US20190254223A1 - Planter Downforce And Uplift Monitoring And Control Feedback Devices, Systems And Associated Methods - Google Patents
Planter Downforce And Uplift Monitoring And Control Feedback Devices, Systems And Associated Methods Download PDFInfo
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- US20190254223A1 US20190254223A1 US16/142,522 US201816142522A US2019254223A1 US 20190254223 A1 US20190254223 A1 US 20190254223A1 US 201816142522 A US201816142522 A US 201816142522A US 2019254223 A1 US2019254223 A1 US 2019254223A1
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- downforce
- sensor
- row unit
- furrow
- sensors
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
- A01C7/201—Mounting of the seeding tools
- A01C7/203—Mounting of the seeding tools comprising depth regulation means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/14—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements drawn by animals or tractors
- A01B63/16—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements drawn by animals or tractors with wheels adjustable relatively to the frame
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/002—Devices for adjusting or regulating the position of tools or wheels
- A01B63/008—Vertical adjustment of tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
- A01B63/1112—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements using a non-tactile ground distance measurement, e.g. using reflection of waves
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/14—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements drawn by animals or tractors
- A01B63/24—Tools or tool-holders adjustable relatively to the frame
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
- A01C5/064—Devices for making drills or furrows with rotating tools
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
- A01C7/201—Mounting of the seeding tools
- A01C7/205—Mounting of the seeding tools comprising pressure regulation means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/18—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring depth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/066—Devices for covering drills or furrows
- A01C5/068—Furrow packing devices, e.g. press wheels
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
- A01C7/206—Seed pipes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Definitions
- the disclosed technology relates generally to devices, systems and methods for use in planting, and in particular, to the devices, methods, and design principles allowing for the monitored and/or controlled application of downforce to individual row units in both normal and high-speed planting implementations. This has implications for high speed, high yield planting of corn, beans and other agricultural crops.
- the disclosure relates to apparatus, systems and methods for use in high speed planting applications. There is a need in the art for improved, efficient systems for the monitoring of an opened furrow and controlled application of net downforce to individual row units via valves in fluidic communication with individual actuators.
- a system of one or more computers can be configured to perform particular operations or actions through software, firmware, hardware, or a combination of them installed on the system that in operation causes or cause the system to perform the actions.
- One or more computer programs can be configured to perform particular operations or actions by virtue of including instructions that, when executed by data processing apparatus, cause the apparatus to perform the actions.
- One Example includes a row unit downforce system including: a downforce actuator in operational communication with the row unit and constructed and arranged to apply supplemental downforce to the row unit and opening disks; a monitoring system including at least one furrow depth sensor constructed and arranged to generate furrow depth values; and a control system module, where the control system module is constructed and arranged to generate actuator command signals in response to the furrow depth values.
- a row unit downforce system including: a downforce actuator in operational communication with the row unit and constructed and arranged to apply supplemental downforce to the row unit and opening disks; a monitoring system including at least one furrow depth sensor constructed and arranged to generate furrow depth values; and a control system module, where the control system module is constructed and arranged to generate actuator command signals in response to the furrow depth values.
- Other embodiments of this Example include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.
- Implementations of this Example may include one or more of the following features.
- the row unit downforce system further including a shoe disposed between the opening disks, where the at least one sensor is disposed on the shoe.
- the row unit downforce system further including a gauge wheel load sensor in operational communication with the control system module.
- the row unit downforce system further including a downforce control system in operational communication with the control system module and constructed and arranged to generate actuator command signals for transmission and operation of the actuator.
- the row unit downforce system where the downforce control system includes at least one proportional-integral-derivative control.
- the row unit downforce system where downforce control system utilizes gauge wheel load and furrow depth to modify applied downforce. Implementation of this Example of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.
- Another Example includes a system for the application of supplemental downforce to a row unit via an actuator including an on-the-go monitoring system including at least one sensor constructed and arranged to generate furrow depth values.
- Other embodiments of this Example include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.
- Implementations of this Example may include one or more of the following features.
- the system where the at least one furrow depth sensor is a non-contact sensor.
- the system where the at least one sensor is a non-contact furrow depth sensor rigidly mounted to the row unit and is positioned to measure a seed furrow bottom distance.
- the system where the at least one sensor further includes a second non-contact ground level sensor, where the system including a rider disposed on a support arm and constructed and arranged to physically contact the furrow.
- the system including a shoe or seed firmer including one or more sensors disposed on substantially vertical surfaces.
- the system where the one or more sensors are disposed adjacent to a side or edge of the furrow.
- the system where the one or more sensors are disposed adjacent to an outer circumferential edge of a gauge wheel.
- Implementation of this Example of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.
- One Example includes a row unit downforce system including: a downforce actuator in operational communication with the row unit and constructed and arranged to apply supplemental downforce to the row unit and opening disks, and an on-the-go monitoring system including at least one furrow depth sensor constructed and arranged to generate furrow depth values.
- Other embodiments of this Example include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.
- Implementations of this Example may include one or more of the following features.
- the row unit downforce system including a gauge wheel load sensor constructed and arranged to generate gauge wheel load values.
- the row unit downforce system including a feedback control system, where the control system module is constructed and arranged to generate actuator command signals in response to furrow depth values and gauge wheel load values.
- the row unit downforce system where the at least one furrow depth sensor is disposed on a shoe. Implementations of this Example of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.
- One Example includes a row unit downforce system including a downforce actuator in operational communication with the row unit and constructed and arranged to apply supplemental downforce to the row unit and opening disks, a monitoring system including at least one furrow depth sensor constructed and arranged to generate furrow depth values; and a control system module, where the control system module is constructed and arranged to generate actuator command signals in response to the furrow depth values.
- One Example includes a system for the application of supplemental downforce to a row unit via an actuator including an on-the-go monitoring system including at least one sensor constructed and arranged to generate furrow depth values.
- One Example includes a row unit downforce system including a downforce actuator in operational communication with the row unit and constructed and arranged to apply supplemental downforce to the row unit and opening disks, and an on-the-go monitoring system including at least one furrow depth sensor constructed and arranged to generate furrow depth values.
- the various embodiments disclosed or contemplated herein relate to devices, methods, and design principles allowing for the application of net downforce to individual row units in planting applications.
- the various implementations disclosed herein relate to technologies for achieving downforce on a planter with independent row by row control capability.
- the implementations disclosed herein can be used in conjunction with any of the technologies and/or devices, systems and methods disclosed in Co-Pending U.S. application Ser. No. 16/121,065, filed Sep. 4, 2018 entitled “Improved Planter Down Pressure And Uplift Devices, Systems And Associated Methods,” as well as U.S. Pat. No. 9,801,329, issued on Oct. 31, 2017; U.S. Pat. No. 9,629,304, issued on Apr. 25, 2017; U.S. application Ser. No.
- the implementations disclosed herein relate to a downforce system 10 comprising at least one of an on-the-go furrow monitoring system 20 and/or feedback control system 30 . That is, various implementations of the downforce system 10 include devices, systems and methods that measure and monitor the depth of the seed furrow during planting with supplemental downforce.
- certain implementations of the downforce system 10 include an on-the-go monitoring system 20 and/or a downforce control system 30 .
- the downforce system 10 is able to establish the depth of the open furrow 12 .
- the downforce system 10 is able to use seed furrow 12 depth 12 A alone or in combination with other forms of data inputs to control feedback.
- a top view of an implementation comprising the monitoring system 20 is also shown in FIG. 2 .
- opening disks 2 A, 2 B are disposed ahead of and within gauge wheels 3 A, 3 B, which roll along the ground 9 , as has been previously described.
- a seed tube 4 is disposed within the gauge wheels 3 A, 3 B and constructed and arranged to plant seed into the furrow 12 opened by the opening disks 2 A, 2 B, as has been previously described.
- Closing wheels 6 A, 6 B constructed and arranged to close the furrow 12 are disposed behind the gauge wheels 3 A, 3 B, as has been previously described.
- one or more trench depth sensors such as a first sensor 14 A and a second sensor 14 B can be disposed in the vicinity of the opening furrow 12 .
- the various on-the-go system 20 embodiments described herein can include both non-contact and contact sensors 14 A, 14 B. It is understood that the various sensors 14 , 14 A, 14 B described herein can be contact or non-contact sensors as applicable.
- These embodiments of the downforce system 10 having an on-the-go monitoring system 20 may be used by an electronic system to display, log and map furrow depth and/or as feedback for an on-the-go automatic furrow depth control system or on-the-go system 20 .
- the row unit 1 according to certain implementations of the downforce system 10 comprising a sensor 14 such as a non-contact sensor 14 is affixed to a tool bar 16 .
- a force transfer actuator 18 that is constructed and arranged to apply downforce to the row unit 1 and in particular the opening disks 2 A, 2 B.
- Certain implementations of the downforce system 10 including a downforce control system 30 that uses seed furrow depth 12 A alone or in combination with other forms of data inputs to control feedback to the actuator 18 .
- the downforce system 10 is has a gauge wheel load sensor 22 .
- the various contact and non-contact sensors 14 , 14 A, 14 B described herein and/or gauge wheel load sensor 22 are in electronic or otherwise operational communication with a control system module 24 .
- the sensors 14 and/or gauge wheel load sensor 22 are constructed and arranged to record and transmit or otherwise generate data points or sensor input signal values (shown in FIG. 1 as reference arrows D and G, respectively) that are transmitted to the control system module 24 .
- a non-contact sensor 14 can be constructed and arranged to generate furrow depth measurements, while the gauge wheel load sensor 22 is constructed and arranged to generate gauge wheel load values.
- control system module 24 is in turn constructed and arranged to generate actuator command signals (reference arrow C) to command the actuator 18 .
- the downforce system 10 comprises one or more trench depth sensors 14 and one or more gauge wheel load sensors 22 , and is constructed and arranged to adjust downforce actuation in response to the detected furrow depth and/or gauge wheel load values and adjust the actuation when one or more of the sensed values exceeds a set point or other pre-determined threshold.
- a control feedback system 30 combines the sensed furrow depth and gauge load values and is configured to control actuation, as would be understood.
- At least one of gauge wheel load value (drawn, for example, from the gauge wheel load sensor 22 ) and the seed furrow depth value (drawn from other sensors, such as the non-contact sensors 14 A, 14 B) generated the on-the-go monitoring system 20 are used by the control feedback system 30 to establish the amount of actuator 18 supplemental force. It is understood that these control system implementations allow the downforce system 10 to provide a faster, more precise response when the gauge wheels lose contact with the ground.
- the amount of depth loss is available as feedback to the control system 30 , via any number of sensing methods, it can increase applied down pressure more rapidly and forcefully when depth loss is larger. This reduces the amount of time seed is planted too shallow.
- the system can increase applied down pressure more slowly and gently when depth loss is small or non-existent. This prevents or reduces the over-application of down force which can cause undesirable soil compaction.
- sensors 14 A, 14 B can be used to measure from a reference to the bottom 12 B of the seed furrow 12 or the surface of the ground 12 C. Further discussion of these sensors 14 A, 14 B is found below in relation to FIGS. 4-21 .
- a first control feedback relates to gauge wheel load (from the gauge wheel sensor 22 ) and another relates to seed furrow depth 12 A, as determined by any of the contemplated sensors 14 A, 14 B discussed herein.
- Other implementations are of course possible.
- the various implementations of the down force control system 10 including this feedback control system 30 provide a faster, more precise response when the gauge wheels lose contact with the ground.
- FIG. 3 depicts a downforce system 10 , according to one implementation.
- a control system 30 utilizes gauge wheel load input signals 102 and furrow depth feedback input signals 104 , such as from the collection and transmission of continuous, real time or a time series of recorded measurements.
- these input signals 102 , 104 are collected via the sensors (shown elsewhere at 14 , 22 ) that are in operable communication with a control system module 24 .
- the control system module 24 is in turn constructed and arranged so as to generate actuator command signals 110 for transmission and operation of the actuator 18 as applied downforce 114 .
- each of the gauge wheel load sensor feedback 102 and planting or furrow depth sensor feedback 104 can have its own control (at boxes 106 and 108 , respectively). As is explained further below, each of these controls 106 , 108 is optional.
- the controls 106 , 108 can be a proportional-integral-derivative (“PID”) control, a machine learning control, a predictive function control, a lookup table and/or a model predictive control, such that various implementations can have one or more such controls 106 , 108 in operable communication with a final summation block or controller output 110 that is constructed and arranged to establish the downforce command 112 voltage transmitted to the actuator 18 as applied downforce 114 .
- PID proportional-integral-derivative
- the final summation block or controller output 110 is constructed and arranged to process the gauge wheel load sensor and planting or furrow depth sensor signals so as to modify the downforce applied by the actuator 18 . It is understood that in these and other implementations, each of the gauge wheel and furrow depth feedback paths can supply its own contribution, which can be modulated by set points/thresholds 116 . 118 to the total supplemental down force 114 applied to the planter row unit 1 .
- the gauge wheel set point 116 and planting depth set point 118 can either be specified by the user or may be adjusted dynamically as ground conditions, soil properties, vehicle speed, or other conditions change, as has been previously described.
- feedback 102 from the gauge wheel with the optional set point 116 are summed 120 and planting depth feedback 104 with the optional set point 118 are summed 122 and used to calibrate the overall gauge wheel load error and planting depth error via a direct connection 124 to the gauge wheel control 106 and/or direct connection 126 to the planting depth control 108 , respectively.
- each of the optional gauge wheel and/or furrow depth feedback systems can be summed via either of the two controllers 106 , 108 , as is shown at lines 128 and 130 , or in alternate implementations, can feed into the other feedback path, as is shown at line 132 .
- either the gauge wheel control 106 or planting depth control 108 is therefore optional, and that in any event the gauge wheel load feedback system and/or planting depth control feedback system are in operational communication 134 with the controller output 110 , so as to modify applied downforce, such as via connections at lines 134 and/or 136 .
- the gauge wheel load feedback system and/or planting depth control feedback system may be optional or interconnected with one another as co-terminal streams of feedback or in communication upstream of one another.
- control system 30 can be a sub-component of a larger control system that is actively controlling and adjusting planting depth, vehicle speed, or seed spacing or population.
- FIG. 4 depicts one implementation of one implementation of the system 10 comprising an on-the-go monitoring system 20 .
- sensors 14 A, 14 B are disposed on the row unit and are constructed and arranged to locate both the top 12 C and the bottom 12 B of the seed furrow 12 thereby establishing furrow depth 12 A, which clearly differentiates these embodiments from the prior art.
- the sensors 14 A, 14 B can be contact and/or non-contact sensors, as is shown in FIG. 4 and FIG. 5 .
- a non-contact sensor 14 A is fixedly mounted to the planter row unit 1 and is constructed and arranged measures the distance between the sensor 14 A and the soil or ground level 12 C (the ground surface distance, shown at 26 A), while a separate non-contact sensor 14 B is rigidly mounted to the planter row unit 1 and is positioned to measure the distance to the bottom 12 B of the seed furrow (the furrow depth distance shown at 26 B).
- the system 20 is constructed such that the measurements is used to determine the actual furrow depth 12 at any given moment by subtracting the ground surface distance 26 A from the furrow depth distance 26 B, as measured from a shared reference location, here the bottom 1 A of the row unit 1 .
- Certain non-contact sensors utilized in various implementations are, but are not limited to, ultrasonic sensors, single distance ultrasonic sensors, phase-array ultrasonic sensors, vision sensors, laser sensors, laser ranging sensors, reflected light intensity sensors, reflected structured light imaging sensors, radar sensors, lidar sensors including but not limited to time of flight imaging and swept beams, stereo camera sensors, rotary encoders, GPS, inertial sensors, and/or linear displacement sensors, including combinations thereof and sensor fusion and/or phased arrays.
- a first sensor 14 A is fixedly mounted to the planter row unit 1 and is constructed and arranged to measure the distance between the first sensor 14 A—which is a contact sensor in this implementation- and the soil or ground level 12 C (the ground surface distance, shown at 26 A), while a second sensor 14 B—in this implementation a second contact sensor that is constructed and arranged to ride in the seed furrow 12 .
- the contact sensor 14 A of this implementation is constructed and arranged with spring action that urges the distal sensor contact 15 to the bottom 12 B of the seed furrow 12 .
- the contact sensor 14 B is mounted to the planter row unit 1 so that the angular rotation or deflected distance can be measured to establish the furrow depth distance shown at 26 B, as would be understood by those of skill in the art.
- the system 20 according to these implementations is again constructed such that the measurements is used to determine the actual furrow depth 12 at any given moment by subtracting the ground surface distance (shown at 26 A) from the furrow depth distance (shown at 26 B), as measured from a shared reference location, here the bottom 1 A of the row unit 1 .
- the contact sensors can be, but are not limited to, flex resistor sensors, encoders, optical sensors, magnetic sensors, fiber optic sensors, potentiometers, LVDTs, closing wheel sensors, and/or capacitive in-furrow sensors, including combinations thereof and sensor fusion and/or phased arrays.
- the sensor 14 B can also infer the depth 12 A by measuring the position or angle of any number of mechanical linkages on the row unit, such as the closing wheels or arm, gauge wheels or arm, row cleaners, or seed firming arm or wheel riding in the furrow, as would be readily understood in the art.
- a single sensor 14 is used, which in these implementations is a non-contact sensor 14 , mounted to the planter row unit 1 .
- the sensor 14 is either scanned or its returning signal is processed to develop a depth profile for the seed furrow 12 .
- the single sensor 14 according to these implementations can either be scanned across the seed furrow profile or use signal processing to simultaneously measure both the distance to the ground surface 12 C and the seed furrow bottom 12 B.
- the sensor 14 can utilize technologies such as radar, lidar, optical, stereo camera, structured light, visible, and/or invisible spectrums, alone or in combination.
- the furrow depth 12 A is measured by identifying the furrow 12 in the data profile of the sensor 14 and referencing the measurement of the distance 12 A between the top of the furrow (ground level 12 C) to the furrow bottom 12 B, as is shown in further detail in FIG. 6B .
- the depth 12 A′ at any given point (shown, for example at 12 D) along the furrow 12 profile is measured by subtracting the ground surface distance 12 C from the distance at the point of interest, as measured from a shared reference location, such as the bottom of the row unit 1 A.
- the down force control system 10 having a monitoring system 20 have a shoe 40 as a sensor 14 platform for on-the-go measurements. It is understood that in these implementations, the shoe 40 is a mechanical device positioned between—or inside—the opening disks 2 A, 2 B in proximity to the forming seed furrow.
- the sensor 14 types affixed to the shoe 40 may include, but are not limited to the following: radar, lidar, machine vision, capacitive sensors, ultrasonic sensors, optical sensors, thermocouple sensors, resistive sensors and/or combinations thereof, as has been described above.
- the shoe 40 has one or more substantially vertical surfaces 42 A, 42 B adjacent to a side or edge of the forming seed furrow, as would be understood.
- one or more shoe surfaces 42 A, 42 B are instrumented with one or more sensors 14 , including, but not limited to, as part of a sensor array 14 C.
- one or both surfaces 42 A, 42 B are proximate the bottom of the seed furrow and extend above the top of the seed furrow sidewall, as would be understood.
- the shoe 40 can have a substantially horizontal bottom surface (not shown) for affixing one or more instruments to sense parameters at the bottom of furrow.
- the sensors 14 according to these implementations on the various shoe surfaces 42 A, 42 B can be constructed and arranged to detect one or more or any combination of the following non-limiting furrow characteristics: furrow depth, soil moisture, soil temperature, soil organic matter, soil uniformity (e.g. presence of clods), count seeds, seed to soil contact, crop residue, soil color, soil type, soil pH, fertility parameters, soil parameters, soil electrical conductivity, soil compaction and the like. It is understood that in various implementations, the surfaces can be disposed at a variety of angles near or within the furrow.
- the shoe 40 can detect furrow depth using sensors 14 disposed on the surfaces 42 to measure the height of the adjacent furrow sidewall. These sensors 14 can detect crop residue on top of the soil to exclude it from the height measurement of the seed furrow sidewall, thereby leaving only the height of soil sidewall as the seed furrow depth. Certain of these implementations require the shoe 40 to stay substantially vertically fixed relative to the bottom edge of the opening disk, regardless of depth setting.
- one or more surfaces 42 A, 42 B may be adjacent to the inside outer circumferential edge of the gauge wheel (as shown above) such that the edge of the gauge wheel can transversely pass by a sensor 14 mounted on the shoe surface 42 .
- various implementations also dispose the sensor 14 such that the inside outer edge of the opening disk 2 A transversely passes the sensor 14 .
- the shoe sensor 14 adjacent to the gauge wheels 3 and/or opening disks 2 can detect an observed or actual revolution speed of the gauge wheels and/or opening disks by sensing a rotating trigger mechanism (not shown) affixed to the inside of the gauge wheels and/or opening disk, as would be understood.
- the system 10 implements an electronic system to determine a target revolution speed using the planter ground speed and gauge wheel/opening disk circumference and compare it to the actual observed revolutions.
- the monitoring system 20 and/or control system 30 can be constructed and arranged to respond to a slow actual or observed speed by generating a user alarm about a faulty gauge wheel/opening disk. It is understood that such a faulty wheel/disc can be plugged with dirt, have bearing locking up and/or other mechanical faults that cause the actual revolutions to slow.
- the shoe 40 according to certain implementations can also be constructed and arranged to detect the opening disk radius and/or diameter to indicate a worn disc that might be faulty. Further utilizations would be apparent to those of skill in the art.
- shoe 40 can also measure furrow depth by detecting the point on the outer circumferential edge of the opening disk 2 A that intersects the outer circumferential edge of the gauge wheel 3 A. Additional embodiments are possible.
- a sensor 14 A is fixedly mounted to the planter row unit 1 and is constructed and arranged to measure the distance between the sensor 14 A and the soil or ground level 12 C (the ground surface distance, shown at 26 A), while a second non-contact sensor 14 B is rigidly mounted to the planter row unit 1 and is constructed and arranged to measure the distance to a target object 46 in direct communication with the bottom 12 B of the furrow 12 .
- the target object 46 is a riding element 46 or rider 46 and is affixed to a flexible, rotating, or deflecting support arm 32 , such as a seed firmer, that follows the bottom 12 B of the seed furrow 12 , and can thereby be used to establish the furrow depth distance shown at 26 B.
- the system 20 according to these implementations is again constructed such that the measurements is used to determine the actual furrow depth 12 at any given moment by subtracting the ground surface distance 26 A from the furrow depth distance 26 B, as measured from a shared reference location, here the bottom 1 A of the row unit 1 .
- the sensor 14 B for the furrow target object 46 can include sensors that detect ferrous or magnetic targets as well as structured light.
- a structured light array 48 is shown in FIG. 8B and FIG. 8C .
- the structured light array 48 is disposed on the upper surface of the riding element 46 so as to be in optical communication with one or more non-contact sensors 14 B, such that the non-contact sensors 14 B can be constructed and arranged to measure the distance to the rider 46 via changes in detected size of the array 48 .
- Other implementations are of course possible and will be evident in the further implementations discussed herein.
- the row unit 1 has a rider 46 , described further herein. It is understood that in these implementations, the rider 46 can either ride on the soil surface 12 C or in the seed furrow 12 or both, and that the monitoring system 20 can be constructed and arranged to use both contact and non-contact distance measuring approaches, such as the rider 46 approach, to assess furrow depth 12 A.
- FIG. 9 has a rider 46 that rides on the surface 12 C of the soil.
- the rider 46 is affixed to the planter row unit 1 through a flexible, rotating, or deflecting support arm 32 , and the ground surface distance 26 A is measured using one of the contact sensing methods described in relation to FIG. 8A .
- FIG. 9 there is a second rider 46 A which rides on the bottom 12 B of the furrow 12 .
- the second rider 46 A according to this implementation is affixed to the first rider 46 through a second flexible, rotating, or deflecting support arm 32 A. It is understood that the furrow depth distance 26 B is measured using one of the contact sensing methods described above in relation to FIG. 8A , thereby directly measuring the depth of the furrow 12 . Other approaches are of course possible.
- the monitoring system 20 implementation of FIG. 10 depicts an alternate configuration of the rider 46 .
- a rider 46 is affixed to the planter row unit 1 through a flexible, rotating, or deflecting support arm 32 , the rider 46 being constructed and arranged to assess the ground surface distance 26 A.
- the rider 46 includes a non-contact sensor 14 positioned near the seed furrow 12 and oriented in the direction of the bottom 12 B, so as to assess furrow depth 12 A.
- the distance from the top of the soil 12 C to the bottom 12 B of the furrow is thereby measured using one of the non-contact sensing methods already listed, thereby directly measuring the depth of the furrow 12 in these implementations.
- FIG. 11 depicts an implementation of the monitoring system 20 having first 46 and second 46 A riders and a non-contact sensor 14 , with the first 46 and second 46 A riders being constructed and arranged as was described in relation to FIG. 9 .
- the non-contact sensor 14 is constructed and arranged to measure the distance from the furrow rider 46 A to the soil rider 46 for determining the depth 12 A of the furrow.
- the non-contact sensor configurations can comprise a non-contact sensor 14 disposed on the soil riding member 46 that measures distance to the furrow rider 46 A.
- the senor 14 is constructed and arranged to transmit a signal to a receiver 13 on the opposite rider 46 , 46 A that, accounting for structure, allows calculation of the real-time distance between the riders 46 , 46 A and therefore the furrow depth 12 A.
- first 14 A and second 14 B sensors are provided that are transmit 14 A and receive 14 B sensors can be used.
- a sensor processing unit 50 is provided in these implementations and is constructed and arranged to coordinate the transmission and receipt and establish the distance between the sensors 14 A, 14 B. Accordingly, in certain implementations, alone or in combination with the other described technologies and approaches to determine any of ground surface distance 26 A, furrow depth distance 26 B and/or furrow depth 12 A.
- the transmit sensor 14 A can be disposed on the rider 46 and the receive sensor 14 B disposed on the underside of the row unit 1 A.
- Furrow depth 12 A can be calculated through any of the previously-described approaches.
- 26 B is always a fixed row unit dimension—from the receive sensor 14 B to the bottom of the seed trench—that does not vary with planting depth. It is understood that ground surface distance 26 A varies with planting depth, and therefore, furrow depth 12 A is calculated by subtracting ground surface distance 26 A from furrow depth distance 26 B.
- FIG. 13 depicts an array of contact sensors 52 or feelers 52 affixed to a sensor unit 54 which is mounted to the planter row unit (not shown).
- the feelers 52 are affixed to the sensor unit 54 by flexible, rotating, or deflecting members.
- the feelers 52 are positioned orthogonal to the seed furrow 12 and extend down to the soil and furrow level. It is understood that in these implementations, the distance measurement on the feelers 52 is combined into a soil depth profile from which the furrow depth is determined.
- the depth profile includes a maximum deflection measurement (F max ) and a minimum deflection measurement (F min ).
- F min is established or otherwise determined by measuring the position of one or more feeler sensors 52 with the least amount of deflection.
- F max is determined by measuring the position of one or more of the feeler sensors 52 with the most deflection.
- these deflection measurements (F min and F max ) are translated to a vertical distance from the sensor unit 54 which becomes the minimum vertical distance (V min ) and the maximum vertical distance (V max ).
- the trench depth is determined by subtracting the minimum vertical distance (V min ) from the maximum vertical distance (V max ).
- the depth 12 A at any point along the furrow 12 profile is thereby measured by subtracting the ground surface distance 26 A from the distance at the point of interest 26 C, as measured from a shared reference location.
- the monitoring system 20 is able to identify the lowest point in the furrow 12 .
- the monitoring system 20 is able to utilize the lowest point measured, or in the alternative run a curve fit through the variety of measured points to establish the lowest value on the curve.
- the monitoring system 20 is able to exclude small pockets in the observed furrow profile that would not allow seed placement, for example when the furrow is to shallow and/or narrow, as would be understood by those of skill in the art.
- furrow depth 12 A is measured by sensing the height of the soil 9 relative to the planter row unit frame (shown generally at 1 and 1 A) using a non-contact sensor 14 , as has been previously described.
- the sensor 14 is mounted adjacent to the opening disk 2 A—that is ahead of, behind or otherwise adjacent to the disc 2 A—in the forward direction of travel such that ground surface distance 26 A is being measured before the seed furrow 12 is opened.
- the known opening disk distance 26 D the distance from the row unit 1 and or sensor 14 to the bottom 2 A- 1 of the opening disks—is known or can be established by those of skill in the art via mounting location, measurement by calibration or other manual approaches. Accordingly, in these implementations the furrow depth is calculated by the opening disk distance 26 D minus the ground surface distance 26 A, adjusting for any known constants or variables that may be required and appreciated by those of skill in the art.
- a contact rider 46 on a flexible arm 32 is mounted adjacent to the opening disks 2 A.
- a first sensor 14 A here a contact sensor 14 A—can be used to measure the deflection—distance or rotation—of the arm 32 of the soil riding element.
- the contact sensors 14 A used may include: potentiometers, optical encoders, magnetic encoders, Hall Effect sensors, inductive sensors and/or capacitive sensors.
- a distance sensor 14 A that measures the deflection of the arm of the soil riding element can measure rotation through use of the radial distance from arm 32 pivot point—where the arm pivots relative to the row unit 1 —to the distance sensor 14 A. In this way, a rotational measurement is made and calculation of vertical deflection of the rider 46 is identical to the rotational sensor 14 A.
- first rotational sensor 14 A in operational communication with the soil rider arm 32 , the length (radius) of the soil rider arm multiplied by the measured angle of deflection (in radians) determines the radial distance of deflection.
- basic trigonometric principles can be used to yield a vertical distance (or height) of deflection which equates to furrow depth 12 A.
- the rider 46 is replaced with a rolling wheel.
- a second non-contact sensor 14 B is constructed and arranged to measure the distance from the bottom of the soil rider 46 (the ground 9 ) to a defined reference point on the row unit 1 , such as the underside 1 A of the row unit. It is understood that it is therefore possible to calculate the opening disk distance 26 D using known constants, as has been described above.
- the contact sensor 14 A and/or non-contact sensor 14 B can be used together or in the alternative.
- FIG. 16 depicts a schematic implementation of the monitoring system 20 where furrow depth 12 A is measured by establishing the position of the gauge wheel 3 A relative to individual sensors 14 disposed on a sensor array 14 C mounted to or otherwise disposed proximal to the planter row unit 1 frame.
- the sensor(s) 14 , 14 C used can be optical, laser, capacitive, inductive, radar, ultrasonic, CCD, and/or camera, all of which are non-limiting examples. It is appreciated that further sensors 14 and arrays 14 C are contemplated.
- the sensor array 14 C is positioned so that as the gauge wheel 3 A is deflected up (shown by reference arrow A) relative to the planter row unit 1 , the relative position of the gauge wheel 3 A to the sensor array 14 C is determinable by the sensor elements 14 that detect the presence of the gauge wheel 3 A. Because the sensor(s) 14 C, 14 in these implementations are rigidly mounted to the row unit 1 , the vertical distance from each sensor element to the distal point 2 A- 1 of the opening disks—and therefore the bottom 12 B of the furrow 12 A—is known based on the mounting location or other manual or predictive measurement, as described above.
- the one or more of the gauge wheel radius 60 , gauge wheel arm 61 radius 62 , gauge wheel arm pivot point 64 , and sensor mounting point 66 can be used to calculate the vertical deflection of the gauge wheel 3 A relative to the planter row unit 1 . It is understood that in examples where the vertical deflection measurement is relative to the bottom 2 A- 1 of the opening disks 2 A (and therefore the bottom 12 B of furrow), the furrow depth 12 A is equal to the vertical deflection. In alternate examples where the vertical deflection measurement is relative to a row unit 1 reference point, the furrow depth 12 A is equal to the opening disk 2 A position (relative to the reference point) minus the vertical deflection measurement. Other examples are of course possible.
- sensors 14 can be disposed on the opening disk 2 A, as shown in FIG. 17 . That is, in certain of these implementations, sensors 14 are affixed to the opening disks 2 A near the edge of those disks so as to approximate the circumference.
- certain non-limiting examples of possible sensor(s) 14 include optical, laser, capacitive, inductive and ultrasonic sensors, or a combination thereof.
- these sensors 14 are constructed and arranged to allow detection of the presence or absence of soil.
- furrow depth 12 A is measured by using the travel time—and/or distance—of the sensor 14 elements through the soil 9 to calculate or otherwise approximate furrow depth 12 A.
- the system 20 is constructed and arranged to establish the rotational velocity of the opening disks 2 A via the soil/no-soil detection times or intervals measured between sensor(s) 14 and the known angular spacing between sensor(s) 14 . It is further understood that any number of sensors 14 can be used, and that the sensors 14 may or may not be adjacent.
- the furrow depth 12 A is measured by using the radius 70 of the opening disks, the radius 72 to the sensors on the opening disks 2 A, the time measured for a sensor to traverse the soil, and the rotational velocity of the opening disks 2 A. Additional approaches are possible.
- ports 74 are defined into a side or sides of the opening disk(s) 2 A that are constructed and arranged to allow a sensor 14 inside edge of the opening disk 2 A to receive light through the ports 74 and thereby evaluate the presence or absence of soil.
- the furrow depth 12 A is determined by the monitoring system 20 by detecting the top 12 C edge of soil 9 relative to the known location of the opening disk 2 A. That is, it is understood that by virtue of its mounting being fixed to the planter row unit 1 and the opening disks 2 A, the position relative to the bottom 2 A- 1 of the opening disks 2 A is known for each sensor 14 element registering the presence of soil via a port 74 .
- the same via-port 74 sensing approach is utilized to detect the position of the gauge wheel 3 A in relation to the opening disk 2 A.
- Gauge wheel 3 A to opening disk 2 A relative measurement allows the furrow depth 12 A to be determined as follows. Because the sensor 14 is rigidly or otherwise fixedly mounted to the row unit 1 , the vertical distance from each sensor 14 to the opening disks 2 A—including the bottom 2 A- 1 —and therefore the bottom 12 B of the furrow is known, as was previously described.
- one or more of the gauge wheel radius 60 , gauge wheel arm radius 62 , gauge wheel arm pivot point 64 , and sensor mounting point 66 is used to calculate the vertical deflection of the gauge wheel 3 A relative to the planter row unit 1 , as has been previously described.
- the furrow depth 12 A is equal to the vertical deflection. If the vertical deflection measurement is relative to a row unit 1 reference point, the furrow depth 12 A is equal to the opening disk 2 A position—relative to the reference point—minus the vertical deflection measurement.
- At least one non-contact sensor 14 is rigidly or otherwise fixedly mounted or attached to the planter row unit 1 frame, such as any of the non-contact sensors 14 described above.
- the non-contact sensor 14 according to these implementations is constructed and arranged to measure the absolute distance to the gauge wheel(s) 3 A which can be extrapolated to establish an indirect measure of the overall furrow depth 12 A.
- the distance (shown at 26 G) between the rigidly mounted sensor(s) 14 and the gauge wheel 3 A allows the gauge wheel deflection to be measured by the monitoring system 20 .
- the monitoring system 20 uses the gauge wheel radius 60 , along with the radius 62 of the gauge wheel arm 61 , it is possible for the monitoring system 20 to calculate the vertical distance between the ground-contacting bottom of the gauge wheels 3 A- 1 and the bottom 2 A- 1 of the opening disks 2 A to estimate furrow depth 12 A. It is understood that through the use of multiple sensors 14 , the monitoring system 20 can be constructed and arranged to measure gauge wheel deflection from more than one location thereby improving accuracy. Further, using multiple sensors 14 may be needed to increase the rate at which the gauge wheel deflection distance is measured and improve real-time accuracy.
- gauge wheel circumference sensors 14 there are contact or non-contact sensors 14 disposed about the gauge wheel 3 A. These sensors 14 are constructed and arranged to detect the presence or absence of the opening disk 2 A at any given point around the gauge wheel 3 A during rotation. For example, gauge wheel rotational velocity is determined by the presence or absence of the observed disk, with the detection time measured between sensor elements and the angular spacing between sensors 14 . The sensors 14 used to measure rotational velocity may or may not be adjacent. Other sensor 14 configurations are of course possible.
- the implementation of FIG. 21 has an alternate sensor 14 element, which may include an array 14 C of sensors to detect the relative position of the gauge wheel 3 A to the opening disk 2 A.
- the sensor 14 according to these implementations is affixed or otherwise operationally coupled to the gauge wheel arm 61 so that its position relative to the gauge wheel arm 61 is fixed.
- the monitoring system 20 measures the position of the gauge wheel 3 A relative to the opening disk 2 A and calculates the furrow depth. That is, the sensors 14 /array 14 C provide a measured position of the element in relation to the opening disks 2 A, allowing for the deduction of the furrow depth as previously described.
- the sensors 14 are positioned along a portion of the circumference of the gauge wheel 3 A. Since the relative position of the openers to the gauge wheels 3 A changes as the furrow depth changes, detecting and measuring this relative position determines the deflection of the gauge wheel 3 A and the furrow depth 12 A.
- the system 10 and monitoring system 20 can utilize one or more of the following parameters to calculate the furrow depth: rotational velocity of the gauge wheels 3 A, gauge wheel radius 60 , sensor radius 68 , gauge wheel arm radius 62 , opening disk radius 70 and/or the distance from gauge wheel arm pivot point to center of opening disk 74 .
- This list of measurements is simply illustrative and not exhaustive—other relevant measurements are possible, as would be understood by those of skill in the art.
- proximity sensors 14 in the sensor array 14 C are constructed and arranged so as to detect the proximal presence or absence of the opening disc 2 A. It is understood that in these implementations, the binary presence/absence thresholds and tolerances can be adjusted as needed.
- the system 10 uses this proximity detection to determine the position of the gauge wheel 3 A relative to the opening disc 2 A.
- Proximity sensing along the sensor radius 75 allows determination of at least one intersection point 76 between the circle defined by the opening disc 2 A and a circle inside the gauge wheel 3 A with radius equal to sensor radius 75 .
- the position of the gauge wheel 3 A relative to the opening disk 2 A can be used to determine which—if any—sensors in the array 14 C are detecting the circumferential edge of the opening disk 2 A and which are not. Accordingly, it is understood that changing the position of the gauge wheel 3 A alters which of these sensors detects the edge of the opening disk 2 A. Therefore, if the measured depth 12 A is either calibrated or set to the sensors that are detecting the opening disk 2 A at a given depth, trench depth 12 A can be determined during operation by correlating the detecting sensors to their calibrated and/or set depth values.
- a shield 80 or shroud may be needed to protect sensors measuring the distance, as is shown in FIG. 22 .
- a shield 80 (or shroud) protects the sensors 14 from the soil and residue being thrown by the opening disks 2 A, 2 B and gauge wheels 3 A, 3 B.
- the shield 80 and sensors 14 are rigidly mounted to the planter row unit 1 frame so that a relative measurement can be made from the sensor 14 to the ground 9 , allowing furrow depth to be measured, as is described above.
- the distance measured from soil to ground for each sensor may be averaged.
- the vertical distance from the sensors to the bottom of the opening disks is fixed because the sensor and shield are rigidly mounted to the row unit frame, which includes the opening disks. This known distance is determined by manual measurement or a calibration procedure.
- Furrow depth is determined by subtracting the sensor-to-soil distance from the known sensor-to-opener (bottom) distance.
- the calibration procedure may be done by affixing a plane horizontally in both directions to the row unit so that the plane is either level to the bottom of the opening disks or a known vertical distance from the plane that is level to the opening disks.
- the sensors measure the vertical distance to the known plane to determine the sensor-to-opener distance. This measurement is stored in non-volatile memory so it can be used to calculate furrow depth when the unit is operational.
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Abstract
Description
- This application claims priority to U.S. Provisional Application No. 62/632,288 filed Feb. 19, 2018, which is hereby incorporated by reference in their entirety under 35 U.S.C. § 119(e).
- The disclosed technology relates generally to devices, systems and methods for use in planting, and in particular, to the devices, methods, and design principles allowing for the monitored and/or controlled application of downforce to individual row units in both normal and high-speed planting implementations. This has implications for high speed, high yield planting of corn, beans and other agricultural crops.
- The disclosure relates to apparatus, systems and methods for use in high speed planting applications. There is a need in the art for improved, efficient systems for the monitoring of an opened furrow and controlled application of net downforce to individual row units via valves in fluidic communication with individual actuators.
- Discussed herein are various devices, systems and methods relating to a system for the application of downforce to an individual row unit.
- In various Examples, a system of one or more computers can be configured to perform particular operations or actions through software, firmware, hardware, or a combination of them installed on the system that in operation causes or cause the system to perform the actions. One or more computer programs can be configured to perform particular operations or actions by virtue of including instructions that, when executed by data processing apparatus, cause the apparatus to perform the actions.
- One Example includes a row unit downforce system including: a downforce actuator in operational communication with the row unit and constructed and arranged to apply supplemental downforce to the row unit and opening disks; a monitoring system including at least one furrow depth sensor constructed and arranged to generate furrow depth values; and a control system module, where the control system module is constructed and arranged to generate actuator command signals in response to the furrow depth values. Other embodiments of this Example include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.
- Implementations of this Example may include one or more of the following features. The row unit downforce system further including a shoe disposed between the opening disks, where the at least one sensor is disposed on the shoe. The row unit downforce system further including a gauge wheel load sensor in operational communication with the control system module. The row unit downforce system further including a downforce control system in operational communication with the control system module and constructed and arranged to generate actuator command signals for transmission and operation of the actuator. The row unit downforce system where the downforce control system includes at least one proportional-integral-derivative control. The row unit downforce system where downforce control system utilizes gauge wheel load and furrow depth to modify applied downforce. Implementation of this Example of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.
- Another Example includes a system for the application of supplemental downforce to a row unit via an actuator including an on-the-go monitoring system including at least one sensor constructed and arranged to generate furrow depth values. Other embodiments of this Example include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.
- Implementations of this Example may include one or more of the following features. The system where the at least one furrow depth sensor is a non-contact sensor. The system where the at least one sensor is a non-contact furrow depth sensor rigidly mounted to the row unit and is positioned to measure a seed furrow bottom distance. The system where the at least one sensor further includes a second non-contact ground level sensor, where the system including a rider disposed on a support arm and constructed and arranged to physically contact the furrow. The system including a shoe or seed firmer including one or more sensors disposed on substantially vertical surfaces. The system where the one or more sensors are disposed adjacent to a side or edge of the furrow. The system where the one or more sensors are disposed adjacent to an outer circumferential edge of a gauge wheel. The system where the one or more sensors are disposed adjacent to an outer circumferential edge of an opening disk. The system where the one or more sensors are constructed and arranged to detect an observed or actual revolution speed of a gauge wheels and/or an opening disk by sensing a rotating trigger mechanism. Implementation of this Example of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.
- One Example includes a row unit downforce system including: a downforce actuator in operational communication with the row unit and constructed and arranged to apply supplemental downforce to the row unit and opening disks, and an on-the-go monitoring system including at least one furrow depth sensor constructed and arranged to generate furrow depth values. Other embodiments of this Example include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.
- Implementations of this Example may include one or more of the following features. The row unit downforce system including a gauge wheel load sensor constructed and arranged to generate gauge wheel load values. The row unit downforce system including a feedback control system, where the control system module is constructed and arranged to generate actuator command signals in response to furrow depth values and gauge wheel load values. The row unit downforce system where the at least one furrow depth sensor is disposed on a shoe. Implementations of this Example of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.
- One Example includes a row unit downforce system including a downforce actuator in operational communication with the row unit and constructed and arranged to apply supplemental downforce to the row unit and opening disks, a monitoring system including at least one furrow depth sensor constructed and arranged to generate furrow depth values; and a control system module, where the control system module is constructed and arranged to generate actuator command signals in response to the furrow depth values.
- One Example includes a system for the application of supplemental downforce to a row unit via an actuator including an on-the-go monitoring system including at least one sensor constructed and arranged to generate furrow depth values.
- One Example includes a row unit downforce system including a downforce actuator in operational communication with the row unit and constructed and arranged to apply supplemental downforce to the row unit and opening disks, and an on-the-go monitoring system including at least one furrow depth sensor constructed and arranged to generate furrow depth values.
- It is appreciated that each of the furrow depth sensing methods and gauge wheel and opening disk sensing methods have utility as stand-alone devices, systems and methods.
- Other embodiments of these Examples include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.
- While multiple embodiments are disclosed, still other embodiments of the disclosure will become apparent to those skilled in the art from the following detailed description, which shows and describes illustrative embodiments of the disclosed apparatus, systems and methods. As will be realized, the disclosed apparatus, systems and methods are capable of modifications in various obvious aspects, all without departing from the spirit and scope of the disclosure. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not restrictive.
- The various embodiments disclosed or contemplated herein relate to devices, methods, and design principles allowing for the application of net downforce to individual row units in planting applications. The various implementations disclosed herein relate to technologies for achieving downforce on a planter with independent row by row control capability. The implementations disclosed herein can be used in conjunction with any of the technologies and/or devices, systems and methods disclosed in Co-Pending U.S. application Ser. No. 16/121,065, filed Sep. 4, 2018 entitled “Improved Planter Down Pressure And Uplift Devices, Systems And Associated Methods,” as well as U.S. Pat. No. 9,801,329, issued on Oct. 31, 2017; U.S. Pat. No. 9,629,304, issued on Apr. 25, 2017; U.S. application Ser. No. 15/462,276, filed Mar. 17, 2017; and U.S. application Ser. No. 15/717,296 filed Sep. 27, 2017, each of which is entitled “On-The Go Soil Sensors And Control Methods For Agricultural Machines,” and all of which are incorporated herein by reference in their entirety.
- The implementations disclosed herein relate to a
downforce system 10 comprising at least one of an on-the-gofurrow monitoring system 20 and/orfeedback control system 30. That is, various implementations of thedownforce system 10 include devices, systems and methods that measure and monitor the depth of the seed furrow during planting with supplemental downforce. - As shown in the implementation of
FIG. 1 , certain implementations of thedownforce system 10 include an on-the-go monitoring system 20 and/or adownforce control system 30. In implementations comprising an on-the-go monitoring system 20, thedownforce system 10 is able to establish the depth of theopen furrow 12. In implementations featuring adownforce control system 30, thedownforce system 10 is able to useseed furrow 12depth 12A alone or in combination with other forms of data inputs to control feedback. A top view of an implementation comprising themonitoring system 20 is also shown inFIG. 2 . - As shown in
FIG. 1 andFIG. 2 , in aplanter row unit 1 according to various implementations of thecontrol system 10,opening disks gauge wheels ground 9, as has been previously described. Aseed tube 4 is disposed within thegauge wheels furrow 12 opened by the openingdisks wheels furrow 12 are disposed behind thegauge wheels - As discussed herein, in certain implementations, one or more trench depth sensors, such as a
first sensor 14A and asecond sensor 14B can be disposed in the vicinity of the openingfurrow 12. The various on-the-go system 20 embodiments described herein can include both non-contact andcontact sensors various sensors - These embodiments of the
downforce system 10 having an on-the-go monitoring system 20 may be used by an electronic system to display, log and map furrow depth and/or as feedback for an on-the-go automatic furrow depth control system or on-the-go system 20. - As is also shown in
FIG. 1 , therow unit 1 according to certain implementations of thedownforce system 10 comprising asensor 14 such as anon-contact sensor 14 is affixed to atool bar 16. Various implementations of therow unit 1 have aforce transfer actuator 18 that is constructed and arranged to apply downforce to therow unit 1 and in particular the openingdisks - Certain implementations of the
downforce system 10 including adownforce control system 30 that usesseed furrow depth 12A alone or in combination with other forms of data inputs to control feedback to theactuator 18. - In various implementations, the
downforce system 10 is has a gaugewheel load sensor 22. In various implementations, the various contact andnon-contact sensors wheel load sensor 22 are in electronic or otherwise operational communication with acontrol system module 24. In use according to these implementations, thesensors 14 and/or gaugewheel load sensor 22 are constructed and arranged to record and transmit or otherwise generate data points or sensor input signal values (shown inFIG. 1 as reference arrows D and G, respectively) that are transmitted to thecontrol system module 24. For example, anon-contact sensor 14 can be constructed and arranged to generate furrow depth measurements, while the gaugewheel load sensor 22 is constructed and arranged to generate gauge wheel load values. - In these implementations, the
control system module 24 is in turn constructed and arranged to generate actuator command signals (reference arrow C) to command theactuator 18. That is, in these implementations, thedownforce system 10 comprises one or moretrench depth sensors 14 and one or more gaugewheel load sensors 22, and is constructed and arranged to adjust downforce actuation in response to the detected furrow depth and/or gauge wheel load values and adjust the actuation when one or more of the sensed values exceeds a set point or other pre-determined threshold. In further implementations, acontrol feedback system 30 combines the sensed furrow depth and gauge load values and is configured to control actuation, as would be understood. - For example, in certain implementations, at least one of gauge wheel load value (drawn, for example, from the gauge wheel load sensor 22) and the seed furrow depth value (drawn from other sensors, such as the
non-contact sensors go monitoring system 20 are used by thecontrol feedback system 30 to establish the amount ofactuator 18 supplemental force. It is understood that these control system implementations allow thedownforce system 10 to provide a faster, more precise response when the gauge wheels lose contact with the ground. - It is understood that current down force systems typically rely on monitoring the
gauge wheel wheels - In these implementations, if the amount of depth loss is available as feedback to the
control system 30, via any number of sensing methods, it can increase applied down pressure more rapidly and forcefully when depth loss is larger. This reduces the amount of time seed is planted too shallow. Correspondingly, the system can increase applied down pressure more slowly and gently when depth loss is small or non-existent. This prevents or reduces the over-application of down force which can cause undesirable soil compaction. - Returning to the implementations of the
system 10 ofFIG. 1 andFIG. 2 in detail, it is understood that there are numerous approaches to measuring seed furrow depth which rely on one ormore sensors seed furrow 12 or the surface of theground 12C. Further discussion of thesesensors FIGS. 4-21 . - In implementations like that of
FIG. 1 , two or more control feedback inputs are utilized. In various implementations, a first control feedback relates to gauge wheel load (from the gauge wheel sensor 22) and another relates to seedfurrow depth 12A, as determined by any of the contemplatedsensors force control system 10 including thisfeedback control system 30 provide a faster, more precise response when the gauge wheels lose contact with the ground. -
FIG. 3 depicts adownforce system 10, according to one implementation. It is understood that in these and other implementations, acontrol system 30 utilizes gauge wheel load input signals 102 and furrow depth feedback input signals 104, such as from the collection and transmission of continuous, real time or a time series of recorded measurements. In various implementations these input signals 102, 104 are collected via the sensors (shown elsewhere at 14, 22) that are in operable communication with acontrol system module 24. - The
control system module 24 is in turn constructed and arranged so as to generate actuator command signals 110 for transmission and operation of theactuator 18 as applieddownforce 114. - In these implementations, each of the gauge wheel
load sensor feedback 102 and planting or furrow depth sensor feedback 104 (shown inFIG. 1 as reference arrows D and G, respectively) can have its own control (atboxes controls controls such controls controller output 110 that is constructed and arranged to establish thedownforce command 112 voltage transmitted to theactuator 18 as applieddownforce 114. - That is, in use, the final summation block or
controller output 110 is constructed and arranged to process the gauge wheel load sensor and planting or furrow depth sensor signals so as to modify the downforce applied by theactuator 18. It is understood that in these and other implementations, each of the gauge wheel and furrow depth feedback paths can supply its own contribution, which can be modulated by set points/thresholds 116. 118 to the total supplemental downforce 114 applied to theplanter row unit 1. - In various implementations, the gauge
wheel set point 116 and planting depth setpoint 118 can either be specified by the user or may be adjusted dynamically as ground conditions, soil properties, vehicle speed, or other conditions change, as has been previously described. - In various implementations,
feedback 102 from the gauge wheel with theoptional set point 116 are summed 120 andplanting depth feedback 104 with theoptional set point 118 are summed 122 and used to calibrate the overall gauge wheel load error and planting depth error via adirect connection 124 to thegauge wheel control 106 and/ordirect connection 126 to theplanting depth control 108, respectively. It is understood that in various implementations, each of the optional gauge wheel and/or furrow depth feedback systems can be summed via either of the twocontrollers lines line 132. - It is understood that according to these implementations, either the
gauge wheel control 106 orplanting depth control 108 is therefore optional, and that in any event the gauge wheel load feedback system and/or planting depth control feedback system are inoperational communication 134 with thecontroller output 110, so as to modify applied downforce, such as via connections atlines 134 and/or 136. In this way, it is possible under certain implementations for the gauge wheel load feedback system and/or planting depth control feedback system to be optional or interconnected with one another as co-terminal streams of feedback or in communication upstream of one another. - It is further understood that this
control system 30 can be a sub-component of a larger control system that is actively controlling and adjusting planting depth, vehicle speed, or seed spacing or population. -
FIG. 4 depicts one implementation of one implementation of thesystem 10 comprising an on-the-go monitoring system 20. In this implementation,sensors seed furrow 12 thereby establishingfurrow depth 12A, which clearly differentiates these embodiments from the prior art. - In these and the other implementations described herein, the
sensors FIG. 4 andFIG. 5 . - Returning to the implementation of
FIG. 4 in detail, anon-contact sensor 14A is fixedly mounted to theplanter row unit 1 and is constructed and arranged measures the distance between thesensor 14A and the soil orground level 12C (the ground surface distance, shown at 26A), while a separatenon-contact sensor 14B is rigidly mounted to theplanter row unit 1 and is positioned to measure the distance to the bottom 12B of the seed furrow (the furrow depth distance shown at 26B). Thesystem 20 is constructed such that the measurements is used to determine theactual furrow depth 12 at any given moment by subtracting theground surface distance 26A from thefurrow depth distance 26B, as measured from a shared reference location, here the bottom 1A of therow unit 1. - Certain non-contact sensors utilized in various implementations are, but are not limited to, ultrasonic sensors, single distance ultrasonic sensors, phase-array ultrasonic sensors, vision sensors, laser sensors, laser ranging sensors, reflected light intensity sensors, reflected structured light imaging sensors, radar sensors, lidar sensors including but not limited to time of flight imaging and swept beams, stereo camera sensors, rotary encoders, GPS, inertial sensors, and/or linear displacement sensors, including combinations thereof and sensor fusion and/or phased arrays.
- In the implementation of
FIG. 5 , afirst sensor 14A is fixedly mounted to theplanter row unit 1 and is constructed and arranged to measure the distance between thefirst sensor 14A—which is a contact sensor in this implementation- and the soil orground level 12C (the ground surface distance, shown at 26A), while asecond sensor 14B—in this implementation a second contact sensor that is constructed and arranged to ride in theseed furrow 12. - The
contact sensor 14A of this implementation is constructed and arranged with spring action that urges thedistal sensor contact 15 to the bottom 12B of theseed furrow 12. Thecontact sensor 14B is mounted to theplanter row unit 1 so that the angular rotation or deflected distance can be measured to establish the furrow depth distance shown at 26B, as would be understood by those of skill in the art. Thesystem 20 according to these implementations is again constructed such that the measurements is used to determine theactual furrow depth 12 at any given moment by subtracting the ground surface distance (shown at 26A) from the furrow depth distance (shown at 26B), as measured from a shared reference location, here the bottom 1A of therow unit 1. - In certain alternate implementations, the contact sensors can be, but are not limited to, flex resistor sensors, encoders, optical sensors, magnetic sensors, fiber optic sensors, potentiometers, LVDTs, closing wheel sensors, and/or capacitive in-furrow sensors, including combinations thereof and sensor fusion and/or phased arrays.
- In certain implementations, the
sensor 14B can also infer thedepth 12A by measuring the position or angle of any number of mechanical linkages on the row unit, such as the closing wheels or arm, gauge wheels or arm, row cleaners, or seed firming arm or wheel riding in the furrow, as would be readily understood in the art. - In the implementation of the
monitoring system 20 shown inFIG. 6A , asingle sensor 14 is used, which in these implementations is anon-contact sensor 14, mounted to theplanter row unit 1. Thesensor 14 is either scanned or its returning signal is processed to develop a depth profile for theseed furrow 12. Thesingle sensor 14 according to these implementations can either be scanned across the seed furrow profile or use signal processing to simultaneously measure both the distance to theground surface 12C and theseed furrow bottom 12B. In various implementations, thesensor 14 can utilize technologies such as radar, lidar, optical, stereo camera, structured light, visible, and/or invisible spectrums, alone or in combination. - In various of these implementations, the
furrow depth 12A is measured by identifying thefurrow 12 in the data profile of thesensor 14 and referencing the measurement of thedistance 12A between the top of the furrow (ground level 12C) to thefurrow bottom 12B, as is shown in further detail inFIG. 6B . In these implementations, thedepth 12A′ at any given point (shown, for example at 12D) along thefurrow 12 profile is measured by subtracting theground surface distance 12C from the distance at the point of interest, as measured from a shared reference location, such as the bottom of therow unit 1A. - In certain implementations of the down
force control system 10 having amonitoring system 20, such as that ofFIG. 7 , have ashoe 40 as asensor 14 platform for on-the-go measurements. It is understood that in these implementations, theshoe 40 is a mechanical device positioned between—or inside—the openingdisks - The
sensor 14 types affixed to theshoe 40 may include, but are not limited to the following: radar, lidar, machine vision, capacitive sensors, ultrasonic sensors, optical sensors, thermocouple sensors, resistive sensors and/or combinations thereof, as has been described above. - In these implementations, the
shoe 40 has one or more substantiallyvertical surfaces more sensors 14, including, but not limited to, as part of asensor array 14C. According to these implementations, one or bothsurfaces - While the
surfaces shoe 40 can have a substantially horizontal bottom surface (not shown) for affixing one or more instruments to sense parameters at the bottom of furrow. Thesensors 14 according to these implementations on thevarious shoe surfaces - As such, the
shoe 40 according to these implementations can detect furrowdepth using sensors 14 disposed on the surfaces 42 to measure the height of the adjacent furrow sidewall. Thesesensors 14 can detect crop residue on top of the soil to exclude it from the height measurement of the seed furrow sidewall, thereby leaving only the height of soil sidewall as the seed furrow depth. Certain of these implementations require theshoe 40 to stay substantially vertically fixed relative to the bottom edge of the opening disk, regardless of depth setting. - According to certain aspects, one or
more surfaces sensor 14 mounted on the shoe surface 42. Similarly, various implementations also dispose thesensor 14 such that the inside outer edge of theopening disk 2A transversely passes thesensor 14. - In use according to these implementations, the
shoe sensor 14 adjacent to the gauge wheels 3 and/or openingdisks 2 can detect an observed or actual revolution speed of the gauge wheels and/or opening disks by sensing a rotating trigger mechanism (not shown) affixed to the inside of the gauge wheels and/or opening disk, as would be understood. In further implementations, thesystem 10 implements an electronic system to determine a target revolution speed using the planter ground speed and gauge wheel/opening disk circumference and compare it to the actual observed revolutions. - It is understood that in these implementations of the
downforce system 10, themonitoring system 20 and/orcontrol system 30 can be constructed and arranged to respond to a slow actual or observed speed by generating a user alarm about a faulty gauge wheel/opening disk. It is understood that such a faulty wheel/disc can be plugged with dirt, have bearing locking up and/or other mechanical faults that cause the actual revolutions to slow. Theshoe 40 according to certain implementations can also be constructed and arranged to detect the opening disk radius and/or diameter to indicate a worn disc that might be faulty. Further utilizations would be apparent to those of skill in the art. - These implementations of the
shoe 40 can also measure furrow depth by detecting the point on the outer circumferential edge of theopening disk 2A that intersects the outer circumferential edge of thegauge wheel 3A. Additional embodiments are possible. - In the implementation of
FIG. 8A , asensor 14A is fixedly mounted to theplanter row unit 1 and is constructed and arranged to measure the distance between thesensor 14A and the soil orground level 12C (the ground surface distance, shown at 26A), while a secondnon-contact sensor 14B is rigidly mounted to theplanter row unit 1 and is constructed and arranged to measure the distance to atarget object 46 in direct communication with the bottom 12B of thefurrow 12. - In the implementation of
FIG. 8A , thetarget object 46 is a ridingelement 46 orrider 46 and is affixed to a flexible, rotating, or deflectingsupport arm 32, such as a seed firmer, that follows the bottom 12B of theseed furrow 12, and can thereby be used to establish the furrow depth distance shown at 26B. Thesystem 20 according to these implementations is again constructed such that the measurements is used to determine theactual furrow depth 12 at any given moment by subtracting theground surface distance 26A from thefurrow depth distance 26B, as measured from a shared reference location, here the bottom 1A of therow unit 1. - It is understood that the
sensor 14B for thefurrow target object 46 can include sensors that detect ferrous or magnetic targets as well as structured light. One such example using a structuredlight array 48 is shown inFIG. 8B andFIG. 8C . In certain implementations of the ridingelement 46 discussed herein, and as shown inFIG. 8B andFIG. 8C , the structuredlight array 48 is disposed on the upper surface of the ridingelement 46 so as to be in optical communication with one or morenon-contact sensors 14B, such that thenon-contact sensors 14B can be constructed and arranged to measure the distance to therider 46 via changes in detected size of thearray 48. Other implementations are of course possible and will be evident in the further implementations discussed herein. - In implementations like that of
FIG. 9 , therow unit 1 has arider 46, described further herein. It is understood that in these implementations, therider 46 can either ride on thesoil surface 12C or in theseed furrow 12 or both, and that themonitoring system 20 can be constructed and arranged to use both contact and non-contact distance measuring approaches, such as therider 46 approach, to assessfurrow depth 12A. - The implementation of
FIG. 9 has arider 46 that rides on thesurface 12C of the soil. In this implementation, therider 46 is affixed to theplanter row unit 1 through a flexible, rotating, or deflectingsupport arm 32, and theground surface distance 26A is measured using one of the contact sensing methods described in relation toFIG. 8A . - In the implementation of
FIG. 9 , there is asecond rider 46A which rides on the bottom 12B of thefurrow 12. Thesecond rider 46A according to this implementation is affixed to thefirst rider 46 through a second flexible, rotating, or deflectingsupport arm 32A. It is understood that thefurrow depth distance 26B is measured using one of the contact sensing methods described above in relation toFIG. 8A , thereby directly measuring the depth of thefurrow 12. Other approaches are of course possible. - The
monitoring system 20 implementation ofFIG. 10 depicts an alternate configuration of therider 46. In this embodiment, arider 46 is affixed to theplanter row unit 1 through a flexible, rotating, or deflectingsupport arm 32, therider 46 being constructed and arranged to assess theground surface distance 26A. - In the implementation of
FIG. 10 , therider 46 includes anon-contact sensor 14 positioned near theseed furrow 12 and oriented in the direction of the bottom 12B, so as to assessfurrow depth 12A. The distance from the top of thesoil 12C to the bottom 12B of the furrow is thereby measured using one of the non-contact sensing methods already listed, thereby directly measuring the depth of thefurrow 12 in these implementations. -
FIG. 11 depicts an implementation of themonitoring system 20 having first 46 and second 46A riders and anon-contact sensor 14, with the first 46 and second 46A riders being constructed and arranged as was described in relation toFIG. 9 . - In these implementations, the
non-contact sensor 14 is constructed and arranged to measure the distance from thefurrow rider 46A to thesoil rider 46 for determining thedepth 12A of the furrow. In alternate implementations, the non-contact sensor configurations can comprise anon-contact sensor 14 disposed on thesoil riding member 46 that measures distance to thefurrow rider 46A. - In use according to certain of these implementations, the
sensor 14 is constructed and arranged to transmit a signal to areceiver 13 on theopposite rider riders furrow depth 12A. - As shown in
FIG. 12 , first 14A and second 14B sensors are provided that are transmit 14A and receive 14B sensors can be used. Asensor processing unit 50 is provided in these implementations and is constructed and arranged to coordinate the transmission and receipt and establish the distance between thesensors ground surface distance 26A,furrow depth distance 26B and/orfurrow depth 12A. In the implementation ofFIG. 12 having aground rider 46 with a contact sensor, the transmitsensor 14A can be disposed on therider 46 and the receivesensor 14B disposed on the underside of therow unit 1A.Furrow depth 12A can be calculated through any of the previously-described approaches. For example, 26B is always a fixed row unit dimension—from the receivesensor 14B to the bottom of the seed trench—that does not vary with planting depth. It is understood thatground surface distance 26A varies with planting depth, and therefore,furrow depth 12A is calculated by subtractingground surface distance 26A fromfurrow depth distance 26B. - Certain implementations of the
monitoring system 20 comprise acontact sensor array 52 alone or in combination with the other contact- and non-contact-sensing approaches discussed herein.FIG. 13 depicts an array ofcontact sensors 52 orfeelers 52 affixed to asensor unit 54 which is mounted to the planter row unit (not shown). Thefeelers 52 are affixed to thesensor unit 54 by flexible, rotating, or deflecting members. In use, according to these implementations, thefeelers 52 are positioned orthogonal to theseed furrow 12 and extend down to the soil and furrow level. It is understood that in these implementations, the distance measurement on thefeelers 52 is combined into a soil depth profile from which the furrow depth is determined. - in these and other implementations, the depth profile includes a maximum deflection measurement (Fmax) and a minimum deflection measurement (Fmin). In these implementations, Fmin is established or otherwise determined by measuring the position of one or
more feeler sensors 52 with the least amount of deflection. Here, Fmax is determined by measuring the position of one or more of thefeeler sensors 52 with the most deflection. Combined, these deflection measurements (Fmin and Fmax) are translated to a vertical distance from thesensor unit 54 which becomes the minimum vertical distance (Vmin) and the maximum vertical distance (Vmax). The trench depth is determined by subtracting the minimum vertical distance (Vmin) from the maximum vertical distance (Vmax). - The
depth 12A at any point along thefurrow 12 profile is thereby measured by subtracting theground surface distance 26A from the distance at the point ofinterest 26C, as measured from a shared reference location. - Using the depth of each
feeler 52, themonitoring system 20 according to these implementations is able to identify the lowest point in thefurrow 12. In various implementations, themonitoring system 20 is able to utilize the lowest point measured, or in the alternative run a curve fit through the variety of measured points to establish the lowest value on the curve. In further implementations, themonitoring system 20 is able to exclude small pockets in the observed furrow profile that would not allow seed placement, for example when the furrow is to shallow and/or narrow, as would be understood by those of skill in the art. - Additional implementations of the
monitoring system 20 comprise variousalternate sensor 14 placements. In the implementation ofFIG. 14 ,furrow depth 12A is measured by sensing the height of thesoil 9 relative to the planter row unit frame (shown generally at 1 and 1A) using anon-contact sensor 14, as has been previously described. In the implementation ofFIG. 14 , thesensor 14 is mounted adjacent to theopening disk 2A—that is ahead of, behind or otherwise adjacent to thedisc 2A—in the forward direction of travel such thatground surface distance 26A is being measured before theseed furrow 12 is opened. It is understood that the knownopening disk distance 26D—the distance from therow unit 1 and orsensor 14 to thebottom 2A-1 of the opening disks—is known or can be established by those of skill in the art via mounting location, measurement by calibration or other manual approaches. Accordingly, in these implementations the furrow depth is calculated by theopening disk distance 26D minus theground surface distance 26A, adjusting for any known constants or variables that may be required and appreciated by those of skill in the art. - In the implementation of
FIG. 15 , acontact rider 46 on aflexible arm 32 is mounted adjacent to theopening disks 2A. - In various implementations, a
first sensor 14A—here acontact sensor 14A—can be used to measure the deflection—distance or rotation—of thearm 32 of the soil riding element. In these implementations, thecontact sensors 14A used may include: potentiometers, optical encoders, magnetic encoders, Hall Effect sensors, inductive sensors and/or capacitive sensors. - In additional implementations, a
distance sensor 14A that measures the deflection of the arm of the soil riding element can measure rotation through use of the radial distance fromarm 32 pivot point—where the arm pivots relative to therow unit 1—to thedistance sensor 14A. In this way, a rotational measurement is made and calculation of vertical deflection of therider 46 is identical to therotational sensor 14A. - It is understood that for a first
rotational sensor 14A in operational communication with thesoil rider arm 32, the length (radius) of the soil rider arm multiplied by the measured angle of deflection (in radians) determines the radial distance of deflection. In these implementations, it is understood that basic trigonometric principles can be used to yield a vertical distance (or height) of deflection which equates tofurrow depth 12A. - In alternate implementations, the
rider 46 is replaced with a rolling wheel. - In certain implementations, a second
non-contact sensor 14B is constructed and arranged to measure the distance from the bottom of the soil rider 46 (the ground 9) to a defined reference point on therow unit 1, such as theunderside 1A of the row unit. It is understood that it is therefore possible to calculate theopening disk distance 26D using known constants, as has been described above. - It is understood that in various of these implementations, the
contact sensor 14A and/ornon-contact sensor 14B can be used together or in the alternative. -
FIG. 16 depicts a schematic implementation of themonitoring system 20 wherefurrow depth 12A is measured by establishing the position of thegauge wheel 3A relative toindividual sensors 14 disposed on asensor array 14C mounted to or otherwise disposed proximal to theplanter row unit 1 frame. In various implementations, the sensor(s) 14, 14C used can be optical, laser, capacitive, inductive, radar, ultrasonic, CCD, and/or camera, all of which are non-limiting examples. It is appreciated thatfurther sensors 14 andarrays 14C are contemplated. - In these implementations, the
sensor array 14C is positioned so that as thegauge wheel 3A is deflected up (shown by reference arrow A) relative to theplanter row unit 1, the relative position of thegauge wheel 3A to thesensor array 14C is determinable by thesensor elements 14 that detect the presence of thegauge wheel 3A. Because the sensor(s) 14C, 14 in these implementations are rigidly mounted to therow unit 1, the vertical distance from each sensor element to thedistal point 2A-1 of the opening disks—and therefore the bottom 12B of thefurrow 12A—is known based on the mounting location or other manual or predictive measurement, as described above. - It is understood that the one or more of the
gauge wheel radius 60,gauge wheel arm 61radius 62, gauge wheelarm pivot point 64, andsensor mounting point 66 can be used to calculate the vertical deflection of thegauge wheel 3A relative to theplanter row unit 1. It is understood that in examples where the vertical deflection measurement is relative to thebottom 2A-1 of the openingdisks 2A (and therefore the bottom 12B of furrow), thefurrow depth 12A is equal to the vertical deflection. In alternate examples where the vertical deflection measurement is relative to arow unit 1 reference point, thefurrow depth 12A is equal to theopening disk 2A position (relative to the reference point) minus the vertical deflection measurement. Other examples are of course possible. - In certain alternate implementations,
sensors 14 can be disposed on theopening disk 2A, as shown inFIG. 17 . That is, in certain of these implementations,sensors 14 are affixed to theopening disks 2A near the edge of those disks so as to approximate the circumference. In these implementations, certain non-limiting examples of possible sensor(s) 14 include optical, laser, capacitive, inductive and ultrasonic sensors, or a combination thereof. - In implementations like that of
FIG. 17 , thesesensors 14 are constructed and arranged to allow detection of the presence or absence of soil. Here,furrow depth 12A is measured by using the travel time—and/or distance—of thesensor 14 elements through thesoil 9 to calculate or otherwiseapproximate furrow depth 12A. - It is understood that the
system 20 is constructed and arranged to establish the rotational velocity of the openingdisks 2A via the soil/no-soil detection times or intervals measured between sensor(s) 14 and the known angular spacing between sensor(s) 14. It is further understood that any number ofsensors 14 can be used, and that thesensors 14 may or may not be adjacent. In certain examples, thefurrow depth 12A is measured by using theradius 70 of the opening disks, the radius 72 to the sensors on the openingdisks 2A, the time measured for a sensor to traverse the soil, and the rotational velocity of the openingdisks 2A. Additional approaches are possible. - In
FIG. 18 ,ports 74 are defined into a side or sides of the opening disk(s) 2A that are constructed and arranged to allow asensor 14 inside edge of theopening disk 2A to receive light through theports 74 and thereby evaluate the presence or absence of soil. In these implementations, thefurrow depth 12A is determined by themonitoring system 20 by detecting the top 12C edge ofsoil 9 relative to the known location of theopening disk 2A. That is, it is understood that by virtue of its mounting being fixed to theplanter row unit 1 and the openingdisks 2A, the position relative to thebottom 2A-1 of the openingdisks 2A is known for eachsensor 14 element registering the presence of soil via aport 74. - In alternative embodiments, the same via-
port 74 sensing approach is utilized to detect the position of thegauge wheel 3A in relation to theopening disk 2A.Gauge wheel 3A toopening disk 2A relative measurement allows thefurrow depth 12A to be determined as follows. Because thesensor 14 is rigidly or otherwise fixedly mounted to therow unit 1, the vertical distance from eachsensor 14 to theopening disks 2A—including the bottom 2A-1—and therefore the bottom 12B of the furrow is known, as was previously described. In various implementations, one or more of thegauge wheel radius 60, gaugewheel arm radius 62, gauge wheelarm pivot point 64, andsensor mounting point 66 is used to calculate the vertical deflection of thegauge wheel 3A relative to theplanter row unit 1, as has been previously described. That is, if the vertical deflection measurement is relative to thebottom 2A-1 of the opening disks (and therefore the bottom 12B of the furrow), thefurrow depth 12A is equal to the vertical deflection. If the vertical deflection measurement is relative to arow unit 1 reference point, thefurrow depth 12A is equal to theopening disk 2A position—relative to the reference point—minus the vertical deflection measurement. - In the implementation of
FIG. 19 , at least onenon-contact sensor 14 is rigidly or otherwise fixedly mounted or attached to theplanter row unit 1 frame, such as any of thenon-contact sensors 14 described above. Thenon-contact sensor 14 according to these implementations is constructed and arranged to measure the absolute distance to the gauge wheel(s) 3A which can be extrapolated to establish an indirect measure of theoverall furrow depth 12A. - That is, the distance (shown at 26G) between the rigidly mounted sensor(s) 14 and the
gauge wheel 3A allows the gauge wheel deflection to be measured by themonitoring system 20. Using thegauge wheel radius 60, along with theradius 62 of thegauge wheel arm 61, it is possible for themonitoring system 20 to calculate the vertical distance between the ground-contacting bottom of thegauge wheels 3A-1 and the bottom 2A-1 of the openingdisks 2A to estimatefurrow depth 12A. It is understood that through the use ofmultiple sensors 14, themonitoring system 20 can be constructed and arranged to measure gauge wheel deflection from more than one location thereby improving accuracy. Further, usingmultiple sensors 14 may be needed to increase the rate at which the gauge wheel deflection distance is measured and improve real-time accuracy. - Various implementations of the
system 10monitoring system 20 have gaugewheel circumference sensors 14. As shown inFIG. 20 , there are contact ornon-contact sensors 14 disposed about thegauge wheel 3A. Thesesensors 14 are constructed and arranged to detect the presence or absence of theopening disk 2A at any given point around thegauge wheel 3A during rotation. For example, gauge wheel rotational velocity is determined by the presence or absence of the observed disk, with the detection time measured between sensor elements and the angular spacing betweensensors 14. Thesensors 14 used to measure rotational velocity may or may not be adjacent.Other sensor 14 configurations are of course possible. - The implementation of
FIG. 21 has analternate sensor 14 element, which may include anarray 14C of sensors to detect the relative position of thegauge wheel 3A to theopening disk 2A. Thesensor 14 according to these implementations is affixed or otherwise operationally coupled to thegauge wheel arm 61 so that its position relative to thegauge wheel arm 61 is fixed. In use, themonitoring system 20 measures the position of thegauge wheel 3A relative to theopening disk 2A and calculates the furrow depth. That is, thesensors 14/array 14C provide a measured position of the element in relation to theopening disks 2A, allowing for the deduction of the furrow depth as previously described. - In certain of these, the
sensors 14 are positioned along a portion of the circumference of thegauge wheel 3A. Since the relative position of the openers to thegauge wheels 3A changes as the furrow depth changes, detecting and measuring this relative position determines the deflection of thegauge wheel 3A and thefurrow depth 12A. - In various implementations like those of
FIGS. 20 and 21 , thesystem 10 andmonitoring system 20 can utilize one or more of the following parameters to calculate the furrow depth: rotational velocity of thegauge wheels 3A,gauge wheel radius 60,sensor radius 68, gaugewheel arm radius 62,opening disk radius 70 and/or the distance from gauge wheel arm pivot point to center of openingdisk 74. This list of measurements is simply illustrative and not exhaustive—other relevant measurements are possible, as would be understood by those of skill in the art. - In the implementation of
FIG. 21 ,proximity sensors 14 in thesensor array 14C are constructed and arranged so as to detect the proximal presence or absence of theopening disc 2A. It is understood that in these implementations, the binary presence/absence thresholds and tolerances can be adjusted as needed. - In these implementations, the
system 10 uses this proximity detection to determine the position of thegauge wheel 3A relative to theopening disc 2A. Proximity sensing along the sensor radius 75 allows determination of at least oneintersection point 76 between the circle defined by theopening disc 2A and a circle inside thegauge wheel 3A with radius equal to sensor radius 75. - It is understood that given the gauge
wheel arm length 62 and the distance from gaugewheel arm pivot 62A to thecenter 2A-2 of theopening disk 2A, it is possible to determine angular deflection of thegauge wheel arm 62 relative to the vector (shown at line 77) from gaugewheel arm pivot 62A to theopening disk center 2A-2. This angular distance translates to a vertical distance to thebottom 3A-1 of thegauge wheel 3A, which is subtracted from the vertical distance to thebottom 2A-1 of theopening disk 2A to determinetrench depth 12A. - In the implementation of
FIG. 21 , it is also possible to determine trench depth via a calibrated or setpoint depth value for each of the sensors in thearray 14C. That is, in these implementations, the position of thegauge wheel 3A relative to theopening disk 2A can be used to determine which—if any—sensors in thearray 14C are detecting the circumferential edge of theopening disk 2A and which are not. Accordingly, it is understood that changing the position of thegauge wheel 3A alters which of these sensors detects the edge of theopening disk 2A. Therefore, if the measureddepth 12A is either calibrated or set to the sensors that are detecting theopening disk 2A at a given depth,trench depth 12A can be determined during operation by correlating the detecting sensors to their calibrated and/or set depth values. - It is known that during planting, the
gauge wheels 3A and openingdisks 2A throw soil and residue, thus making that area very difficult for any kind of sensing. Therefore, for embodiments where thesensors 14 are positioned in this area, ashield 80 or shroud may be needed to protect sensors measuring the distance, as is shown inFIG. 22 . - That is, in the implementation of
FIG. 22 , a shield 80 (or shroud) protects thesensors 14 from the soil and residue being thrown by the openingdisks gauge wheels shield 80 andsensors 14 are rigidly mounted to theplanter row unit 1 frame so that a relative measurement can be made from thesensor 14 to theground 9, allowing furrow depth to be measured, as is described above. The distance measured from soil to ground for each sensor may be averaged. The vertical distance from the sensors to the bottom of the opening disks is fixed because the sensor and shield are rigidly mounted to the row unit frame, which includes the opening disks. This known distance is determined by manual measurement or a calibration procedure. Furrow depth is determined by subtracting the sensor-to-soil distance from the known sensor-to-opener (bottom) distance. - The calibration procedure may be done by affixing a plane horizontally in both directions to the row unit so that the plane is either level to the bottom of the opening disks or a known vertical distance from the plane that is level to the opening disks. The sensors measure the vertical distance to the known plane to determine the sensor-to-opener distance. This measurement is stored in non-volatile memory so it can be used to calculate furrow depth when the unit is operational.
- Although the disclosure has been described with reference to preferred embodiments, persons skilled in the art will recognize that changes may be made in form and detail without departing from the spirit and scope of the disclosed apparatus, systems and methods.
Claims (20)
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US17/552,733 Pending US20220142039A1 (en) | 2018-02-19 | 2021-12-16 | Planter downforce and uplift monitoring and control feedback devices, systems and associated methods |
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US17/552,733 Pending US20220142039A1 (en) | 2018-02-19 | 2021-12-16 | Planter downforce and uplift monitoring and control feedback devices, systems and associated methods |
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US20190239413A1 (en) * | 2016-07-25 | 2019-08-08 | Agco Corporation | Disc harrow with gang plugging detection |
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2018
- 2018-09-26 US US16/142,522 patent/US20190254223A1/en not_active Abandoned
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