# US 10,440,886 B2 · Feedrate control with slip compensation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,440,886 B2 - Document ID: US10440886B2 - Status: Granted - Kind: B2 - Application number: 15/716,879 - Filed: 2017-09-27 - Published: 2019-03-28 - Granted: 2019-10-15 - Earliest claimed: 2017-09-27 - Assignees: Deere & Company - Applicants: Deere & Company - Inventors: Douglas J. Bollin; Cody W. Best - Web page: https://patentgrep.com/patent/US10440886B2 ## CPC - A01D 41/1273: {for measuring grain loss} - A01D 41/1274: {for drives} - A01D 75/28: Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull - B60T 8/172: Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)} - B60Y 2200/222: Harvesters - A01D: HARVESTING; MOWING - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract A prescribed feedrate of material through the mobile harvesting machine and an actual feedrate of material through the mobile harvesting machine are detected, and a feedrate difference between the prescribed feedrate and the actual feedrate is identified. Wheel slippage of the mobile harvesting machine is also detected. Based on the feedrate difference between the prescribed feedrate and the actual feedrate and based on the detected wheel slippage, a speed control signal that controls speed of the mobile harvesting machine is generated. ## Claims ### Claim 1 A mobile harvesting machine, comprising: a propulsion system; feedrate control logic that identifies a feedrate difference between a prescribed feedrate of material through the mobile harvesting machine and a sensed feedrate of material through the mobile harvesting machine and that receives an indication of wheel slippage on the mobile harvesting machine and that generates a speed request signal to modify a speed of the mobile harvesting machine based on the feedrate difference and the indication of wheel slippage; and a control system that receives the speed request signal and generates a speed control signal to control the propulsion system based on the speed request signal. ### Claim 2 (depends on 1) The mobile harvesting machine of claim 1 and further comprising: wheel slip measurement logic configured to generate a first measure of the wheel slippage. ### Claim 3 (depends on 2) The mobile harvesting machine of claim 2 wherein the feedrate control logic comprises: feedrate control signal generator logic configured to generate the speed request signal. ### Claim 4 (depends on 3) The mobile harvesting machine of claim 3 wherein the feedrate control logic comprises: wheel slip processing logic configured to determine whether the feedrate control signal generator logic generates a speed request signal to increase wheel speed based on the first measure of wheel slippage and the feedrate difference. ### Claim 5 (depends on 4) The mobile harvesting machine of claim 4 wherein the wheel slip measurement logic is configured to generate a second measure of wheel slippage after the feedrate control signal generator generates a speed request signal to increase the speed of the mobile harvesting machine. ### Claim 6 (depends on 5) The mobile harvesting machine of claim 5 wherein the wheel slip processing logic is configured to identify any difference between the first measure of wheel slippage and the second measure of wheel slippage and to determine whether the feedrate control signal generator logic generates a speed request signal to increase wheel speed based on the difference between the first and second measures of wheel slippage and the feedrate difference. ### Claim 7 (depends on 6) The mobile harvesting machine of claim 6 wherein the wheel slip processing logic is configured to control the feedrate control signal generator logic to generate the speed request signal to decrease the speed of the mobile harvesting machine if the second measure of wheel slippage is greater than the first measure of wheel slippage. ### Claim 8 (depends on 4) The mobile harvesting machine of claim 4 wherein the wheel slip processing logic is configured to control the feedrate control signal generator logic to generate the speed request signal as a set of speed request signals, each requesting a corresponding incremental increase in speed. ### Claim 9 (depends on 8) The mobile harvesting machine of claim 8 wherein the wheel slip measurement logic is configured to generate a measure of wheel slippage, after the feedrate control signal generator logic generates each speed request signal that requests the corresponding incremental increase in speed, to determine whether wheel slippage has increased since a last speed request signal requested its corresponding increase in speed. ### Claim 10 (depends on 4) The mobile harvesting machine of claim 4 wherein the wheel slip processing logic is configured to receive a soil characteristic signal indicative of a soil characteristic and to determine whether wheel slip is likely, based on the soil characteristic signal and to control the feedrate control signal generator logic to generate the speed request signal based on whether wheel slip is likely. ### Claim 11 (depends on 10) The mobile harvesting machine of claim 10 wherein the wheel slip processing logic is configured to receive a topology signal indicative of a topology of terrain over which the mobile harvesting machine is traveling and to determine whether wheel slip is likely, based on the topology signal and to control the feedrate control signal generator logic to generate the speed request signal based on whether wheel slip is likely. ### Claim 12 A computer implemented method of controlling a mobile harvesting machine, comprising: identifying a prescribed feedrate of material through the mobile harvesting machine; detecting a feedrate of material through the mobile harvesting machine; identifying a feedrate difference between the prescribed feedrate and the sensed feedrate; detecting wheel slippage on the mobile harvesting machine; generating a speed request signal to adjust a speed of the mobile harvesting machine based on the feedrate difference and the indication of wheel slippage; and receiving the speed request signal at a control system and generating, at the control system, a speed control signal to control a propulsion system based on the speed request signal. ### Claim 13 (depends on 12) The computer implemented method of claim 12 wherein detecting wheel slippage comprises: generating a first measure of the detected wheel slippage, and wherein generating the speed request signal includes generating the speed request signal based on the measure of the detected wheel slippage. ### Claim 14 (depends on 13) The computer implemented method of claim 13 wherein generating the speed request signal comprises: determining whether increased wheel slippage is likely if a wheel speed of the mobile harvesting machine is increased; and generating the speed request signal to maintain or decrease the speed of the mobile harvesting machine if wheel slippage is likely to increase if the wheel speed of the mobile harvesting machine is increased. ### Claim 15 (depends on 13) The mobile harvesting machine of claim 13 wherein generating the speed request signal comprises: generating a second measure of wheel slippage after the feedrate control signal generator generates a speed request signal to increase the speed of the mobile harvesting machine; identifying any difference between the first measure of wheel slippage and the second measure of wheel slippage; and if the second measure is greater than the first measure, then generating the speed request signal to maintain or decrease the speed of the mobile harvesting machine. ### Claim 16 (depends on 12) The computer implemented method of claim 12 wherein generating a speed request signal comprises: if the feedrate difference indicates that the detected feedrate is below the prescribed feedrate by an identified amount, then generating a set of speed request signals to increase the speed of the mobile harvesting machine from a first speed to a second speed, wherein generating the set of speed request signals comprises: generating successive speed request signals, each successive speed request signal requesting an incremental increase in the speed of the mobile harvesting machine; after each speed request signal is generated, measuring the detected wheel slippage to determine whether the detected wheel slippage has increased; and if the detected wheel slippage has increased, then generating a next successive speed request signal to decrease the speed of the mobile harvesting machine. ### Claim 17 A mobile harvesting machine, comprising: a propulsion system; wheel slip detection logic configured to detect wheel slip on the mobile harvesting machine and generate a wheel slip signal indicative of the detected wheel slip; a feedrate detector that detects a feedrate of material through the mobile harvesting machine; a feedrate controller that identifies a feedrate difference between a prescribed feedrate of material through the mobile harvesting machine and the detected feedrate of material through the mobile harvesting machine and that receives the wheel slip signal and, if the feedrate difference indicates that the detected feedrate is below the prescribed feedrate by an amount, the feedrate controller generates a speed request signal to increase a speed of the mobile harvesting machine based on the wheel slip signal; and a control system that receives the speed request signal and generates a speed control signal to control the propulsion system based on the speed request signal. ### Claim 18 (depends on 17) The mobile harvesting machine of claim 17 wherein if the wheel slip signal indicates that the detected wheel slip is above a wheel slip threshold, then the feedrate controller is configured to generate the speed request signal to the control system to maintain or decrease the speed of the mobile harvesting machine. ### Claim 19 A computer implemented method of controlling a mobile harvesting machine, comprising: identifying a prescribed feedrate of material through the mobile harvesting machine; detecting a feedrate of material through the mobile harvesting machine; identifying a feedrate difference between the prescribed feedrate and the sensed feedrate; detecting wheel slippage on the mobile harvesting machine; determining whether the detected wheel slippage is likely to increase if a wheel speed of the mobile harvesting machine is increased; generating an indication indicative of whether the detected wheel slippage is likely to increase if the wheel speed of the mobile harvesting machine is increased; generating a speed request signal to modify a speed of the mobile harvesting machine based on the feedrate difference and the indication of whether the detected wheel slippage is likely to increase; and receiving the speed request signal at a control system and generating, at the control system, a speed control signal to control a propulsion system based on the speed request signal. ### Claim 20 (depends on 19) The computer implemented method of claim 19 wherein determining whether the detected wheel slippage is likely to increase comprises: generating a measure of the detected wheel slippage; and determining, based on the measure of the detected wheel slippage, whether the detected wheel slippage is likely to increase.