Towable agricultural implement having automatic steering system

Patent metadata

Field	Value
Publication number	US-9849909-B2
Application number	US-61583009-A
Country	US
Kind code	B2
Filing date	Nov 10, 2009
Priority date	Nov 10, 2009
Publication date	Dec 26, 2017
Grant date	Dec 26, 2017

Abstract

A steering system for a towable implement includes a steering sensor, an implement steering controller, a steering control valve, a steering cylinder, and an implement steering mechanism that steers the implement. The steering sensor measures, directly or indirectly, the angular position of the steerable wheels of the implement. The implement steering controller processes feedback from the steering sensor and with a desired steering angle, outputs a steering control signal that is input to the steering control valve. The steering control valve controls the flow of hydraulic fluid to the steering cylinder, which, in turn, powers the implement steering mechanism to turn the wheels of the implement. The steering system may be operated in various control modes, such as, a transportation steering mode, a corner and 180 turn steering mode, a swath tracking steering mode, crab steering mode, and a manual steering mode, which allows manual control of the steering system.

First claim

We claim:

1. An agricultural implement adapted to be towed by a prime mover, comprising:
an implement frame supported by a pair of inner wheels disposed between a pair of outer wheels and a hitch point for hitching the frame to the prime mover, each inner wheel pivotable about a pivot axis;
said implement frame supports a plurality of spaced apart row units that deposit granular material onto a planting surface;
a steering sensor that measures angular position of the inner wheels relative to their respective pivot axes, and provides a first feedback signal;
a field implement sensor mounted to the frame and operative to provide a field position feedback signal corresponding to the position of the frame;
a steering controller including a microprocessor operatively connected to the steering sensor and the field implement sensor for receiving the first feedback signal and the field position feedback signal and being configured to generate a steering control signal in response thereto; and
a steering device operatively connected to the steering controller and configured to receive the steering control signal therefrom, the steering device turning the inner wheels according to the steering control signal so as to steer the implement frame relative to the prime mover during towing.

2. The implement of claim 1 wherein the steering device includes a hydraulically controlled steering cylinder operative to receive hydraulic fluid and a steering control valve operative to control hydraulic fluid flow to the steering cylinder according to the steering control signal.

3. The implement of claim 2 wherein the steering cylinder includes a rod that is displaced as a function of pressure across the steering cylinder, and wherein the steering sensor includes a cylinder steering sensor associated with the steering cylinder to measure displacement of the rod.

4. The implement of claim 1 wherein the implement frame includes, a steering wheel axle to which the pair of inner wheels are mounted, and wherein the steering sensor includes a rotary steering sensor mounted to measure the angular position of the inner wheels.

5. The implement of claim 1 wherein the field implement sensor includes a towing angle sensor mounted to the frame approximate the hitch point and operative to provide a field position feedback signal.

6. The implement of claim 5 wherein the towing angle sensor is a sensor operative to measure angular displacement.

7. The implement of claim 6 wherein the towing angle sensor is one of rotary position sensor, a linear sensor and an inertial sensor.

8. The implement of claim 1 wherein the field implement sensor includes a GPS receiver mounted to the frame and operative to provide a field position feedback signal.

9. The implement of claim 1 wherein the steering controller is configured to cause movement of the implement frame in one of a plurality of operating modes, wherein the plurality of operating modes include:
a transportation steering mode wherein the steering controller provides control signals to the steering device to cause the steering device to turn the inner wheels so as to follow the prime mover;
a cornering steering mode wherein the steering controller provides control signals to the steering device to cause the steering device to turn the inner wheels in a cornering maneuver at a predefined field position;
a swath tracking steering mode wherein the steering controller provides control signals to the steering device to cause the steering device to turn the inner wheels so as to track predetermined swaths in a farm field; and
a crab steering mode wherein the steering controller provides control signals to the steering device based on steering command signals received from a steering controller of the prime mover.

10. The implement of claim 1 further comprising an operator input control for providing manual control signals to the steering controller.

11. An agricultural implement configured to be towed by a prime mover, comprising:
a steerable implement frame having a pair of outer wheels and an axle between the outer wheels for supporting a pair of steerable wheels;
said implement frame supports a plurality of spaced apart row units that deposit granular material onto a planting surface;
a steering sensor that measures angular position of the inner wheels relative to their respective pivot axes, and provides a first feedback signal;
a field implement sensor mounted to the frame and operative to provide a field position feedback signal corresponding to the position of the implement frame;
a steering device operative to move the steerable wheels so as to steer the implement frame relative to the prime mover during towing; and
a steering controller including a microprocessor operatively connected to the steering sensor and the field implement sensor for receiving the first feedback signal and the field position feedback signal and generating a control signal in response thereto, the steering controller providing the control signals to the steering device to move the steerable wheels selectively according to one of a plurality of operating modes, wherein the operating modes include:
a transportation steering mode wherein the steering controller provides control signals to the steering device to cause the steering device to turn the steerable wheels so as to follow the prime mover;
a cornering steering mode wherein the steering controller provides control signals to the steering device to cause the steering device to turn the steerable wheels in a cornering maneuver at a predefined field position;
a swath tracking steering mode wherein the steering controller provides control signals to the steering device to cause the steering device to turn the steerable wheels so as to track predetermined swaths in a field; and
a crab steering mode wherein the steering controller provides control signals to the steering device based on steering command signals received from a steering controller of the prime mover.

12. The implement of claim 11 wherein the steering device includes a hydraulically controlled steering cylinder operative to receive hydraulic fluid and a steering control valve operative to control hydraulic fluid flow to the steering cylinder according to the control signals.

13. The implement of claim 12 wherein the steering cylinder includes a rod that is displaced as a function of pressure across the steering cylinder, and wherein the steering sensor includes a cylinder steering sensor associated with the steering cylinder to measure displacement of the rod.

14. The implement of claim 11 wherein the steering sensor includes a rotary steering sensor mounted to measure the angular position of the wheels.

15. The implement of claim 11 wherein the field implement sensor includes a towing angle sensor mounted to the implement frame and operative to provide the field position feedback signal.

16. The implement of claim 15 wherein the towing angle sensor is one of rotary position sensor and an inertial sensor.

17. The implement of claim 11 wherein the field implement sensor includes a GPS receiver mounted to the frame and operative to provide the field position feedback signal.

18. An agricultural implement configured to be towed by a prime mover, comprising:
an implement frame supported above a field surface by a set of inner wheels disposed between a set of outer wheels;
said implement frame supports a plurality of spaced apart row units that deposit granular material onto a planting surface;
a steering device operative to auto-po

Assignees

• Wang Guoping
• Wendte Keith
• Johnson Charles
• Prickel Marvin
• Posselius John
• Cnh Ind America Llc

Inventors

• Wang Guoping
• Wendte Keith
• Johnson Charles
• Prickel Marvin
• Posselius John

Classifications

• B62D13/04 Primary

  for individually-pivoted wheels · CPC title

• B62D13/005

  operated from tractor steering system · CPC title

• A01B69/004

  automatic · CPC title