Description:TECHNICAL FIELD
[001] Embodiments disclosed herein relate to tractors, and more particularly to methods and systems for controlling the tractor braking based on status of an autosteer feature (engaged/disengaged).
BACKGROUND
[002] Presently available autosteer solutions in tractors operate by navigating and executing field operations based on inputs from a global navigation satellite system (GNSS). This technology controls the tractor's steering using a brushless direct current (BLDC) motor. However, due to varying soil parameters/ tractor and implement dynamics or GNSS signal issues, the tractor may inadvertently contact/cross the geofence (i.e., crossing the field boundary), causing the autosteer system to disengage. This unintended disengagement can lead to undesirable consequences and safety issues.
[003] Hence, there is a need in the art for solutions that will overcome the above mentioned drawback(s), among others.
OBJECTS
[004] The principal object of embodiments herein is to disclose methods and systems for controlling tractor braking on detecting that an autosteer function has been disengaged on the tractor.
[005] Another object of embodiments herein is to disclose engaging the brake and clutch linkage, on detecting that the autosteer function has been disengaged, and an operator of the tractor is not present in the tractor, wherein the disengagement of the autosteer is detected by a change in a current being drawn by a brushless direct current (BLDC) motor.
[006] These and other aspects of the embodiments herein will be better appreciated and understood when considered in conjunction with the following description and the accompanying drawings. It should be understood, however, that the following descriptions, while indicating at least one embodiment and numerous specific details thereof, are given by way of illustration and not of limitation. Many changes and modifications may be made within the scope of the embodiments herein without departing from the spirit thereof, and the embodiments herein include all such modifications.
BRIEF DESCRIPTION OF FIGURES
[007] Embodiments herein are illustrated in the accompanying drawings, throughout which like reference letters indicate corresponding parts in the various figures. The embodiments herein will be better understood from the following description with reference to the following illustratory drawings. Embodiments herein are illustrated by way of examples in the accompanying drawings, and in which:
[008] FIG. 1 depicts a system for controlling the braking in a tractor, according to embodiments as disclosed herein;
[009] FIGs. 2A and 2B are flowcharts depicting the process of performing the tractor braking on detecting that an autosteer function has been disengaged on the tractor, according to embodiments as disclosed herein;
[0010] FIGs. 3A and 3B are flowcharts depicting the process of performing the tractor braking on detecting that an autosteer function has been disengaged on the tractor, according to embodiments as disclosed herein; and
[0011] FIGs. 4A and 4B are flowcharts depicting the process of performing tractor braking on detecting that an autosteer function has been disengaged on the tractor (which is equipped with an automatic transmission), according to embodiments as disclosed herein.

DETAILED DESCRIPTION
[0012] The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and processing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
[0013] For the purposes of interpreting this specification, the definitions (as defined herein) will apply and whenever appropriate the terms used in singular will also include the plural and vice versa. It is to be understood that the terminology used herein is for the purposes of describing particular embodiments only and is not intended to be limiting. The terms “comprising”, “having” and “including” are to be construed as open-ended terms unless otherwise noted.
[0014] The words/phrases "exemplary", “example”, “illustration”, “in an instance”, “and the like”, “and so on”, “etc.”, “etcetera”, “e.g.,” , “i.e.,” are merely used herein to mean "serving as an example, instance, or illustration." Any embodiment or implementation of the present subject matter described herein using the words/phrases "exemplary", “example”, “illustration”, “in an instance”, “and the like”, “and so on”, “etc.”, “etcetera”, “e.g.,” , “i.e.,” is not necessarily to be construed as preferred or advantageous over other embodiments.
[0015] Embodiments herein may be described and illustrated in terms of blocks which carry out a described function or functions. These blocks, which may be referred to herein as managers, units, modules, hardware components or the like, are physically implemented by analog and/or digital circuits such as logic gates, integrated circuits, microprocessors, microcontrollers, memory circuits, passive electronic components, active electronic components, optical components, hardwired circuits and the like, and may optionally be driven by a firmware. The circuits may, for example, be embodied in one or more semiconductor chips, or on substrate supports such as printed circuit boards and the like. The circuits constituting a block may be implemented by dedicated hardware, or by a processor (e.g., one or more programmed microprocessors and associated circuitry), or by a combination of dedicated hardware to perform some functions of the block and a processor to perform other functions of the block. Each block of the embodiments may be physically separated into two or more interacting and discrete blocks without departing from the scope of the disclosure. Likewise, the blocks of the embodiments may be physically combined into more complex blocks without departing from the scope of the disclosure.
[0016] It should be noted that elements in the drawings are illustrated for the purposes of this description and ease of understanding and may not have necessarily been drawn to scale. For example, the flowcharts/sequence diagrams illustrate the method in terms of the steps required for understanding of aspects of the embodiments as disclosed herein. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the present embodiments so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein. Furthermore, in terms of the system, one or more components/modules which comprise the system may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the present embodiments so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.
[0017] The accompanying drawings are used to help easily understand various technical features and it should be understood that the embodiments presented herein are not limited by the accompanying drawings. As such, the present disclosure should be construed to extend to any modifications, equivalents, and substitutes in addition to those which are particularly set out in the accompanying drawings and the corresponding description. Usage of words such as first, second, third etc., to describe components/elements/steps is for the purposes of this description and should not be construed as sequential ordering/placement/occurrence unless specified otherwise.
[0018] The embodiments herein achieve methods and systems for performing tractor braking on detecting that an autosteer function has been disengaged on the tractor. Referring now to the drawings, and more particularly to FIGS. 1 through 4B, where similar reference characters denote corresponding features consistently throughout the figures, there are shown embodiments.
[0019] Embodiments herein disclose methods and systems for performing tractor braking on detecting that an autosteer function has been disengaged on the tractor. Embodiments herein disclose engaging the brake and clutch linkage, on detecting that the autosteer function has been disengaged, and an operator of the tractor is not present in the tractor, wherein the disengagement of the autosteer is detected by a change in a current being drawn by a brushless direct current (BLDC) motor.
[0020] FIG. 1 depicts a system for controlling the braking in a tractor. The system (100) as depicted comprises a control unit (101), at least one user interface (102), a brushless direct current (BLDC) motor (103), a current sensor (104), an operator detection sensor (105), an actuator release (106), at least one brake actuator (107A), at least one brake (107B), a clutch actuator (108A), a clutch (108B), and a user indicator (109). Consider that the tractor is equipped with an autosteer feature.
[0021] In an embodiment herein, the control unit (101) can be a dedicated control unit. In an embodiment herein, the control unit (101) can be integrated with at least one other unit present in the tractor, such as, but not limited to, an Engine Control Unit, a Brake Control Unit, a Transmission Control Unit, a General Control Unit, and so on, and can perform one or more other functions in addition to embodiments as disclosed herein.
[0022] The at least one user interface (102) can enable an operator of the tractor to interact with one or more systems and/or components of the tractor. In an embodiment herein, the at least one user interface (102) can comprise at least one of, but not limited to, one or more switches, a touchscreen, one or more toggles, and so on. In an embodiment herein, the operator can turn the autosteer feature on/off using the user interface (102). In an example herein, consider that the user interface (102) comprises a switch that can be used to turn on/off the autosteer feature, wherein the operator turns on/off the autosteer feature using the switch.
[0023] The control unit (101) can turn on/off the autosteer feature based on the inputs from the operator. The control unit (101) can turn on the autosteer feature, on the user switching on the autosteer feature using the at least one user interface (102). The control unit (101) can turn off the autosteer feature, on the user switching off the autosteer feature using the at least one user interface (102).
[0024] The BLDC motor (103) can provide power for enabling the autosteer feature. The current sensor (104) can monitor the current drawn by the BLDC motor (103) in real time. The current sensor (104) can communicate the monitored current in real time to the control unit (101). Based on the monitored current, the control unit (101) can determine whether the autosteer feature is currently ON/OFF. If the monitored current is greater than a pre-defined current threshold level, the control unit (101) can determine that the autosteer feature is ON. If the monitored current is less than or equal to the pre-defined current threshold level, the control unit (101) can determine that the autosteer feature is OFF.
[0025] The operator detection sensor (105) can detect whether the operator of the tractor is present in the operator’s seat. In an embodiment herein, the operator detection sensor (105) can be a pressure switch. The operator detection sensor (105) can communicate whether the operator is present in the operator’s seat to the control unit (101) in real time.
[0026] On determining that the autosteer feature has been turned OFF, the control unit (101) can check if the operator is present in the operator’s seat. If the operator is present in the operator’s seat, the control unit (101) can provide at least one alert to the operator using the at least one user indicator (109). Examples of the user indicator (109) can be, but not limited to, at least one audible indicator (such as a buzzer, a beeper, a horn of the tractor, and so on), at least one visual indicator (such as one or more lights present in a cabin of the tractor, turn indicators of the tractor, headlights of the tractor, and so on), and so on.
[0027] If the operator is not present in the operator’s seat, the control unit (101) can further actuate the clutch (108B) using the clutch actuator (108A). The control unit (101) can further wait for a pre-defined time period. In an example herein, the pre-defined time period can be 100 milliseconds. On expiry of the pre-defined time period, the control unit (101) can actuate the brake (107B) using the brake actuator (107A), thereby bringing the tractor to a halt.
[0028] In an embodiment herein, the tractor can be equipped with an automatic transmission, On determining that the autosteer feature has been turned OFF, the control unit (101) can check if the operator is present in the operator’s seat. If the operator is not present in the operator’s seat, the control unit (101) can actuate the brake (107B) using the brake actuator (107A), thereby bringing the tractor to a halt.
[0029] If the operator is not present in the operator’s seat and the autosteer feature has been turned OFF, the control unit (101) can further provide at least one alert to the operator using the at least one user indicator (109). Examples of the user indicator (109) can be, but not limited to, at least one audible indicator (such as a buzzer, a beeper, a horn of the tractor, and so on), at least one visual indicator (such as one or more lights present in a cabin of the tractor, turn indicators of the tractor, headlights of the tractor, and so on), and so on.
[0030] The control unit (101) can further keep the brake (107B) and the actuator (108B) actuated and the at least one alert active, till the actuator release (106) is activated by the operator. In an embodiment herein, the at least one actuator release (106) can comprise at least one of, but not limited to, a switch, a touchscreen, and so on. In an embodiment herein, the operator can activate the actuator release (106) from the operator seat in the tractor. On the actuator release (106) being activated, the control unit (101) can determine that the operator is sitting in the operator seat (which can also be verified by inputs received from the operator detection sensor (105)). The control unit (101) can then release the clutch (108B) and the brake (107B) by releasing the clutch actuator (108A), and the brake actuator (107A) respectively.
[0031] FIGs. 2A and 2B are flowcharts depicting the process of performing tractor braking on detecting that an autosteer function has been disengaged on the tractor. Consider that the tractor is equipped with an autosteer feature, and the user has turned on the autosteer feature using the at least one user interface (102). In step 201, the current sensor (104) monitors the current drawn by the BLDC motor (103) in real time and communicates the monitored current in real time to the control unit (101). In step 202, the control unit (101) determines whether the autosteer feature is currently ON/OFF by comparing the monitored current to the pre-defined current threshold level. The control unit (101) determines that the autosteer feature is currently ON, if the monitored current is greater than the pre-defined current threshold level. The control unit (101) determines that the autosteer feature is currently OFF, if the monitored current is less than or equal to the pre-defined current threshold level.
[0032] If the autosteer feature is currently OFF, in step 203, the control unit (101) checks if the operator of the tractor is currently present in the operator’s seat using data received from the operator detection sensor (105). If the operator of the tractor is currently present in the operator’s seat, the control unit (101) provides the at least one alert to the operator using the at least one user indicator (109) (step 209). If the operator of the tractor is not currently present in the operator’s seat, in steps 204 and 205, the control unit (101) actuates the clutch (108B) and the brake (107B) using the clutch actuator (108A) and the brake actuator (107A) respectively, thereby bringing the tractor to a halt. In an embodiment herein, the control unit (101) waits for the pre-defined time period after actuating the clutch (108B), before actuating the brake (107B).
[0033] In step 206, the control unit (101) further provides the at least one alert to the operator using the at least one user indicator (109), which can be, but not limited to, at least one audible indicator (such as a buzzer, a beeper, a horn of the tractor, and so on), at least one visual indicator (such as one or more lights present in a cabin of the tractor, turn indicators of the tractor, headlights of the tractor, and so on), and so on.
[0034] In step 207, the control unit (101) checks if the actuator release (106) has been activated by the operator. If the actuator release (106) has been activated (i.e., the operator is present in the operator’s seat), in step 208, the control unit (101) releases the clutch (108B) and the brake (107B) by releasing the clutch actuator (108A), and the brake actuator (107A) respectively and stops the at least one alert. The various actions in method 200 may be performed in the order presented, in a different order or simultaneously. Further, in some embodiments, some actions listed in FIGs. 2A and 2B may be omitted.
[0035] FIGs. 3A and 3B are flowcharts depicting the process of performing tractor braking on detecting that an autosteer function has been disengaged on the tractor. Consider that the tractor is equipped with an autosteer feature, and the user has turned on the autosteer feature using the at least one user interface (102). In step 301, the current sensor (104) monitors the current drawn by the BLDC motor (103) in real time and communicates the monitored current in real time to the control unit (101). In step 302, the control unit (101) determines whether the autosteer feature is currently ON/OFF by comparing the monitored current to the pre-defined current threshold level. The control unit (101) determines that the autosteer feature is currently ON, if the monitored current is greater than the pre-defined current threshold level. The control unit (101) determines that the autosteer feature is currently OFF, if the monitored current is less than or equal to the pre-defined current threshold level.
[0036] If the autosteer feature is currently OFF, in step 303, the control unit (101) checks if the operator of the tractor is currently present in the operator’s seat using data received from the operator detection sensor (105). If the operator of the tractor is currently present in the operator’s seat, the control unit (101) provides the at least one alert to the operator using the at least one user indicator (109) (step 310). If the operator of the tractor is not currently present in the operator’s seat, in steps 304, the control unit (101) actuates the clutch (108B) using the clutch actuator (108A). In step 305, the control unit (101) waits for the pre-defined time period after actuating the clutch (108B). On expiry of the pre-defined time period, in step 306, the control unit (101) actuates the brake (107B) using the brake actuator (107A), thereby bringing the tractor to a halt.
[0037] In step 307, the control unit (101) further provides the at least one alert to the operator using the at least one user indicator (109), which can be, but not limited to, at least one audible indicator (such as a buzzer, a beeper, a horn of the tractor, and so on), at least one visual indicator (such as one or more lights present in a cabin of the tractor, turn indicators of the tractor, headlights of the tractor, and so on), and so on.
[0038] In step 308, the control unit (101) checks if the actuator release (106) has been activated by the operator. If the actuator release (106) has been activated (i.e., the operator is present in the operator’s seat), in step 309, the control unit (101) releases the clutch (108B) and the brake (107B) by releasing the clutch actuator (108A), and the brake actuator (107A) respectively and stops the at least one alert. The various actions in method 300 may be performed in the order presented, in a different order or simultaneously. Further, in some embodiments, some actions listed in FIGs. 3A and 3B may be omitted.
[0039] FIGs. 4A and 4B are flowcharts depicting the process of performing tractor braking on detecting that an autosteer function has been disengaged on the tractor (which is equipped with an automatic transmission). Consider that the tractor is equipped with an autosteer feature, and the user has turned on the autosteer feature using the at least one user interface (102). In step 401, the current sensor (104) monitors the current drawn by the BLDC motor (103) in real time and communicates the monitored current in real time to the control unit (101). In step 402, the control unit (101) determines whether the autosteer feature is currently ON/OFF by comparing the monitored current to the pre-defined current threshold level. The control unit (101) determines that the autosteer feature is currently ON, if the monitored current is greater than the pre-defined current threshold level. The control unit (101) determines that the autosteer feature is currently OFF, if the monitored current is less than or equal to the pre-defined current threshold level.
[0040] If the autosteer feature is currently OFF, in step 403, the control unit (101) checks if the operator of the tractor is currently present in the operator’s seat using data received from the operator detection sensor (105). If the operator of the tractor is currently present in the operator’s seat, the control unit (101) provides the at least one alert to the operator using the at least one user indicator (109) (step 408). If the operator of the tractor is not currently present in the operator’s seat, in steps 404, the control unit (101) actuates the brake (107B) using the brake actuator (107A), thereby bringing the tractor to a halt.
[0041] In step 405, the control unit (101) further provides the at least one alert to the operator using the at least one user indicator (109), which can be, but not limited to, at least one audible indicator (such as a buzzer, a beeper, a horn of the tractor, and so on), at least one visual indicator (such as one or more lights present in a cabin of the tractor, turn indicators of the tractor, headlights of the tractor, and so on), and so on.
[0042] In step 406, the control unit (101) checks if the actuator release (106) has been activated by the operator. If the actuator release (106) has been activated (i.e., the operator is present in the operator’s seat), in step 407, the control unit (101) releases the clutch (108B) and the brake (107B) by releasing the clutch actuator (108A), and the brake actuator (107A) respectively and stops the at least one alert. The various actions in method 400 may be performed in the order presented, in a different order or simultaneously. Further, in some embodiments, some actions listed in FIGs. 4A and 4B may be omitted.
[0043] Embodiments herein enable auto braking of the tractor when the autosteer is disengaged, thereby ensuring safety. Embodiments herein disclose a low-cost autosteer safety system, which does not require major changes in tractors, and can be added as an add-on kit to existing autosteer systems. Embodiments herein can be implemented in any autosteer system/any tractor vehicle platform.
[0044] The embodiments disclosed herein can be implemented through at least one software program running on at least one hardware device and performing network management functions to control the network elements. The elements include blocks which can be at least one of a hardware device, or a combination of hardware device and software module.
[0045] The embodiment disclosed herein describes methods and systems for performing tractor braking on detecting that an autosteer function has been disengaged on the tractor. Therefore, it is understood that the scope of the protection is extended to such a program and in addition to a computer readable means having a message therein, such computer readable storage means contain program code means for implementation of one or more steps of the method, when the program runs on a server or mobile device or any suitable programmable device. The method is implemented in at least one embodiment through or together with a software program written in e.g., Very high speed integrated circuit Hardware Description Language (VHDL) another programming language, or implemented by one or more VHDL or several software modules being executed on at least one hardware device. The hardware device can be any kind of portable device that can be programmed. The device may also include means which could be e.g., hardware means like e.g., an ASIC, or a combination of hardware and software means, e.g., an ASIC and an FPGA, or at least one microprocessor and at least one memory with software modules located therein. The method embodiments described herein could be implemented partly in hardware and partly in software. Alternatively, the invention may be implemented on different hardware devices, e.g., using a plurality of CPUs.
[0046] The foregoing description of the specific embodiments will so fully reveal the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of embodiments and examples, those skilled in the art will recognize that the embodiments and examples disclosed herein can be practiced with modification within the scope of the embodiments as described herein.
, Claims:We claim,
1. A method (200, 300, 400) for controlling tractor braking, the method comprising:
determining, by a control unit (101), if an autosteer feature is OFF;
determining, by the control unit (101), if an operator of the tractor is in an operator’s seat, on determining that the autosteer feature is OFF;
actuating, by the control unit (101), a brake (107B) of the tractor using a brake actuator (107A), if the operator of the tractor is not in the operator’s seat;
providing, by the control unit (101), at least one alert to the operator using at least one user indicator (109); and
releasing, by the control unit (101), the brake (107B) by releasing the brake actuator (107B), if the operator is seated on the operator’s seat, and the operator has activated an actuator release (106).
2. The method, as claimed in claim 1, wherein determining, by the control unit (101), if the autosteer feature is OFF comprises:
comparing, by the control unit (101), current being drawn by a brushless direct current (BLDC) motor (103) as sensed by a current sensor (104) to a pre-defined current threshold level;
determining, by the control unit (101), that the autosteer feature is OFF, if the current being drawn by the BLDC motor (103) as sensed by the current sensor (104) is less than or equal to the pre-defined current threshold level; and
determining, by the control unit (101), that the autosteer feature is ON, if the current being drawn by the BLDC motor (103) as sensed by the current sensor (104) is greater than the pre-defined current threshold level.
3. The method, as claimed in claim 1, wherein an operator detection sensor (105) senses if the operator is present in the operator’s seat, wherein the operator detection sensor (105) is a pressure switch.
4. The method, as claimed in claim 1, wherein the method comprises actuating, by the control unit (101), a clutch (108B) of the tractor using a clutch actuator (108A), if the operator of the tractor is not in the operator’s seat.
5. The method, as claimed in claim 4, wherein the control unit (101) waits for a pre-defined time period after actuating the clutch (108B), before actuating the brake (107B).
6. The method, as claimed in claim 4, wherein the method comprises releasing, by the control unit (101), the clutch (108B) by releasing the clutch actuator (108B), if the operator is seated on the operator’s seat, and the operator has activated the actuator release (106).
7. The method, as claimed in claim 1, wherein the control unit (101) stops the alert, if the operator is seated on the operator’s seat, and the operator has activated the actuator release (106).
8. A system (100) for controlling tractor braking, the system comprising:
a control unit (101);
a clutch (108B);
a clutch actuator (108A);
a brake (107B);
a brake actuator (107A);
at least one user indicator (109); and
an actuator release;
wherein the control unit (101) is configured to:
determine if an autosteer feature is OFF;
determine if an operator of the tractor is in an operator’s seat, on determining that the autosteer feature is OFF;
actuate the brake (107B) of the tractor using the brake actuator (107A), if the operator of the tractor is not in the operator’s seat;
provide at least one alert to the operator using the user indicator (109); and
release the brake (107B) by releasing the brake actuator (107B), if the operator is seated on the operator’s seat, and the operator has activated the actuator release (106).
9. The system, as claimed in claim 8, wherein the control unit (101) is configured to determine if the autosteer feature is OFF by:
comparing current being drawn by a brushless direct current (BLDC) motor (103) as sensed by a current sensor (104) to a pre-defined current threshold level;
determining that the autosteer feature is OFF, if the current being drawn by the BLDC motor (103) as sensed by the current sensor (104) is less than or equal to the pre-defined current threshold level; and
determining that the autosteer feature is ON, if the current being drawn by the BLDC motor (103) as sensed by the current sensor (104) is greater than the pre-defined current threshold level.
10. The system, as claimed in claim 8, wherein the system comprises an operator detection sensor (105), wherein the operator detection sensor (105) is configured to sense if the operator is present in the operator’s seat, and the operator detection sensor (105) is a pressure switch.
11. The system, as claimed in claim 8, wherein the control unit (101) is configured to actuate the clutch (108B) of the tractor using the clutch actuator (108A), if the operator of the tractor is not in the operator’s seat.
12. The system, as claimed in claim 11, wherein the control unit (101) is configured to wait for a pre-defined time period after actuating the clutch (108B), before actuating the brake (107B).
13. The system, as claimed in claim 11, wherein the control unit (101) is configured to release the clutch (108B) by releasing the clutch actuator (108B), if the operator is seated on the operator’s seat, and the operator has activated the actuator release (106).
14. The system, as claimed in claim 8, wherein the control unit (101) is configured to stop the alert, if the operator is seated on the operator’s seat, and the operator has activated the actuator release (106).