System and method for controlling operation of a work vehicle towing an agricultural implement

Patent metadata

Field	Value
Publication number	US-11064645-B2
Application number	US-201816161963-A
Country	US
Kind code	B2
Filing date	Oct 16, 2018
Priority date	Oct 16, 2018
Publication date	Jul 20, 2021
Grant date	Jul 20, 2021

Abstract

A system for controlling work vehicles used for towing agricultural implements across a field includes an implement controller supported on and configured to control an operation of an agricultural implement, and at least one sensor communicatively coupled to the implement controller. The sensor(s) is configured to provide an indication of a location of the agricultural implement within the field. The implement controller is configured to: access a field map; anticipate a change in loading of one or more of the ground-engaging tools of the implement based on the location of the implement relative to the field map; and transmit a request instructing a vehicle controller of a work vehicle towing the agricultural implement to initiate a control action associated with adjusting at least one vehicle-related operational parameter to accommodate the anticipated change.

First claim

What is claimed is:

1. A method for controlling work vehicles used for towing agricultural implements through a field; the method comprising:
controlling, with one or more processor-based computing devices supported on an agricultural implement, an operation of the agricultural implement such that a plurality of ground-penetrating tools of the agricultural implement penetrate into soil within a field to perform an agricultural operation;
receiving, with the one or more processor-based computing devices, sensor data from at least one location sensor that is indicative of a location of the agricultural implement within the field;
accessing, with the one or more processor-based computing devices, a prescription map for the field that prescribes target penetration depths for one or more of the plurality of ground-penetrating tools at a plurality of different locations across the field;
anticipating, with the one or more processor-based computing devices, a change in loading indicative of forces exerted on one or more of the plurality of ground-penetrating tools of the agricultural implement by the soil within the field as the one or more of the plurality of ground-penetrating tools are pulled through the soil based on the location of the implement relative to the prescription map; and
transmitting, with the one or more processor-based computing devices, a request instructing that a vehicle controller supported on a work vehicle towing the agricultural implement to initiate a control action associated with adjusting at least one vehicle-related operational parameter to accommodate the anticipated change in loading of the one or more of the plurality of ground-penetrating tools of the agricultural implement.

2. The method of claim 1 , further comprising receiving, with the one or more processor-based computing devices, sensor data from at least one load sensor indicative of a load exerted on the agricultural implement by the soil within the field.

3. The method of claim 1 , wherein anticipating the change in loading of the one or more of the plurality of ground-penetrating tools of the agricultural implement comprises anticipating whether the change in loading will increase or decrease based on upcoming change in the penetrations depth of the one or more of the plurality of ground-penetrating tools of the agricultural implement as defined by the prescription map.

4. The method of claim 1 , wherein the at least one vehicle-related operational parameter comprises at least one of an engine speed, a throttle position, or a gear selection of the work vehicle.

5. The method of claim 4 , further comprising modifying, with the vehicle controller, at least one of the engine speed, the throttle position, or the gear selection in response to receiving the request to initiate the control action.

6. The method of claim 5 , wherein modifying the at least one of the engine speed, the throttle position, or the gear selection of the work vehicle further comprises decreasing the engine speed when the anticipated change in loading of the one or more of the plurality of ground-penetrating tools exceeds a desired loading threshold.

7. The method of claim 5 , wherein modifying the at least one of the engine speed, the throttle position, or the gear selection of the work vehicle further comprises at least one of increasing the engine speed when the anticipated change in loading of the one or more of the plurality of ground-penetrating tools is below the desired loading threshold, changing gears of an engine of the work vehicle to a higher gear when the anticipated change in loading of the one or more of the plurality of ground-penetrating tools is below the desired loading threshold, or changing the throttle position of the engine of the work vehicle when the anticipated change in loading of the one or more of the plurality of ground-penetrating tools is below the desired loading threshold.

8. The method of claim 5 , wherein modifying at least one of the engine speed, the throttle position, or the gear selection of the work vehicle further comprises changing gears of an engine of the work vehicle to a lower gear when the anticipated change in loading of the one or more of the plurality of ground-penetrating tools exceeds the desired loading threshold.

9. The method of claim 1 , wherein the anticipated change in loading is associated with an anticipated change in draft loading for the agricultural implement based on the upcoming change in the penetration depth as defined by the prescription map.

10. A system for controlling work vehicles used for towing agricultural implements through a field, the system comprising:
an agricultural implement comprising a frame and a plurality of ground-penetrating tools supported by the frame, the plurality of ground-penetrating tools being configured to penetrate into soil within the field;
an implement controller supported on the agricultural implement and being configured to control an operation of the agricultural implement, the implement controller being configured to access a prescription map for the field that prescribes target penetration depths for one or more of the plurality of ground-penetrating tools at a plurality of different locations across the field; and
at least one sensor communicatively coupled to the implement controller, the at least one sensor configured to provide an indication of a location of the agricultural implement within the field,
wherein the implement controller is configured to:
anticipate a change in loading of the one or more of the plurality of ground-penetrating tools of the agricultural implement based on the location of the agricultural implement relative to the prescription map; and
transmit a request instructing that a vehicle controller supported on a work vehicle towing the agricultural implement initiate a control action associated with adjusting at least one vehicle-related operational parameter to accommodate the anticipated change in loading of the one or more of the plurality of ground-penetrating Jools of the agricultural implement.

11. The system of claim 10 , wherein the implement controller is configured to anticipate the change in loading of the one or more of the plurality of ground-penetrating tools of the agricultural implement by anticipating whether the change in loading will increase or decrease based on an upcoming change in the penetration depth of the one or more of the plurality of ground-penetrating tools of the agricultural implement as defined by the prescription map.

12. The system of claim 10 , wherein the anticipated change in loading is associated with an anticipated change in draft loading for the agricultural implement based on the upcoming change in the penetration depth as defined by the prescription map.

13. The system of claim 10 , wherein the at least one vehicle-related operational parameter comprises at least one of an engine speed, a throttle position, or a gear selection of the work vehicle.

14. The system of claim 13 , wherein, in response to receiving the request from the implement controller, the vehicle controller is configured to execute the control action by modifying at least one of the engine speed, the throttle position, or the gear selection.

15. The system of claim 14 , wherein, when modifying the at least one of the engine speed, the throttle position, or the gear selection of the work vehicle, the vehicle controller is further configured to decrease the engine speed when the anticipated change in loading of the one or more of the plurality of ground-penetrating tools exceeds a desired loading threshold.

1

Assignees

• Cnh Ind America Llc

Inventors

• Shearer Scott
• Klopfenstein Andrew
• Schroeder Brittany

Classifications

• A01B67/00

  Devices for controlling the tractor motor by resistance of tools · CPC title

• A01B63/111

  regulating working depth of implements · CPC title

• A01B76/00 Primary

  Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00 · CPC title

• B60K26/00

  Arrangement or mounting of propulsion-unit control devices in vehicles · CPC title

• A01B79/00

  Methods for working soil · CPC title