Deere & Company

Calin L Raszga

Daryl I Rober

Matthew John Ramler

Mark E Breutzman

Tyler D Bellows

Michael G Kean

Todd F Velde

John M Hageman

John R Mahrenholz

Bryon P Neumann

Adam G Harwood

Henry J Stulen

Justin Sticksel

Nicholas M Goedken

Systems and methods are described for determining an actual pose of an articulating boom arm using an artificial intelligence mechanism (e.g., a neural network) trained to determine the actual pose of the articulating boom arm based on captured image data. In some implementations, an electronic processor is configured to control movement of the articulating boom arm based at least in part on pose information determined by applying the image-based neural network. In some implementations, an electronic processor is configured to train the neural network by using, as training data, captured image data and output signals from sensors indicative of measured positions of the components of the articulating boom arm.

Camera-based boom control

A work vehicle includes a pin connected to a stick boom at a location remote from a hoist boom. The pin has an envelope throughout which the pin is moveable by the hoist boom and the stick boom. A controller can receive a first signal from a hoist boom sensor, receive a second signal from a stick boom sensor, and receive input from a user interface. The controller can inhibit movement of the pin to at least one portion of the envelope, thereby permitting movement throughout a movement envelope, the movement envelope being smaller than the envelope. The controller can operate in a first operation mode when the pin is spaced from a perimeter of the movement envelope and can operate in a second operation mode when the pin is proximate the perimeter of the movement envelope.

Method of controlling movement of an intelligent boom

A work machine has a connecting valve which is positioned fluidly between a hoist actuator and a stick actuator to permit fluid flow between the hoist actuator and the stick actuator when the connecting valve is open. When the connecting valve is closed, fluid flow is inhibited between the hoist actuator and the stick actuator. A controller can receive information from a hoist boom position sensor and a stick boom position sensor, the controller can receive input from a user interface, and the controller can communicate signals to the hoist actuator and the stick actuator based upon the information from the hoist boom position sensor and the stick boom position sensor, and the input from the user interface.

Intelligent boom control with rapid system cycling

A hydraulic boom control system for a forestry machine includes a pump for pressurizing a hydraulic fluid on a high pressure side, a reservoir for storing hydraulic fluid on a low pressure side, and a first hydraulic cylinder including a cap end and a rod end. The first hydraulic cylinder is configured to actuate the hoist of the boom. A second hydraulic cylinder includes a cap end and a rod end and is configured to actuate the stick of the boom. A first control valve is operable to control the first hydraulic cylinder. A second control valve is operable to control the second hydraulic cylinder. A variable return metering valve is fluidly connected to at least one of the first or second control valves. The variable return metering valve is operable to modulate shared hydraulic fluid flow between the first hydraulic cylinder and the second hydraulic cylinder.

Boom control with integrated variable return metering

A hydraulic system for a felling saw head includes a hydraulic motor, operatively coupled to a saw disc of the saw head, a hydraulic variable displacement pump, operatively coupled to the hydraulic motor to supply pressurized fluid to the motor, and a controller configured to control the pump. To provide a target operating speed of the saw disc, the motor is configured to operate at a first displacement corresponding to a first flow rate of hydraulic fluid through the motor During at least a part of a saw recovery operation, the controller controls the pump to operate at a current pump displacement that results in a flow rate of hydraulic fluid through the pump that exceeds the first flow rate through the motor. Saw recovery time may be reduced without overspeeding the saw by including a metered flow control device between the pump and the motor.

Felling saw recovery control

A control system for moving an end effector of a work machine may include sensors for determining current orientations of components of a boom assembly connected to the work machine. A controller may be configured to receive, via an input interface, signals corresponding to a velocity input command for a desired movement of the end effector. The controller may determine, based upon the velocity input command and signals from the sensors, at least one target velocity for one or more actuators for the boom assembly. Commanding the actuators to move with the at least one target velocity may cause the end effector to move with an aggregate velocity corresponding to the desired movement of the end effector, as indicated by the velocity input command.

Velocity-based control of end effector

A tree harvester is disclosed that includes first and second hydraulic pumps for powering a harvesting head of the tree harvester.

Load sense hydraulic pump alignment

A work machine to cut timber including a control system, a felling head, a hydraulic motor configured to adjust the position of the felling head, and a spool valve operatively connected to the hydraulic motor, the spool valve being configured to move the felling head responsively through operation of the hydraulic motor. A machine controller coupled to the operator controller and the spool valve executes stored program instructions to generate a first control signal responsive to an operator control signal provided by the operator controller, generate a second control signal as a function of the generated first control signal, adjust a position of the spool of the spool valve in response to a concurrent receipt of the first control signal and the second control signal by the first proportional control valve and the second proportional control valve to move the felling head through operation of the hydraulic motor.

Electrohydraulic dynamic spool position control for a proportional valve in a work vehicle

A harvester is provided for felling and processing a tree, the harvester including traction devices and a harvester head. The harvester includes an integrated hydraulic system for operating the traction devices and the harvester head. More particularly, the harvester includes an integrated load sense system for operating the traction devices and the harvester head.

Integrated hydraulic system for harvester

The present disclosure provides a control system of a powered machine. The control system includes a hydraulic motor configured to drive a track system of the machine. The motor is operable with a variable displacement. A control valve is fluidly coupled to the motor. In addition, the control system includes a controller and an electro-hydraulic valve disposed in electrical communication with the controller and fluid communication with the control valve. The electro-hydraulic valve receives a signal from the controller, and based on the signal, the electro-hydraulic valve hydraulically varies the start of control pressure of the motor.

Continuously adjustable control management for a hydraulic track system

An intelligent knuckle boom control system is disclosed where hoist and stick cylinders raise and lower main and stick booms, respectively, a base end control valve controls flow to the hoist and stick cylinder base ends, a hoist rod control valve controls flow to the hoist cylinder rod end, and a stick rod control valve controls flow to the stick cylinder rod end. A microprocessor computes control signals to direct flow through the control valves based on operator commands and boom position readings. The system can include an energy storage system for storing excess energy and releasing the stored energy, where the microprocessor directs storage of excess energy and release of stored energy. The energy storage system can include a hydraulic accumulator, an accumulator control valve and hydraulic pressure sensors; where the microprocessor receives pressure sensor readings and computes accumulator control valve control signals.

Intelligent boom control hydraulic system

A pressurized fluid subassembly comprising: (a) a fluid driven actuator configured to utilize fluid at a high pressure to change an overall length of the fluid driven actuator; and, (b) a sequence valve interposing a low pressure line and a supply line conveying the fluid to the fluid driven actuator, the sequence valve including a first sequence configured to inhibit fluid communication between the supply line and the low pressure line when the fluid at the high pressure is actively supplied to the fluid driven actuator, the sequence valve including a second sequence configured to establish fluid communication between the supply line and the low pressure line when the fluid at the high pressure is not actively supplied to the fluid driven actuator, wherein the sequence valve includes a variable bias that changes depending upon whether the fluid at the high pressure is actively supplied to the fluid driven actuator.

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Dubuque, IA, United States of America

Calin L Raszga