MOBILE MACHINE AND PROCESS

Description

FIELD OF THE INVENTION

[0001] The present invention is concerned with systems and methods for automatically determining the size of a wheel on a combine harvester.BACKGROUND

[0002] It is known to provide a combine harvester (hereafter a "harvester") with systems which can vary the height of an axle. One such arrangement is a body levelling system which maintains the body of the harvester level when working on a slope. Such a system is disclosed US2019315183 A1 and is operative to vary the height of the body relative to an axle. Vehicles driving public roads may be subject to a limit on total height. For example, a height limit of 4m is currently applied in the European Union. To ensure that a harvester can meet this requirement when travelling on a road, it is known to use a body levelling or other axle height adjustment system to lower the axle height so that the total height of the vehicle does not exceed the limit. However, correct positioning of the axle is dependent on wheel size to ensure that body does not contact the wheels. Often harvesters can be fitted with wheels of different sizes as an option. To cater for this, the known axle height adjustment systems require an operator to enter or select the size of wheel fitted to the axel in question. The system will then apply different offsets (or no offset) for axel height adjustment depending on the wheel size data entered or selected. These arrangements work satisfactorily but are subject to the correct wheel size data being entered or selected. In the event that incorrect wheel size data is entered or selected, this could give rise to a potentially dangerous situation.

[0003] Systems capable of determining the size of a wheel of a vehicle using a distance sensor mounted to the vehicle are known from DE 10 2012 215256 A1, DE 10 2009 026845 A1, and CN 209 535 096 U.

[0004] DE 10 2017 218902 A1 and JP 2016 109644 disclose systems and methods capable of evaluating a tread profile of a tyre and / or detecting tyre defects using one or more laser or radar sensors mounted on the vehicle.

[0005] It is an objective of the invention to provide a combine harvester having a system for automatically determining the size of a wheel fitted to the combine harvester for use as an input in a system for adjusting axle height.

[0006] It is a further objective of the invention to provide a method of automatically determining the size of a wheel fitted to a combine harvester for use as an input to an axle height adjustment system.SUMMARY OF THE INVENTION

[0007] In accordance with an aspect of the invention, there is provided a combine harvester according to claim 1. Further optional features of the combine harvester are set out in the claims dependent on claim 1.

[0008] In accordance with another aspect of the invention, there is provided a method of operating a combine harvester according to claim 7. Further optional features of the method are set out in claims dependent on claim 7.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 is a schematic plan view of an embodiment of a combine harvester incorporating a system for automatically determining the radius of a wheel of the combine harvester in accordance with an aspect of the invention; Figure 2 is a perspective view of part of a combine harvester illustrating one possible location of a distance sensor forming part of the system of Figure 1; Figure 3 is a partial view of the combine harvester of Figure 2, illustrating operation of the distance sensor; Figure 4 is a graphic illustration of the distance information obtained by a distance sensor in the system of Figure 1 relative to a tyre tread profile; Figure 5 is a graphic illustration similar to that of Figure 4 but showing how distance information from the distance sensor can be used to determine the size (radius / diameter) of a wheel; and, Figure 6 is a graphic illustration similar to that of Figure 4 but showing how distance information from the distance sensor can be used to monitor tyre wear. DETAILED DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION

[0010] Embodiments of the invention will now be described with reference to the accompanying drawings to enable practice of the invention. Although the invention is described with reference to these specific preferred embodiments, it will be understood that the invention is not limited to these preferred embodiments. But to the contrary, the invention includes numerous alternatives, modifications and equivalents falling within the scope of the appended claims as will become apparent from consideration of the following detailed description.

[0011] Certain embodiments of a combine harvester having a system for determining the radius of a wheel and methods of determining the radius of a wheel on a combine harvester are disclosed that utilise electronic functions to enable the automatic measuring of wheel size

[0012] As illustrated schematically in Figure 1, a harvester 10 in a first embodiment has single wheels 12 on a rear axle 14 and whilst the front axle 16 has dual wheels, with a dual wheel assembly comprising an outer wheel 12a and an inner wheel 12b on either side.

[0013] It should be noted that references hereinafter made to certain directions, such as, for example, "front", "rear", "left" and "right", are made as viewed from the rear of a harvester looking forwardly.

[0014] Figure 1 illustrates schematically an embodiment of system (indicated generally at 20) for measuring / determining the radius of the various wheels of the harvester. It should be appreciated by one having ordinary skill in the art that the wheel radius measuring system 20 illustrated in Figure 1 is merely an illustrative of example and that some embodiments may include different features (e.g., additional or fewer features).

[0015] The wheel radius measuring system 20 comprises a respective distance sensor 22 mounted on the harvester at a known location relative each of the wheels 12 which are to be measured. Each distance sensor 22 is positioned so as to be capable of detecting a distance between the sensor (i.e. a known datum fixed relative to the sensor) and an outer circumferential region of the respective wheel 12. The wheels 12 in this case are fitted with pneumatic tyres 24 which define a tread 24a and the system measures the radius of each wheel at an outer circumferential region of the tyre. The system also comprises an electronic controller or electronic control unit (ECU) 26 and a HMI, indicated schematically at 28. The HMI 28 includes a display screen visible to an operator of the machine and user input means. The display screen may be a touch screen through which the operator is able to provide inputs and / or other user input means may be provided which could be physically separate from the display screen. Note that there may be additional components in some embodiments, including one or more controllers that cooperate to enable functionality of the wheel radius monitoring system 20 and / or additional sensors, or fewer components.

[0016] The distance sensors 22 each provide an input signal to the ECU 26 indicative a detected distance between the sensor and the outer circumferential region of the tyre 24 of its respective wheel. Electronic communications among the various components of the system 20 may be achieved over a controller area network (CAN) bus or via a communications medium using other standard or proprietary communication protocols (e.g., RS 232, etc.). Communication may be achieved over a wired medium, wireless medium, or a combination of wired and wireless media.

[0017] The ECU 26 provides the control logic for wheel measuring functionality. The ECU 26 may be part of a general control system for the machine.

[0018] In one embodiment, the ECU 26 comprises one or more processors, such as processor 30, input / output (I / O) interface(s) (in this embodiment the HMI user interface 28), and memory 32, all coupled to one or more data buses. The memory 32 may include any one or a combination of volatile memory elements (e.g., random-access memory RAM, such as DRAM, and SRAM, etc.) and non-volatile memory elements (e.g., ROM, hard drive, tape, CDROM, etc.). The memory 32 may store a native operating system, one or more native applications, emulation systems, or emulated applications for any of a variety of operating systems and / or emulated hardware platforms, emulated operating systems, etc. In one embodiment, the memory comprises an operating system and wheel radius determining software. It should be appreciated by one having ordinary skill in the art that in some embodiments, additional or fewer software modules (e.g., combined functionality) may be stored in the memory 32 or additional memory. In some embodiments, a separate storage device may be coupled to the data bus, such as a persistent memory (e.g., optical, magnetic, and / or semiconductor memory and associated drives).

[0019] The processor 30 may be embodied as a custom-made or commercially available processor, a central processing unit (CPU) or an auxiliary processor among several processors, a semiconductor based microprocessor (in the form of a microchip), a macro processor, one or more application specific integrated circuits (ASICs), a plurality of suitably configured digital logic gates, and / or other well-known electrical configurations comprising discrete elements both individually and in various combinations to coordinate the overall operation of the controller 26.

[0020] The distance sensors 22 can be of any suitable type as are well known in the art capable of detecting the distance between the sensor and the outer circumferential region of the wheel to a suitable level of accuracy. In embodiments, the distance sensors 22 are ultrasonic or laser distance sensors. In an embodiment, each distance sensor 22 is positioned such that an axis of measurement of the sensor is directed toward the outer circumferential region of its respective wheel 12. In an embodiment, the distance sensors are configured to determine distance information between the sensor and their respective tyre 24 to a precision of at least ± 2mm, or to a precision of at least ± 1mm, or better.

[0021] Each distance sensor 22 is mounted to a body or other structural component of the harvester at a suitable location that is a known distance from the wheel 12 (e.g. a known distance from an axis of rotation of the wheel). In the embodiment illustrated in Figures 2 and 3, a distance sensor 22 for one of the outer front wheels 12a is shown mounted to a gantry 40 which runs above the front wheels. A sensor 22 for the other outer wheel and sensors 22a for the inner front wheels could also be mounted to the gantry 40. However, the sensors can be located on any suitable part of the harvester. The system 20 may optionally be extended to the rear wheels 12 by means of a further sensor 22b for each rear wheel 12.

[0022] The outer circumferential surface region of each tyre 24 is profiled to define a tread 24a which includes a series of raised tread features in the form of lugs 44 arranged in a pattern and separated by grooves 46. This is a typical tread arrangement for tyres on an agricultural mobile machine like a harvester but tread arrangements comprising other types of raised tread features, such as blocks, ribs or the like, separated by grooves are also known. For ease of reference, the term "tread feature" will be used to define any raised feature of a tyre tread including lugs, blocks, ribs and the like, and the term "groove" will be used to define the regions between such tread features.

[0023] With reference to Figure 4, the actual distance measured between a distance sensor 22 and the outer circumferential region 24a of a tyre will depend on where the measurement is taken, with a minimum distance D min being measured at the outer surfaces 44a of the lugs 44 and a maximum distance D max measured at the base 46a of the grooves 46. The wheel radius measuring system 20 is configured to carry out distance measurements to the tyre in two modes: a. an absolute mode in which a minimum distance D min between the sensor and the tyre is measured at the outer surfaces of the tread features; and b. a relative mode in which differences between a minimum distance D min between the sensor and the tyre measured at the outer surfaces of the tread features and a maximum distance D max measured at the bottom of the grooves as the wheel rotates is used to determine the depth of the tread TD.

[0024] Each sensor should be aligned at a known angle relative to the outer circumferential or tread region 24a of its respective tyre 24 which permits the tread depth TD measurement. For example, in one embodiment, each sensor 22 is aligned at 90 degrees to a plane tangential to the outer circumferential surface 24a of the respective tyre in a measurement zone or region. However, other angles are possible and the sensors can be aligned at in the range of 60 to 120 degrees, or at an angle in the range of 80 to 100 degrees, or in a range of 90 to 100 degrees to said plane.

[0025] The distance between the sensor 22 and the tyre 24 is indicative of the radius / diameter of the wheel. This is illustrated in Figure 5 which shows how the distance from a sensor to the outer surface 24a of the tyre 24 varies between that for a larger wheel 24b and a smaller wheel 24c, the profile 24c of the tyre for the smaller wheel being shown above the profile 24b for the larger wheel. In this embodiment, the larger wheel 24b might be an R38 size wheel and the smaller wheel an R32 size wheel. Since the position of the sensor 22 on the mobile machine is known, relative say to the axis of rotation of the wheel, distance information from the sensor 22 can be used to calculate the radius / diameter of the wheel. Typically the radius of the wheel 12 will be determined from the minimum distance D min . However, data obtained in the relative mode of measurement may also be used and / or may be used to confirm correct operation of the system.

[0026] Wheel radius data, and / or other wheel size data which can be determined from the measured wheel radius, is advantageously used as an input to at least one other control system on the mobile machine which requires accurate wheel size data. In accordance with the invention, this includes a system which adjusts the height of an axle to which the wheel is mounted and could be a body levelling system as discussed earlier. The wheel radius data can be provided to the other control system automatically without requiring an input from an operator. In an embodiment, the determined wheel radius may be stored to memory where it can be accessed by any control system on the harvester which requires this data. In an embodiment, rather than using the actual measured wheel radius itself as an input, the system is configured to correlate the measured wheel radius to a standard wheel size and to use the standard wheel size, or data relating thereto, as an input to the other control system. In this regard, the system may compare the measured wheel radius with data relating to a range of standard wheels to determine which standard sized wheel is fitted. Wheel size data for a range of standard wheel sizes expected to be used on the harvester can be stored in the memory, for example in a lookup table. With reference to Figure 5, for example, in a machine that can be fitted with either R32 or R38 size wheels, the controller can determine from the measured wheel radius whether the wheel is an R32 or an R38. The controller may store determined wheel size in memory so that the data can be used as an input to another control system which requires this data. This in effect uses the system for measuring wheel radius to automatically determine the wheel size rather than have the user select the wheel size from a menu option.

[0027] The term "standard wheel size" should be understood as including commercially available wheel / tyre combinations for the mobile machine.

[0028] Where, in accordance with the claimed invention, the harvester has a body levelling or other axel height adjustment system, data from this body levelling / axle height adjustment system may be provided to the controller 26 so that corrections for changes in the relative position of a sensor 22 and its respective wheel caused by the body levelling or other axel height adjustment system can be made when determining the wheel radius. Alternatively, the controller 26 may be configured so that wheel radius measurement is only carried out when the axle levelling / axle height adjustment system is in a known datum configuration or not active.

[0029] For the avoidance of doubt, it should be understood that references herein to a wheel should be considered to include a tyre fitted to the wheel unless the context requires otherwise.

[0030] Use of a distance sensor 22 to measure the radius of a wheel can also be advantageous in providing ground speed data for the harvester. Typically, ground speed is determined using a sensor in the gearbox / drive train of the harvester to detect rotation of a component whose speed of rotation is fixed relative to the speed of rotation of wheels driven from the component.

[0031] From this data, the ground speed is calculated or otherwise derived based on an assumed radius (and hence circumference) of the driven wheels. However, if the radius of the driven wheels is measured using a distance sensor 22, 22a, 22b as described above, the actual measured radius of the driven wheels (or the actual circumference calculated from the measured radius) can be used in place of the assumed radius (assumed circumference) to provide more accurate ground speed data.

[0032] As a tyre wears, the radius of the wheel will reduce. Figure 6 illustrates changes in a typical tread profile as a tyre wears over time, with the minimum distance D min increasing and the tread depth TD decreasing. As the tyre wears, the system 20 is able to detect changes in the wheel radius so that ground speed data accuracy is maintained.

[0033] Where the system determines which of a range of standard wheel sizes is actually fitted, data relating to the dimensions of the standard wheel size may be used instead of the actual measured radius for calculating ground speed. This at least ensures that the ground speed calculation is based on the actual size of wheel fitted to the harvester.

[0034] Where the radius of more than one driven wheel is measured by the system 20, an average of the measured wheel radii may be used for the ground speed calculation. Alternative, wheel radial data from only one of the measured wheels can be used. A measured radius of a non-driven wheel or wheels could alternatively be used provided the non-driven wheel is ostensibly the same size as the driven wheels or an offset used if there is a difference between the sizes of the driven and non-driven wheels. This would be less accurate but may still be acceptable.

[0035] As noted above with reference to Figure 6, the system 20 is capable of detecting tyre wear over time. In an embodiment, the controller 26 is configured to monitor the tyre wear by analysing the minimum distance D min measured in the absolute mode and / or the tread depth TD measured in the relative mode. Typically, the system will be calibrated or set to a zero (i.e. no wear) setting when a new tyre 24 is fitted. This might be achieved by taking initial reference measurements of the minimum distance D min and tread depth TD from the new tyre. The system 20, especially the controller 26, monitors subsequent changes in minimum distance D min and tread depth TD over time to provide data relating to tyre wear and / or condition. In a simple embodiment, the controller 26 is configured to issue a warning that a change of tyre is approaching when the minimum distance D min and / or the trade depth TD reaches a pre-determined value as indicated at A in Figure 6. A further warning may be issued that the tyre must be changed when the minimum distance D min and / or the trade depth TD reaches a second pre-determined value as indicated at B in Figure 6. However, in a more sophisticated embodiment, the controller 26 records data relating to tyre wear over time and is configured to present information regarding the tyre wear status via the HMI, say when requested by an operator input, or which is issued remotely, say via ACM (telemetry), to enable predictive maintenance of the tyres. Information regarding tyre condition status may be forwarded remotely to a dealer, for example. In an embodiment, the controller 26 is configured to map tyre wear over the lifecycle of a tyre by logging the changes in the minimum distance D min and / or tread depth TD.

[0036] In an embodiment, the controller 26 also receives data relating to: ground speed, which may be provided by a speed sensor of the machine; and / or engine use (elapsed engine hours), which may be provided by engine control system of the harvester.

[0037] In an embodiment, the controller 26 is configured to combine the distance information provided from the sensors 22 with the ground speed data and / or the engine usage data to enable the tyre wear to be logged relative to usage of the harvester. It will be appreciated that the system can be configured to record tyre wear data in a range of different ways which can be configured to enable the system to provided tyre wear data in a range of different formats.

[0038] In the embodiment illustrated in Figure 1, a tyre wear sensor 22 is provided for each of the wheels. However, the system 20 could be limited to only one or some of the wheels. For example, the system may be arranged to only measure the radius of one or some of the front wheels.

[0039] It should also be appreciated that the system 20 can be adapted for use on harvesters having single wheels on the front axle.

[0040] Measurements of wheel radius may be carried out by the system on a periodic basis and may be made when the harvester is stationary (in absolute mode at least) or travelling at relatively slow speeds to minimise the effect of tyre deformation / suspension movement. Alternatively, readings from the distance sensors may be averaged over time or otherwise processed to eliminate the effect of tyre deformation and / or suspension movement to provide results that are sufficiently accurate. Furthermore, measurements taken in relative mode can be used to correct for tyre deformation and / or suspension movement.

Claims

1. A combine harvester (10) having an axle (14, 16) to which a wheel (12) is mounted, and a control system arranged for adjusting the height of the axle (14, 16) including at least one controller (26); whereby the combine harvester further comprises a system (20) for determining the radius of the wheel (12), the system (20) for determining the radius of the wheel (12) comprising a distance sensor (22) mounted to the combine harvester, the distance sensor being in communication with the at least one controller (26) and configured to detect distance information relating to a distance between the sensor or a known datum and an outer circumferential surface region of the wheel, the at least one controller (26) configured to receive the distance information from the distance sensor and to determine the radius of the wheel in dependence on the distance information; and the combine harvester being configured such that the data regarding the wheel radius is used as an input to the control system (20) arranged for adjusting the height of the axle (14, 16) to which the wheel (12) is fitted.

2. A combine harvester (10) as claimed in claim 1, wherein the distance sensor (22) is an ultrasonic or a laser sensor.

3. A combine harvester (10) as claimed in claim 1 or claim 2, wherein the distance sensor (22) is mounted to a body or other structural component (40) of the combine harvester at a known distance from the wheel (12); or wherein the distance sensor (22) is mounted to a body or other structural component (40) of the combine harvester at a known distance from an axis of rotation of the wheel; or wherein the distance sensor (22) is mounted to a body or other structural component (40) of the combine harvester at a location which is at a fixed, or at least a known, distance from the wheel.

4. A combine harvester (10) as claimed in any one of claims 1 to 3, wherein the wheel (12) has a tyre (24) and the outer circumferential surface region of the wheel is defined by an outer circumferential surface region (24a) of the tyre, the outer circumferential surface region of the tyre defining a tread comprising a plurality of tread features (44) arranged in a pattern and separated by grooves (46) and wherein the system for determining the radius of the wheel (12) is configured to determine the distance between the sensor (22) and the outer circumferential surface region of the tyre in at least one of the following two measurement modes: a. an absolute mode in which a minimum distance (Dmin) between the sensor (22) and the tyre (24) is measured at outer surfaces (44a) of the tread features (44); and b. a relative mode in which differences between a minimum distance (Dmin) between the sensor (22) and the tyre (12) measured at outer surfaces (44a) of the tread features (44) and a maximum distance (Dmax) measured at a bottom (46a) of the grooves (46) as the wheel rotates is used to determine the depth of the tread (TD).

5. A combine harvester (10) as claimed in claim 4, wherein the system (20) for determining the radius of the wheel is configured to determine the radius of the wheel (12) using the absolute mode.

6. A combine harvester (10) as claimed in any one of claims 1 to 5, wherein the system (20) for determining the radius of the wheel (12) is configured to compare the measured wheel radius with data for a range of standard wheel sizes and to determine which standard wheel size the wheel conforms to.

7. A method of operating a combine harvester having an axle (14, 16) to which a wheel (12) is mounted, and a control system (20) arranged for adjusting the height of the axle (14, 16) including at least one controller (26); the method comprising using a distance sensor (22) mounted to the combine harvester (10) to provide information relating to a distance between the sensor or a known datum and an outer circumferential surface region of the wheel (12) to the at least one controller (26) and using the at least one controller to determine the radius of the wheel in dependence on the distance information, the method further comprising using the determined radius data as an input to the control system (20) arranged for adjusting the height of the axle (14, 16) to which the wheel (12) is fitted.

8. A method as claimed in claim 7, wherein the method comprises mounting the sensor (22) to a body or other structural component (40) of the combine harvester at a known distance from the wheel (12); or wherein the method comprises mounting the sensor (22) to a body or other structural component (40) of the combine harvester at a known distance from an axis of rotation of the wheel (12); or wherein the method comprises mounting the sensor (22) to a body or other structural component (40) of the combine harvester at a location which is at a fixed, or at least a known, distance from the wheel (12).

9. A method as claimed in claim 7 or claim 8, wherein the method comprises comparing the measured wheel radius with data for a range of standard wheel sizes and determining from the comparison which standard wheel size the wheel (12) conforms to.

10. A method as claimed in any one of claims 7 to 9, wherein the wheel (12) has a tyre (24), and the method comprises using the distance sensor to provide information relating to a distance between the sensor or a known datum and an outer circumferential surface region (24a) of the tyre.

11. A method as claimed in claim 10, wherein the outer circumferential surface region (24a) of the tyre defines a tread comprising a plurality of tread features (44) arranged in a pattern and separated by grooves (46), the method comprising determining the distance between the sensor (22) and the outer circumferential surface region of the tyre in at least one of the following two measurement modes: a. an absolute mode in which a minimum distance (Dmin) between the sensor (22) and the tyre (24) is measured at the outer surfaces (44a) of the tread features; and b. a relative mode in which differences between a minimum distance (Dmin) between the sensor (22) and the tyre (24) measured at the outer surfaces (44a) of the tread features (44) and a maximum distance (Dmax) measured at the bottom (46a) of the grooves (46) as the wheel rotates is used to determine the depth of the tread (TD).