Self-propelled agricultural work machine having a towing mode

Patent metadata

Field	Value
Publication number	US-12396381-B2
Application number	US-202217811348-A
Country	US
Kind code	B2
Filing date	Jul 8, 2022
Priority date	Jul 8, 2021
Publication date	Aug 26, 2025
Grant date	Aug 26, 2025

Abstract

A self-propelled agricultural work machine comprising: an energy source; a ground engaging element configured with a drive train, the ground engaging element further configured to be driven in a normal operating mode by at least one of the energy source and drive train; a carrying frame supported on the ground engaging element; and a control unit in communication with an actuator configured to steer the ground engaging element, the control unit configured to transmit signals so as to specify a steering angle of the ground engaging element and, in the event of a failure of at least one of the energy source or the drive train, the control unit configured to operate in a towing mode in which the control unit controls the actuator based on the signals from a sensor so as to detect the angle between a tow bar of a towing vehicle and the agricultural work machine.

First claim

What is claimed is:

1. A self-propelled agricultural work machine comprising:
an energy source;
a ground engaging traction surface configured with a drive train, the ground engaging traction surface further configured to be driven in a normal operating mode by at least one of the energy source and the drive train;
a carrying frame supported on the ground engaging traction surface;
an actuator to steer the ground engaging traction surface; and
a control unit configured to, in the event of a failure of at least one of the energy source or the drive train, operate in a towing mode and transmit control signals to the actuator, wherein the control signals are based on measurement signals from a sensor indicative of an angle, relative to a vertical axis, between a tow bar of a towing vehicle and the agricultural work machine, the control signals to specify a steering angle of the ground engaging traction surface.

2. The agricultural work machine of claim 1 wherein the energy source of the control unit and of the actuator is provided by a low voltage network of the work machine.

3. The agricultural work machine of claim 1 wherein the ground engaging traction surface is a front steerable ground engaging traction surface, the agricultural machine further comprising a rear driven ground engaging traction surface.

4. The agricultural work machine of claim 1 wherein the ground engaging traction surface is defined by at least one of a wheel assembly or a track assembly.

5. The agricultural work machine of claim 1 wherein the energy source is at least one of a combustion engine or a rechargeable battery associated with the ground engaging traction surface.

6. The agricultural work machine of claim 1 wherein the drive train is at least one of a mechanical, electrical, or hydraulic drive train.

7. The agricultural work machine of claim 1 wherein the control unit can be operated in the normal operating mode to control the actuator automatically or in response to an operator input.

8. The agricultural work machine of claim 1 wherein the ground engaging traction surface is a wheel, and the control unit is configured to initiate the towing mode in response to detection of a failure of the wheel.

9. The agricultural work machine of claim 1 wherein the control unit is configured to determine occurrence of the failure of the at least one of the energy source or the drive train, and wherein the control unit is configured to operate in the towing mode in response to the determination of failure.

10. The agricultural work machine of claim 1 wherein, in the towing mode, the control unit controls the actuator while the agricultural work machine is being towed based on the signals from the sensor received while the agricultural work machine is being towed.

11. The agricultural work machine of claim 1 wherein, in the towing mode, the control unit controls the actuator while the tow bar is coupled to the agricultural work machine based on the signals from the sensor received while the tow bar is coupled to the agricultural work machine.

12. A method for operating an agricultural work machine comprising:
providing an energy source and an associated ground engaging traction surface configured with a drive train;
determining, with a control unit, when a failure of at least one of the energy source or the drive train has occurred; and
initiating, with the control unit, a towed steering mode in response to the determined failure, the towed steering mode comprising:
receiving, with the control unit, a towed steering signal from a sensor which detects an angle, relative to a vertical axis, between a tow bar of a towing vehicle and the agricultural work machine being towed by the towing vehicle;
generating, with the control unit, the towed steering angle of the ground engaging traction surface from the towed steering signal; and
controlling an actuator configured to steer the ground engaging traction surface based on the towed steering angle.

13. The method of claim 12 further comprising providing the energy source of the control unit and of the actuator by a low voltage network of the work machine.

14. The method of claim 12 wherein the ground engaging traction surface is a front steerable ground engaging traction surface.

15. The method of claim 12 wherein the ground engaging traction surface is defined by at least one of a wheel assembly or track assembly.

16. The method of claim 12 wherein the energy source is at least one of a combustion engine or a rechargeable battery associated with the ground engaging traction surface.

17. The method of claim 12 wherein the drive train is at least one of a mechanical, electrical, or hydraulic drive train.

18. The method of claim 12 further comprising operating the control unit in a normal operation mode to control the actuator automatically or in response to an operator input.

Assignees

• Deere & Co

Inventors

• Klein Andre
• De Moraes Boos Felipe
• Kremer Dennis
• Kissel Max

Classifications

• A01B59/042

  having pulling means arranged on the rear part of the tractor · CPC title

• A01B69/008

  automatic · CPC title

• A01B69/004 Primary

  automatic · CPC title

• A01B51/02 Primary

  propelled by a motor · CPC title