# US 12,184,211 B2 · End travel limit calibration of an electric actuator

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 12,184,211 B2
- Document ID: US12184211B2
- Status: Granted
- Kind: B2
- Application number: 17/444,838
- Filed: 2021-08-11
- Published: 2023-02-16
- Granted: 2024-12-31
- Earliest claimed: 2021-08-11
- Assignees: Deere & Company
- Applicants: Deere & Company
- Inventors: Mohan A. Vadnere; Mitchell R. Usasz; Paloma Karst
- Web page: https://patentgrep.com/patent/US12184211B2

## CPC

- H02P 25/06: Linear motors
- A01D 43/06: with means for collecting, gathering or loading mown material {(A01D43/086 takes precedence)}
- A01D 69/02: electric
- A01D 75/182: {Avoiding overload}
- H02P 29/024: Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- A01D: HARVESTING; MOWING

## Abstract

A method of defining an end travel limit of an electric actuator includes sensing an electric current of the electric actuator while moving the electric actuator from a first position to a second position. A maximum travel current of the electric current sensed during movement of the electric actuator between the first position to the second position is increased by a factor to define a maximum calibration current. The electric current is then sensed while moving from the second position toward an end travel position of the electric actuator. Movement of the electric actuator is stopped at a fault position when the electric current equals the maximum calibration current. The end travel limit of the electric actuator is then defined as a function of the fault position.

## Claims

### Claim 1

A method of defining an end travel limit of an electric actuator interconnecting a housing and a crop engaging component of a crop harvesting implement, wherein the electric actuator is moveable between a begin travel position and an end travel position, the method comprising:
moving the electric actuator from a first position to a second position;
sensing an electric current of the electric actuator while moving the electric actuator from the first position to the second position;
defining a maximum value of the electric current sensed during movement of the electric actuator between the first position to the second position as a maximum travel current;
increasing the maximum travel current by a factor to define a maximum calibration current;
moving the electric actuator from the second position toward the end travel position of the electric actuator;
sensing the electric current of the electric actuator while moving the electric actuator from the second position toward the end travel position;
stopping movement of the electric actuator from the second position toward the end travel position at a fault position when the electric current sensed during movement of the electric actuator from the second position toward the end travel position equals the maximum calibration current;
defining the end travel limit of the electric actuator to equal a position disposed a pre-defined offset distance nearer the begin travel limit than the fault position.

### Claim 2 (depends on 1)

The method set forth in claim 1, wherein the electric actuator exhibits a normal operating speed, and wherein moving the electric actuator from the first position to the second position includes moving the electric actuator from the first position to the second position at a calibration speed that is less than the normal operating speed.

### Claim 3 (depends on 2)

The method set forth in claim 2, wherein moving the electric actuator from the second position toward the end travel position includes moving the electric actuator from the second position toward the end travel position at the calibration speed.

### Claim 4 (depends on 2)

The method set forth in claim 2, wherein the calibration speed is less than 50% of the normal operating speed.

### Claim 5 (depends on 4)

The method set forth in claim 4, wherein the calibration speed is less than 25% of the normal operating speed.

### Claim 6 (depends on 1)

The method set forth in claim 1, wherein increasing the maximum travel current by the factor to define the maximum calibration current includes increasing the maximum travel current by at least 25% of the maximum travel current to define the maximum calibration current.

### Claim 7 (depends on 6)

The method set forth in claim 6, wherein increasing the maximum travel current by the factor to define the maximum calibration current includes increasing the maximum travel current by at least 40% of the maximum travel current to define the maximum calibration current.

### Claim 8 (depends on 1)

The method set forth in claim 1, further comprising positioning the electric actuator in the first position prior to moving the electric actuator from the first position to the second position.

### Claim 9 (depends on 1)

The method set forth in claim 1, wherein the first position is nearer the begin travel position than the second position, and wherein the second position is nearer the end travel position than the first position.

### Claim 10 (depends on 1)

The method set forth in claim 1, wherein the electric actuator is a linear actuator operable to extend and retract along a linear path.

### Claim 11 (depends on 1)

The method set forth in claim 1, further comprising receiving a start calibration command with a user input in communication with a controller.

### Claim 12 (depends on 11)

The method set forth in claim 11, further comprising determining if a safety interlock status is satisfied in response to receiving the start calibration command and prior to moving the electric actuator from the first position to the second position, and aborting the calibration process when the safety interlock status is not satisfied.

### Claim 13 (depends on 1)

The method set forth in claim 1, further comprising determining if the fault position is identical to the second position, or if the fault position is not identical to the second position, and aborting the calibration process when the fault position is identical to the second position.

### Claim 14

A crop harvesting implement comprising:
a housing;
a crop engaging component rotatably mounted to the housing;
an electric actuator interconnecting the housing and the crop engaging component, wherein the electric actuator is moveable between a begin travel position and an end travel position;
a current sensor coupled to the electric actuator and operable to sense data related to an electric current of the electric actuator;
a controller in communication with the electric actuator and the current sensor, and operable to receive the data from the current sensor and control movement of the electric actuator, wherein the controller includes a processor and a memory having an end travel limit calibration algorithm stored thereon, with the processor is operable to execute the end travel limit calibration algorithm to:
position the electric actuator in a first position;
move the electric actuator from the first position to a second position;
sense the data related to the electric current of the electric actuator while moving the electric actuator from the first position to the second position;
define a maximum value of the electric current sensed during movement of the electric actuator between the first position to the second position as a maximum travel current;
increase the maximum travel current by a factor to define a maximum calibration current;
move the electric actuator from the second position toward the end travel position of the electric actuator;
sense the data related to the electric current of the electric actuator while moving the electric actuator from the second position toward the end travel position;
stop movement of the electric actuator from the second position toward the end travel position at a fault position when the data related to the electric current sensed during movement of the electric actuator from the second position toward the end travel position indicates the electric current of the electric actuator is equal to the maximum calibration current;
define an end travel limit of the electric actuator as a function of the fault position, whereby during normal operation of the electric actuator the controller stops movement of the electric actuator at the end travel limit prior to reaching the end travel position of the electric actuator.

### Claim 15 (depends on 14)

The crop harvesting implement set forth in claim 14, wherein the processor is operable to execute the end travel limit calibration algorithm to move the electric actuator between the first position and the second position, and from the second position to the fault position, at a calibration speed that is at least fifty percent of a normal operating speed of the electric actuator.

### Claim 16 (depends on 14)

The crop harvesting implement set forth in claim 14, wherein the electric actuator is a linear actuator operable to extend and retract in response to a control signal from the controller.

### Claim 17 (depends on 14)

The crop harvesting implement set forth in claim 14, further comprising saving the end travel limit in the memory of the controller.

### Claim 18 (depends on 14)

The crop harvesting implement set forth in claim 14, wherein the processor is operable to execute the end travel limit calibration algorithm to define the end travel limit of the electric actuator as a function of the fault position by defining the end travel limit to equal a position disposed a pre-defined offset distance from the fault position in a direction nearer the begin travel limit.

### Claim 19 (depends on 14)

The crop harvesting implement set forth in claim 14, wherein the crop engaging component is a forming shield of a mower implement.