceeds both the selected first predetermined threshold and the second predetermined threshold, a third wheel speed signal to reduce the current wheel speed.
13 . The method of claim 12 , further comprising: identifying, when the current wheel slip no longer exceeds the second predetermined threshold; generating, in response to the current wheel slip no longer exceeding the second predetermined threshold, a fourth wheel speed signal to either increase or maintain the current wheel speed.
14 . The method of claim 11 , further comprising: detecting a state of one or more components or systems of the agricultural machine; and suspending, at least temporarily and in response to the state of the one or more components or systems, generation of the first wheel speed signal.
15 . The method of claim 14 , wherein the state of one or more components or systems of the agricultural machine comprises at least one of: a shift in a transmission gear or ratio of the agricultural machine; a stoppage in a travel of the agricultural machine; a direction of the travel of the agricultural machine; and a position of a clutch or a throttle of the agricultural machine.
16 . The method of claim 11 , further comprising: identifying a movement of the agricultural machine as satisfying one or more predetermined criteria; and generating, if the movement of the agricultural machine satisfies the one or more predetermined criteria, a third wheel speed signal to maintain the current wheel speed.
17 . The method of claim 16 , wherein the movement is a turn, and wherein the one or more predetermined criteria comprise a range of a curvature of the turn.
18 . The method of claim 11 , further comprising: identifying a current engine load at speed of the agricultural machine; and generating, if current engine load at speed satisfies a predetermined criteria, a third wheel speed signal to maintain the current wheel speed.
19 . The method of claim 18 , further comprising: generating, in response to the predetermined criteria being satisfied, a signal to a user interface of the agricultural machine indicating the agricultural machine is being operated in an underpowered condition.
20 . The method of claim 11 , wherein receiving the signal indicative of the selected first predetermined threshold comprises receiving a selection of a slip aggressiveness level by an operator of the agricultural machine, the slip aggressiveness level being selected from a plurality of slip aggressiveness levels, the first predetermined threshold being different for each of the plurality of slip aggressiveness levels.

Description

FIELD OF THE DISCLOSURE The present disclosure generally relates to ground travel speed control for agricultural vehicles, and, more specifically, to controlling ground and wheel speeds in response to variances in field dynamics. BACKGROUND Agricultural vehicles, including construction vehicles and equipment, as well as combinations thereof, can be used to perform different agricultural and industrial tasks. For example, one or more agricultural vehicles can provide, or be part of, agricultural machines, including, but not limited to harvesters and windrowers, that can be utilized to plant crops, harvest crops, bale or otherwise collect crops, and spray or distribute crop inputs, such as, for example, fertilizer or chemicals, over a field or plants within a field. SUMMARY The present disclosure may comprise one or more of the following features and combinations thereof. In one embodiment of the present disclosure, a system is provided for controlling a wheel speed and a ground travel speed of an agricultural machine. The system can include a ground speed sensor configured to provide information for a determination of an actual ground travel speed of the agricultural machine and a wheel speed sensor configured to provide information for a determination of a current wheel speed of a ground engagement body of the agricultural machine. The system can also include at least one processor and a memory coupled to the at least one processor. The memory can include instructions that when executed by the at least one processor cause the at least one processor to receive a signal indicative of a selected first predetermined threshold for a wheel slip of the ground engagement body, and determine, using at least the actual ground travel speed and the current wheel speed, the current wheel slip. Further, the determination of the current wheel slip can be at least periodically updated to reflect a change in at least either or both the wheel speed and the actual ground travel speed. The memory can also include instructions that when executed by the at least one processor can cause the at least one processor to generate, if the current wheel slip does not exceed the selected first predetermined threshold for the wheel slip, a first wheel speed signal to increase the current wheel speed, the increase being based at least in part on an attempt to increase the current ground travel speed to attain a preselected speed setpoint. Additionally, the memory can include instructions that when executed by the at least one processor cause the at least one processor to generate, if the current wheel slip does exceed the first predetermined threshold, a second wheel speed signal to not modify the wheel speed. In another embodiment of the present disclosure, a method is provided for controlling a wheel speed and a ground travel speed of an agricultural machine. The method can include receiving a signal indicative of a selected first predetermined threshold for a wheel slip of a ground engagement body of the agricultural machine, and determining, using at least an actual ground travel speed and a current wheel speed, a current wheel slip of an engagement body of the agricultural machine. The determined current wheel slip can be at least periodically updated to reflect a change in at least either or both the current wheel speed and the actual ground travel speed. If the current wheel slip does not exceed the selected first predetermined threshold, a first wheel speed signal can be generated to increase the current wheel speed, the increase being based at least in part on an attempt for the actual ground travel speed to attain a preselected speed setpoint. Additionally, if the current wheel slip does exceed the first predetermined threshold, a second wheel speed signal can be generated to not modify the current wheel speed. These and other features of the present disclosure will become more apparent from the following description of the illustrative embodiments. BRIEF DESCRIPTION OF THE DRAWINGS The disclosure contained herein is illustrated by way of example and not by way of limitation in the accompanying figures. For simplicity and clarity of illustration, elements illustrated in the figures are not necessarily drawn to scale. For example, the dimensions of some elements may be exaggerated relative to other elements for clarity. Further, where considered appropriate, reference labels have been repeated among the figures to indicate corresponding or analogous elements. FIG. 1 illustrates a representative agricultural machine having an agricultural vehicle coupled to an agricultural implement. FIG. 2 illustrates a simplified block diagram of an exemplary ground speed control system for controlling a ground travel speed and a wheel speed of an agricultural vehicle. FIG. 3 illustrates a simplified exemplary representation of a method involving control logic for a ground speed control system in connection with controlling a ground travel speed