Four-wheel steering adjustable to sensitivity of operator controls

Patent metadata

Field	Value
Publication number	US-9550527-B2
Application number	US-201514699002-A
Country	US
Kind code	B2
Filing date	Apr 29, 2015
Priority date	Apr 29, 2015
Publication date	Jan 24, 2017
Grant date	Jan 24, 2017

Abstract

A “dead-band” range may be provided for automatically selecting between two-wheel and four-wheel steering for an agricultural machine. When the machine is being steered minimally within a first band (within the dead-band range), such as in a straightaway path, two-wheel steering may be automatically selected. However, when the machine is being increasingly steered thereby reaching a second band (beyond the dead-band range), four-wheel steering may be automatically selected. An operator may monitor the state of the machine steering via a touchscreen Human Machine Interface (HMI) in the cabin. The operator may also adjust the dead-band range by increasing or decreasing sensitivity via the HMI.

First claim

I claim:

1. A steering control system for an agricultural machine having four wheels, the steering control system comprising:
a first sensor in communication with a first wheel, the first sensor being configured to detect a turn angle of the first wheel;
a second sensor in communication with a second wheel, the second sensor being configured to detect a turn angle of the second wheel, the second wheel being on an end of the agricultural machine opposite the first wheel in a direction of travel; and
a control system operable to:
(a) when a turn angle of the first wheel is determined to be greater than a threshold, adjust a turn angle of the second wheel to minimize an error between the turn angle of the first wheel detected by the first sensor and the turn angle of the second wheel detected by the second sensor; and
(b) when a turn angle of the first wheel is determined to be less than the threshold, keep the second wheel in a substantially strait direction with respect to the agricultural machine.

2. The steering control system of claim 1 , further comprising, when the turn angle of the first wheel is determined to be less than the threshold, the control system being operable to minimize an error between 0° and the turn angle of the second wheel detected by the second sensor to keep the second wheel in the substantially strait direction with respect to the agricultural machine.

3. The steering control system of claim 1 , further comprising a turn angle sensitivity filter in communication with the control system operable to adjust the threshold.

4. The steering control system of claim 3 , further comprising a Human Machine Interface (HMI) for receiving an input operable to configure the turn angle sensitivity filter.

5. The steering control system of claim 1 , wherein the control system includes a closed loop controller configured to provide proportional and integral feedback to minimize the error.

6. The steering control system of claim 5 , wherein the closed loop controller further provides derivative feedback to minimize the error.

7. The steering control system of claim 5 , further comprising a Human Machine Interface (HMI) for receiving an input operable to configure a gain of the closed loop controller.

8. The steering control system of claim 1 , wherein at least one of the first sensor and the second sensor includes a transducer operable to vary an output voltage in response to a magnetic field.

9. The steering control system of claim 1 , wherein the first wheel is on a front end of the agricultural machine and the second wheel is on a rear end of the agricultural machine.

10. The steering control system of claim 9 , wherein the first and second wheels are on a same side of the agricultural machine.

11. A method for steering an agricultural machine having four wheels, the method comprising:
(a) sensing a turn angle of a first wheel using a first sensor;
(b) sensing a turn angle of a second wheel using a second sensor, the second wheel being on an end of the agricultural machine opposite the first wheel in a direction of travel;
(c) adjusting a turn angle of the second wheel to minimize an error between the turn angle of the first wheel detected by the first sensor and the turn angle of the second wheel detected by the second sensor when a turn angle of the first wheel is determined to be greater than a threshold; and
(d) keeping the second wheel in a substantially strait direction with respect to the agricultural machine when a turn angle of the first wheel is determined to be less than the threshold.

12. The method of claim 11 , further comprising adjusting a turn angle of the second wheel to minimize an error between 0° and the turn angle of the second wheel detected by the second sensor when a turn angle of the first wheel is determined to be less than the threshold.

13. The method of claim 11 , further comprising receiving an input operable to adjust the threshold.

14. The method of claim 11 , further comprising receiving an input operable to adjust a gain of a closed loop controller for minimizing the error.

15. An agricultural sprayer comprising:
a sprayer boom extending transversely relative to the agricultural sprayer;
two wheels near a front end of the agricultural sprayer;
two wheels near a rear end of the agricultural sprayer;
a first sensor in communication with a first wheel, the first wheel being one of the two wheels near the front end, the first sensor being configured to detect a turn angle of the first wheel;
a second sensor in communication with a second wheel, the second wheel being one of the two wheels near the rear end and being on a same side of the agricultural sprayer as the first wheel, the second sensor being configured to detect a turn angle of the second wheel; and
a control system operable to:
(a) when a turn angle of the first wheel is determined to be greater than a threshold, adjust a turn angle of the second wheel to minimize an error between the turn angle of the first wheel detected by the first sensor and the turn angle of the second wheel detected by the second sensor; and
(b) when a turn angle of the first wheel is determined to be less than the threshold, keep the second wheel in a substantially strait direction with respect to the agricultural sprayer.

16. The agricultural sprayer of claim 15 , further comprising, when the turn angle of the first wheel is determined to be less than the threshold, the control system being operable to minimize an error between 0° and the turn angle of the second wheel detected by the second sensor to keep the second wheel in the substantially strait direction with respect to the agricultural machine.

17. The agricultural sprayer of claim 15 , further comprising a turn angle sensitivity filter in communication with the control system operable to adjust the threshold.

18. The agricultural sprayer of claim 17 , further comprising a Human Machine Interface (HMI) for receiving an input operable to configure the turn angle sensitivity filter.

19. The agricultural sprayer of claim 15 , wherein the control system includes a closed loop controller configured to provide proportional and integral feedback to minimize the error.

20. The agricultural sprayer of claim 15 , wherein the first and second sensors include transducers operable to vary an output voltage in response to a magnetic field.

Assignees

• Cnh Ind America Llc
• Cnh Ind America Llc

Inventors

• Brooks Nathan

Classifications

• A01B69/00

  Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track · CPC title

• A01C23/00

  Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons · CPC title

• B62D15/025 Primary

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• B62D15/021

  Determination of steering angle · CPC title

• A01C23/008

  Tanks, chassis or related parts · CPC title