Systems and methods for controlling speed of an agricultural machine

Patent metadata

Field	Value
Publication number	US-2025331443-A1
Application number	US-202418645716-A
Country	US
Kind code	A1
Filing date	Apr 25, 2024
Priority date	Apr 25, 2024
Publication date	Oct 30, 2025
Grant date	—

Abstract

One or more techniques and systems are disclosed for controlling a speed of an agricultural machine may comprise determining a mass of a vehicle system of the agricultural machine. The vehicle system may comprise the agricultural machine and one or more of a container and an implement operably connected to the agricultural machine. A controller may calculate a stopping distance of the agricultural machine based on a braking capacity for the agricultural machine and using one or more of a determined dynamically changing mass of the agricultural machine and the dynamically changing brake load of the implement. A maximum speed for the agricultural machine may be determined based on the calculated stopping distance and the speed of the agricultural machine, which may be controlled to be below the maximum speed.

First claim

What is claimed is:

1 . A computerized system for controlling a speed of an agricultural machine, the computerized system comprising:
a vehicle system comprising:
the agricultural machine configured to perform an agricultural field operation; and
one or more of a container and an implement operably connected to the agricultural machine;
a controller configured to:
determine a mass of the vehicle system at a point in time, wherein the container comprises the mass that dynamically changes, wherein the implement comprises a draft load that dynamically changes;
calculate a stopping distance of the agricultural machine based on one or more of a braking capacity for the agricultural machine using the determined mass of the vehicle system and the draft load of the implement;
determine a maximum speed for the agricultural machine based on the calculated stopping distance; and
control the speed of the agricultural machine to be below the maximum speed and/or to provide a recommended speed to an operator.

2 . The computerized system of claim 1 , wherein the agricultural machine is one or more of a tractor, a harvester, a combine, a sprayer, an air seeder, and a planter; and
wherein the container is one or more of a grain cart, a grain tank, a grain wagon, a tank, a commodity cart, a commodity tank, an onboard container, and a fuel tank.

3 . The computerized system of claim 1 , wherein the container is configured to receive harvested crop from the agricultural machine and transport the harvested crop during the agricultural field operation.

4 . The computerized system of claim 1 , wherein the stopping distance comprises a pre-programmed stopping distance based on the agricultural field operation being performed.

5 . The computerized system of claim 1 , wherein the mass comprises a weight, the weight being a combination of the agricultural machine and the container, the container comprising contents of the container.

6 . The computerized system of claim 5 , wherein the weight of the contents comprises a measured volume of the container and a density of the contents.

7 . The computerized system of claim 1 , wherein the stopping distance comprises calculating an effective stopping distance.

8 . The computerized system of claim 1 , wherein the controller is configured to adjust a maximum speed for the agricultural machine in response to a change in the determined mass of the vehicle system.

9 . The computerized system of claim 1 , further comprising a perception system comprising at least one sensor with perception data, the perception data dynamically changing based on environment.

10 . The computerized system of claim 1 , wherein the implement comprises a ground engaging position and a non-ground engaging position, the controller configured to adjust a maximum speed for the agricultural machine in response to a change in a position of the implement;
wherein the controller configured to adjust the maximum speed to be a faster speed when the implement is in the ground engaging position; and aiding in stopping the agricultural machine.

11 . The computerized system of claim 1 , wherein the dynamically changing mass changes at a faster speed and a slower speed, wherein the controller is configured to use a base weight of the vehicle system as the determined mass, wherein the base weight is one of a user defined value, a factory defined value, or a value received at a start-up of the agricultural machine when the dynamically changing mass changes at a slower speed.

12 . The computerized system of claim 1 , wherein the stopping distance of the agricultural machine is further based on one or more conditions of a terrain.

13 . The computerized system of claim 1 , wherein the stopping distance of the agricultural machine further based on one or more conditions of one or more components of the vehicle system.

14 . The computerized system of claim 1 , wherein the maximum speed for the agricultural machine is based on one or more harvesting tasks being performed.

15 . The computerized system of claim 1 , wherein the controller is configured to provide an alert to an operator that the controlled speed of the agricultural machine is approaching the maximum speed, wherein the alert may be one or more of an audible alert and a visual indicator.

16 . The computerized system of claim 1 , wherein the agricultural machine is an autonomous vehicle.

17 . A system for controlling a speed of an autonomous agricultural machine, the system comprising:
a vehicle system configured to perform an agricultural operation in a field, the vehicle system comprising the autonomous agricultural machine and a container operably connected to the autonomous agricultural machine; a controller configured to:
receive at least one or more dynamically changing inputs from the vehicle system;
calculate a stopping distance of the autonomous agricultural machine based on a braking capacity for the agricultural machine using the one or more dynamically changing inputs from the vehicle system;
determine a maximum speed for the autonomous agricultural machine based on the calculated stopping distance; and
control the speed of the autonomous agricultural machine to be below the maximum speed.

18 . The system of claim 17 , wherein the at least one or more dynamically changing inputs is a dynamically changing weight, the dynamically changing weight comprising a combination of the agricultural machine, the container, and contents of the container;
wherein the agricultural machine is one or more of a tractor, a harvester, a combine, a sprayer, an air seeder, and a planter; and wherein the container is one or more of a grain cart, a grain wagon, a grain tank, a tank, a commodity cart, a commodity tank, an onboard container, and a fuel tank.

19 . The system of claim 18 , wherein the autonomous vehicle system comprises an implement operably connected to the agricultural machine, the implement having a ground engaging position and a non-ground engaging position;
wherein the at least one or more dynamically changing inputs is a dynamically changing draft load for the implement; wherein the controller is configured to:
adjust the maximum speed for the agricultural machine in response to a change in a position of the implement;
adjust the maximum speed to be a faster speed when the implement is in the ground engaging position and a slower speed when the implement is the non-ground engaging position; and
aiding in stopping the agricultural machine.

20 . A computerized system for controlling a speed of an autonomous agricultural machine, the system comprising:
a vehicle system comprising:
the autonomous agricultural machine configured to perform an agricultural field operation; and
one or more of a container and an implement operably connected to the agricultural machine;
a controller configured to:
determine one or more of a mass of the vehicle system at a point in time and a draft load of the vehicle system at a point in time, wherein the mass dynamically changes for the container or determine, wherein the draft load dynamically changes for the implement;
calculate a stopping distance of the autonomous agricultural machine based on a braking capacity for the autonomous agricultural machine using the determined mass of the vehicle system and contents of the container;
determine a maximum speed for the autonomous agricultural machine based on the calculated stopping distance;
control the speed of the autonomous

Assignees

• Deere & Co

Inventors

• Wonderlich Grant J

Classifications

• A01B76/00 Primary

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

• A01D69/10 Primary

  Brakes · CPC title