Automatic steering with selective engagement of four-wheel steering

Automatic steering and four-wheel steering are configured on an agricultural machine so that when automatic steering is enabled, a control system selectively activates and deactivates four-wheel steering depending on sensed turning or non-turning states of the machine. When automatic steering is enabled, the machine can automatically steer, such as according to a prescription map. In straightaway paths, corresponding to non-turning states, the control system can activate two-wheel steering. However, in the headlands of fields, corresponding to turning states, the control system can activate four-wheel steering. Such turning states can be determined based on the machines location on the map. Alternatively, such turning states can be determined based on sensed turning of the wheels. When an operator takes control of steering, such as by turning the steering wheel, automatic steering can disable, and the control system can activate four-wheel steering, to provide an optimum state for turning in the headlands of fields.

FIELD OF THE INVENTION

The invention relates generally to agricultural product application equipment such as self-propelled sprayers and, in particular, to a steering control system in which a steering controller is configured to activate a two-wheel steering mode when automatic steering mode is enabled and selectively switch to a four-wheel steering mode when the automatic steering mode is enabled and the steering controller determines that a turn of the steering wheels is greater than a threshold.

BACKGROUND OF THE INVENTION

Agricultural machines, such as self-propelled agricultural sprayers, may provide conventional two-wheel steering or four-wheel steering options. In a conventional two-wheel steering configuration, a machine may be steered left or right via two or more wheels in the front, while two or more wheels in the rear of the machine are held in a substantially straight direction with respect to the machine. In a four-wheel steering configuration, the machine may be steered left or right via wheels in the front and rear both turning. For example, to turn left, wheels in the front may turn left while wheels in the rear turn right, and to turn right, wheels in the front may turn right while wheels in the rear turn left.

Agricultural machines may also provide automatic steering in addition to conventional steering. Automatic steering may allow an onboard computer system to control steering of the sprayer according to a predetermined travel plan. Although both four-wheel steering and automatic steering are beneficial, it is typically desirable to deactivate four-wheel steering when automatic steering is enabled. That is because four-wheel steering provides a relatively large steering response for a given steering input, which can make automatic steering more difficult.

At certain times, operators may want to take over manual steering control and disengage automatic steering. When this happens, the operators may want to activate four-wheel steering, such as one when making tight turns in the headlands of fields. However, this can require a lot of control manipulation by the operator to engage and disengage four-wheel steering when switching to manual steering, thereby increasing complexity and susceptibility to error. It is therefore desirable to provide a system which simplifies operation of the machine while eliminating one or more of the foregoing disadvantages.

SUMMARY OF THE INVENTION

Automatic steering and four-wheel steering are configured on an agricultural machine so that when automatic steering is enabled, a control system selectively activates and deactivates four-wheel steering depending on sensed turning or non-turning states of the machine. When automatic steering is enabled, the machine can automatically steer, such as according to a prescription map. In straightaway paths, corresponding to non-turning states, the control system can activate two-wheel steering. However, in the headlands of fields, corresponding to turning states, the control system can activate four-wheel steering. Such turning states can be determined based on the machines location on the map. Alternatively, such turning states can be determined based on sensed turning of the wheels. When an operator takes control of steering, such as by turning the steering wheel, automatic steering can disable, and the control system can activate four-wheel steering, to provide an optimum state for turning in the headlands of fields.

Accordingly, in one aspect of the invention, when automatic steering is enabled, the control system can default to the two-wheel steering mode. For most travel in a straight line, the two-wheel steering mode allows for maintaining a proper course with the least amount of steering correction required by not allowing the machine to be affected by impacts to the non-steering wheels. However, upon sensing entering a turn of sufficient magnitude, such as a turn greater than 30°, the machine can engage the four-wheel steering mode through the turn for optimum turning performance. Then, upon sensing exiting the turn by a sufficient magnitude, the machine can re-engage the two-wheel steering mode to continue the substantially straight operation.

In one aspect, turns of sufficient magnitude can be sensed by one or more turn angle sensors connected to either or both of the turning wheels used for two-wheel steering, or by a gyroscope or compass. In another aspect, turns of sufficient magnitude can be predicted instead of sensed, according to a sensed location on a known prescription map. The magnitude necessary for changing steering modes can include hysteresis to avoid changing too often.

Also, automatic steering and four-wheel steering can be configured to inversely cooperate with one another so that each can be in a ready state, with only one activated at any given time without requiring an operator to manipulate control functions. This can be done by providing automatic steering and four-wheel steering in a ready state and automatically engaging and disengaging based on whether an operator is manually steering. For example, automatic steering can be engaged and four-wheel steering can be disengaged when an operator is not steering through the steering wheel. When the system senses that the steering wheel is being manually turned, then automatic steering can be disengaged and four-wheel steering engaged. This can allow an operator to manually take over steering control, such as when making tight turns in a field's headlands, and use four-wheel steering without requiring the operator to manipulate four-wheel steering controls for each manual turn event.

Specifically then, one aspect of the present invention provides a steering control system for an agricultural machine having front and rear wheels. The steering control system includes: a steering controller configured to control steering in either a two-wheel steering mode in which the front wheels of the agricultural machine are steering wheels or a four-wheel steering mode in which the front and rear wheels of the agricultural machine are steering wheels, in which the steering controller controls the steering in either a manual steering mode in which turning of the steering wheels is controlled by an operator or an automatic steering mode in which turning of the steering wheels is controlled by commands that are automatically generated, in which the steering controller executes a program stored in a non-transient medium to: (a) activate the two-wheel steering mode when the automatic steering mode is enabled; and (b) selectively switch to the four-wheel steering mode when the automatic steering mode is enabled and the steering controller determines that a turn of the steering wheels is greater than a threshold.

Another aspect of the present invention provides an agricultural sprayer including: a chassis supported by front and rear wheels; a sprayer boom extending transversely relative to the chassis; an operator cab supported by the chassis, the operator cab including a steering device for manual steering of the agricultural sprayer by an operator in a manual steering mode; and a steering controller configured to control steering in either a two-wheel steering mode in which the front wheels of the agricultural sprayer are steering wheels or a four-wheel steering mode in which the front and rear wheels of the agricultural sprayer are steering wheels, in which the steering controller controls the steering in either the manual steering mode in which turning of the steering wheels is controlled by the steering wheel or an automatic steering mode in which turning of the steering wheels is controlled by commands that are automatically generated, in which the steering controller executes a program stored in a non-transient medium to: (a) activate the two-wheel steering mode when the automatic steering mode is enabled; and (b) selectively switch to the four-wheel steering mode when the automatic steering mode is enabled and the steering controller determines that a turn of the steering wheels is greater than a threshold.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring now to the drawings and specifically toFIG. 1, aspects of the invention are shown for use with an agricultural machine which could be an agricultural sprayer. The agricultural sprayer is shown here as a self-propelled agricultural sprayer vehicle or self-propelled sprayer10. Although sprayer10is shown as a front-mounted boom self-propelled sprayer, it is understood that self-propelled versions of sprayer10can have either front-mounted or rear-mounted booms, such as those available from CNH Industrial, including the Miller Nitro and Condor Series sprayers and New Holland Guardian Series sprayers.

Still referring toFIG. 1, sprayer10includes a chassis12having a chassis frame14that supports various assemblies, systems, and components. These various assemblies, systems, and components can include an operator cab16, a spray system24, and an engine compartment17housing an engine18and a hydraulic system20, among other things. The hydraulic system20receives power from the engine18and includes at least one hydraulic pump which can be in a hydrostat arrangement for providing hydraulic pressure for operating hydraulic components within the hydraulic system20. For sprayers with hydrostatic drives, hydraulic motors are operably connected to the hydraulic pump(s) for rotating the wheels22, including front wheels22aand22b,and rear wheels22cand22d.In mechanical drive applications, a mechanical transmission receives power from the engine18and delivers power for rotating the wheels22by way of power-transmitting driveline components such as drive shafts, differentials, and other gear sets in portal, drop boxes, or other housings. The spray system24can include storage containers such as rinse tank for storing water or a rinsing solution and a product tank28for storing a volume of product for delivery onto an agricultural field with sprayer10. A product delivery pump can convey product from the product tank28through plumbing components such as interconnected pieces of tubing and through a boom tubing system for release out of spray nozzles that are spaced from each other along the width of boom at mount area30during spraying operations of sprayer10. Groups or banks of multiple adjacent spray nozzles define multiple spray sections of the spray system. Spray sections are defined along the boom and selectively deliver product for release onto an agricultural field at locations corresponding to positions of activated spray sections. The Boom can be connected to chassis12with lift arm assembly32that is configured to move the boom up and down for adjusting the height of application of the product.

The sprayer10can operate in a two-wheel steering mode or a four-wheel steering mode. In the two-wheel steering mode, the front wheels22aand22bcan be steered in the same direction (steering wheels) while the rear wheels22cand22dare locked straight. The two-wheel steering mode can be advantageous for operating at higher speeds and/or rough terrain. However, in the four-wheel steering mode, the front and rear wheels22a,22b,22cand22d,respectively, can all be steered in the same direction together (steering wheels). The four-wheel steering mode can be advantageous for operating at lower speeds and/or tighter turns. As used herein, the phrase “steering wheels” refers to the wheels on the ground supporting the machine which are configured in a mode to turn left or right to correspondingly steer the machine left or right.

The sprayer10can also operate in a manual steering mode or an automatic steering mode. In the manual steering mode, turning of the steering wheels can be controlled by an operator in the cab16using a steering device, such as a conventional steering wheel or joystick. However, in the automatic steering mode, turning of the steering wheels can be controlled by commands that are automatically generated in the steering control system. The automatic steering mode can be advantageous for operating according to a predetermined travel plan on prescription map, such as the prescription map described below with respect toFIG. 2. The sprayer10can operate in either the two-wheel steering mode or the four-wheel steering while in either the manual steering mode or the automatic steering mode.

Referring now toFIG. 2, an exemplar prescription map100containing a predetermined travel plan102on is provided in accordance with an aspect of the invention. A steering control system115of the sprayer10, as will be described more fully with respect toFIG. 3, can store the prescription map100in a non-transient medium. To execute the prescription map100, the sprayer10can be placed in the automatic steering mode. The sprayer10can continuously determine a current location11with respect to the prescription map100using a location sensor154(FIG. 3) which could be part of a Global Positioning System (GPS). The sprayer10can automatically propel at a predetermined speed along the travel plan102, moving straight in straightaway paths104, and making turns in headlands106. In a typical agricultural field, the sprayer10may typically follow the travel plan102in a serpentine route which may align with crop rows in the field. The straightaway paths104may cover reasonably long distances such that two-wheel steering would be more desirable to minimize wobbling and/or vibrations of the sprayer10. On the other hand, the headlands106may require a reasonably tight turning radius “r,” such that four-wheel steering would be more desirable to improve steering response and decrease turning radius of the sprayer10. Accordingly, when the automatic steering mode is enabled, a steering controller124of the sprayer10can activate the two-wheel steering mode, which may be followed in the in the straightaway paths104. Then, still with the automatic steering mode enabled, the steering controller124can activate the four-wheel steering mode when the steering controller124determines that a turn of the steering wheels is greater than a threshold, which may be followed in the headlands106, such as to make tight U-turns. With four-wheel steering enabled, the sprayer10could turn with a radius of approximately 15 feet, for example, whereas with two-wheel steering enabled, the sprayer15might turn with a radius of approximately 21 feet.

Referring now toFIG. 3, a simplified schematic view of a steering control system115for the sprayer10is provided in accordance with an aspect of the invention. A first front wheel22a(labeled “W1”) can be in communication with a second front wheel22b(labeled “W2”), such as via left and right front power-transmitting driveline components130and132(labeled “CV1” and “CV3”), respectively, which may be hydraulically actuated control valves for steering the front wheels. In the automatic steering mode, the steering controller120may be in communication with the left and right front power-transmitting driveline components130and132for steering the first and second front wheels22aand22b,respectively. Similarly, a first rear wheel22c(labeled “W2”) can be in communication with a second rear wheel22d(labeled “W4”), such as via left and right rear power-transmitting driveline components134and136(labeled “CV2” and “CV4”), respectively, which may also be hydraulically actuated control valves for steering the rear wheels. In the automatic steering mode, when selectively switching to the four-wheel steering mode, the steering controller120may be in communication with the left and right rear power-transmitting driveline components134and136, respectively, for steering the first and second front wheels22aand22b,respectively.

A first wheel sensor140(labeled “S1”) can be in communication with a front wheel, such as the first front wheel22a.The first wheel sensor140can be configured to detect a turn angle of the first front wheel22a.Optionally, a second wheel sensor142(labeled “S2”) can in communication with the first rear wheel22c.The second wheel sensor142can be configured to detect a turn angle of the first rear wheel22cfor monitoring four-wheel steering. The first and second wheel sensors140and142, respectively, can be position sensors which permit absolute and/or relative position measurements linearly, angularly and/or with respect to multiple axes. The first and second sensors wheel sensors140and142, respectively, could be, for example, Hall Effect sensors, and could also incorporate compasses and/or gyroscopes. One example of a wheel sensor is described further below with respect toFIG. 5.

Still referring toFIG. 3, the steering control system115can also include a user I/O (Input/Output) device150, such as a touchscreen HMI (Human Machine Interface), a steering device152, a location sensor154, a non-transient storage medium156, and an angle threshold detector158, each in communication with the steering controller120. The user I/O device150can be used to configure the sprayer10, including with respect to manual activation of the two-wheel or four-wheel steering modes and the automatic steering mode. The user I/O device150can also be used to monitor current states of the sprayer10, including with respect to the aforementioned modes, viewing the prescription map100, which may be stored in the non-transient storage medium156, and the like. The steering device152, which could be a conventional steering wheel or joystick, may allow an operator in the cab16to turn the steering wheels in the manual steering mode. A steering device sensor153can be configured with respect to the steering device152to indicate motion of the steering device152to the steering controller120. This can be used, for example, to allow the steering controller120to automatically disable the automatic steering mode when the steering device sensor153indicates motion of the steering device152, such as an operator resuming control of steering the sprayer10. In one aspect, the steering device sensor153could be a Hall effect sensor configured to detect a rotation of a steering wheel, an movement of a joystick, or the like. In another aspect, the steering device sensor153could be a pressure sensor configured to detect a steering fluid pressure change, such as change with respect to an orbital steering control valve. The location sensor154, which could he part of a GPS, can continuously provide a current location11of the sprayer10to the steering controller120, so as to execute the prescription map100. The angle threshold detector158can receive an electrical signal representing a turn angle of the first front wheel22aas detected by the first wheel sensor140. Various aspects of the steering control system115may be integrated into one or more components, and/or with varying levels of software integration, within the scope of the invention.

With additional reference toFIG. 4, the steering controller120can execute a program160stored in the non-transient storage medium156to implement a process170for operation of the steering control system115. In a first decision step172, the steering controller120can determine whether the sprayer10is in the automatic steering mode. The sprayer10can he put in the automatic steering mode, for example, by an operator's selection via the user I/O device150. If the sprayer10is not in the automatic steering mode, then the process170can continue to step174in which the sprayer15is configured in the manual steering mode in which turning of the steering wheels is controlled by the operator via the steering device. Moreover, the sprayer15defaults to the four-wheel steering mode, and remains in the four-wheel steering mode unless changed by an operator's selection via the user I/O device150. The process170can continue in a manual steering loop, in the manual steering mode, defaulting to the four-wheel steering mode unless changed by the operator, while continuously monitoring for selection of the automatic steering mode.

However, if the sprayer10is put in the automatic steering mode, then the process170can continue to step176in which the sprayer15is configured in the automatic steering mode in which turning of the steering wheels is controlled by commands that are automatically generated by the steering controller120. Such commands can be generated, for example, to turn left or right at predetermined speeds, so as to execute the prescription map100along the travel plan102(FIG. 2). In addition, the steering controller120can activate the two-wheel steering mode, so that the sprayer15defaults to the two-wheel steering mode. Then, at a second decision step178, the steering controller120continuously determines whether turns of the steering wheels are greater than a threshold. In one aspect, turns of a sufficient magnitude, exceeding an angle α (FIG. 3), such as 30°, can be sensed by the first wheel sensor140as being greater than the threshold. However, in another aspect, the steering controller120can execute to compare the location of the sprayer10to the prescription map100to determine when a turn of the steering wheels is greater than the threshold. In this aspect, turns of a sufficient magnitude, exceeding the angle α (FIG. 2), can be predicted instead of sensed, such as according to the current location11that, as being greater than the threshold. If the steering controller120determines that a turn of the steering wheels is greater than the threshold (exceeding the angle α), then the process170can continue to step180in which the steering controller120can selectively activate the four-wheel steering mode. The process170can then return to the first decision step172, in a four-wheel steering loop, in the automatic and four-wheel steering modes, while monitoring for continued selection of the automatic steering mode and the turn of the steering wheels being greater than the threshold. However, if at the second decision step178the steering controller120determines that the turn is no longer greater than the threshold, the process170can instead proceed to step182in which the two-wheel steering mode activated by the steering controller120. Moreover, the process170can similarly return to the first decision step172, in a two-wheel steering loop, in the automatic and two-wheel steering modes, while monitoring for continued selection of the automatic steering mode and the turn of the steering wheels not being greater than the threshold. Should the two-wheel steering loop or the four-wheel steering loop be broken by deactivation of the automatic steering mode, the process170can exit to step174and the manual steering loop, defaulting to the four-wheel steering mode, and monitoring for re-activation of the automatic steering mode. Deactivation of the automatic steering mode could occur, for example, based on an operator's selection via the user I/O device150, detection by the steering device sensor153, or the like.

Referring now toFIG. 5, in another aspect of the invention, the steering controller120can provide hysteresis for selectively switching to the four-wheel steering mode to avoid changing too often between the two-wheel and four-wheel steering modes. As illustrated in graph200, the steering controller120, when in the automatic steering mode, can selectively switch from a first state202, corresponding to the two-wheel steering mode, to a second state204, corresponding to the four-wheel steering mode, when the steering controller120-determines that a turn of the steering wheels is greater than the threshold α, such as 30°. However, instead of returning to the first state202, corresponding to the two-wheel steering mode, when the turn is no longer greater than the threshold α, the steering controller120can instead return to the first state202at a different threshold, such as when the turn is no longer greater than a second threshold θ, such as 15°. Preferably, the thresholds (α and θ) are at least 10° apart. As a result, the steering controller120can prevent the steering mode from changing too frequently.

Referring now toFIG. 6, an exemplar wheel sensor210for detecting a turn angle of a wheel22, which could serve for the first wheel sensor140, is provided according to an aspect of the invention. Similar to a Hall Effect sensor, the wheel sensor210may include a first magnetic element212positioned with respect to a wheel22, such as the first front wheel22a,and a second magnetic element214positioned with respect to a supporting structure216proximal to the wheel22. The first magnetic element212produces a magnetic field218, and as the wheel22turns, the strength of the magnetic field218as detected by the second magnetic element214will vary. Accordingly, the second magnetic element214, coupled to an electromagnetic circuit220, may operate as a transducer to provide an electrical signal222with a varying output voltage corresponding to a strength of the magnetic field218and thus the turn angle of the wheel22, which can be compared to the threshold.

Many changes and modifications could be made to the invention without departing from the spirit thereof. The scope of these changes will become apparent from the appended claims.