RESIDUE MANAGER ADJUSTMENT SYSTEM AND METHOD

A system for a row unit of a planting implement includes a frame operably coupled with a toolbar. One or more ground-engaging tools can be operably coupled with the frame. A depth adjustment system includes one or more actuators and a sensor system configured to capture data indicative of a soil characteristic. A computing system is communicatively coupled to the one or more actuators and the sensor system. The computing system is configured to receive the data indicative of the soil characteristic, determine a probability of a penetration variation of the one or more ground-engaging tools relative to a respective depth range for each of the one or more ground-engaging tools, and perform a control action based at least in part on the probability deviating from a defined threshold.

FIELD

The present disclosure generally relates to planting implements and, more particularly, to a row unit for a planting implement that can include a depth adjustment system.

BACKGROUND

Planting implements may be employed to deposit an agricultural product, such as a seed, fertilizer, pesticide, and other chemicals and materials, into soil. In some cases, the planting implements can include one or more furrow-forming tools or openers that excavate a furrow or trench in the soil. One or more dispensing devices of the planting implements may, in turn, deposit the agricultural product into the furrow. After deposition of the agricultural product, a closing assembly may close the furrow in the soil, such as by pushing the excavated soil into the furrow.

In some instances, the implement may include an assembly to set a downforce of the row unit, which, in turn, can determine a depth at which the agricultural product is deposited into the soil. While such assemblies can work well, an improved depth adjustment system for a planting implement would be welcomed in the technology.

BRIEF DESCRIPTION

In some aspects, the present subject matter is directed to a system for a row unit of a planting implement. The system includes a frame operably coupled with a toolbar and one or more ground-engaging tools operably coupled with the frame. A depth adjustment system includes an actuator and a sensor system configured to capture data indicative of a soil characteristic. A computing system is communicatively coupled to the one or more actuators and the sensor system. The computing system is configured to receive the data indicative of the soil characteristic, determine a probability of a penetration variation of the one or more ground-engaging tools relative to a respective depth range for each of the one or more ground-engaging tools, and perform a control action based at least in part on the probability deviating from a defined threshold.

In some aspects, the present subject matter is directed to a method for an agricultural operation. The method includes receiving, from a sensor system, data indicative of a first soil characteristic. The method also includes determining, with a computing system, a first probability of a first penetration variation of a first ground-engaging tool relative to a respective depth range for the first ground-engaging tool based at least partially on the first soil characteristic.

In some aspects, the present subject matter is directed to a system for a row unit of a planting implement. The system includes a frame operably coupled with a toolbar and a ground-engaging tool operably coupled with the frame. An actuator is operably coupled with the frame and the ground-engaging tool. A sensor system is configured to capture data indicative of a first height of an on-row path relative to the frame and a second height of an off-set path relative to the frame. A computing system is communicatively coupled to the actuator and the sensor system. The computing system is configured to receive the data indicative of the first height and the second height, determine a detected depth of the ground-engaging tool based on a difference between the first height and the second height, compare the detected depth to a defined depth range, and activate the actuator to alter a first position of the ground-engaging tool to a second position of the ground-engaging tool when the detected depth deviates from the defined depth range.

DETAILED DESCRIPTION

As used herein, the terms “first,” “second,” and “third” may be used interchangeably to distinguish one component from another and are not intended to signify a location or importance of the individual components. The terms “coupled,” “fixed,” “attached to,” and the like refer to both direct coupling, fixing, or attaching, as well as indirect coupling, fixing, or attaching through one or more intermediate components or features, unless otherwise specified herein. The terms “upstream” and “downstream” refer to the relative direction with respect to a material within a fluid circuit. For example, “upstream” refers to the direction from which a material flows, and “downstream” refers to the direction to which the material moves. The term “selectively” refers to a component's ability to operate in various states (e.g., an ON state and an OFF state) based on manual and/or automatic control of the component.

Furthermore, any arrangement of components to achieve the same functionality is effectively “associated” such that the functionality is achieved. Hence, any two components herein combined to achieve a particular functionality can be seen as “associated with” each other such that the desired functionality is achieved, irrespective of architectures or intermedial components. Likewise, any two components so associated can also be viewed as being “operably connected” or “operably coupled” to each other to achieve the desired functionality, and any two components capable of being so associated can also be viewed as being “operably couplable” to each other to achieve the desired functionality. Some examples of operably couplable include, but are not limited to, physically mateable, physically interacting components, wirelessly interactable, wirelessly interacting components, logically interacting, and/or logically interactable components.

Moreover, the technology of the present application will be described in relation to exemplary embodiments. The word “exemplary” is used herein to mean “serving as an example, instance, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments. Additionally, unless specifically identified otherwise, all embodiments described herein will be considered exemplary.

In general, the present subject matter is directed to a system for a row unit of a planting implement. The system can include a frame that is operably coupled with a toolbar of an implement. Each row unit may be configured to form a furrow having a predefined depth within the soil of a field. Thereafter, each row unit may deposit an agricultural product, such as seeds, fertilizers, pesticides, and other chemicals and materials, within the corresponding furrow and subsequently close the corresponding furrow after the agricultural product has been deposited. To this end, the row unit can include one or more ground-engaging tools to perform the various functions. The one or more ground-engaging tools may be operably coupled with the frame.

The system may further include a depth adjustment system that includes one or more actuators. The one or more actuators can be operably coupled with the frame and one or more ground-engaging tools. For instance, a first actuator may be operably coupled with a first ground-engaging tool and the frame, a second actuator may be operably coupled with a second ground-engaging tool and the frame, and so on.

The depth adjustment system may further include a sensor system. The sensor system can be capture data indicative of a soil characteristic, such as a soil moisture content (i.e., a percent by volume of water within the soil). Additionally or alternatively, the sensor system may be configured to capture data indicative of a first height of an on-row path relative to the frame and a second height of an off-set path relative to the frame.

A computing system can be communicatively coupled to the one or more actuators and the sensor system. The computing system can be configured to determine a probability of a penetration variation of a ground-engaging tool relative to a respective defined depth range based on the soil characteristic. In some instances, the probability of a penetration variation of the ground-engaging tool relative to the respective depth range may be based on the soil characteristic may be determined based on the detected soil characteristics. Additionally or alternatively, the probability of a penetration variation of the ground-engaging tool relative to the respective depth range may be based on a difference between the detected height of the row unit, as calculated based on the first height and the second height, and the defined depth range.

In some instances, the computing system may activate one or more of the actuators to alter a first position of a ground-engaging tool to a second position of the ground-engaging tool when the probability of variation exceeds a defined threshold and/or the detected depth deviates from the defined depth range. In some cases, the second position can be at least partially based on the probability of a penetration variation and/or the difference between the detected height of the row unit, as calculated based on the first height and the second height, and the defined depth range.

Referring now to the drawings,FIG.1illustrates a perspective view of a planting implement10in accordance with aspects of the present subject matter. In the illustrated example, the planting implement10is configured as a planter. However, in alternative embodiments, the planting implement10may generally correspond to any suitable seed-planting equipment or implement, such as a seeder or any other product-dispensing implement.

As shown inFIG.1, the planting implement10can include a tow bar12. In general, the tow bar12may be configured to couple to an agricultural vehicle, such as a tractor, via a suitable hitch assembly. In this respect, the vehicle may tow the planting implement10across a field in a direction of travel (indicated by arrow14) to perform a planting operation or other operation on the field.

Furthermore, the planting implement10can include a toolbar16coupled to the tow bar12. The toolbar16may be configured to support and/or couple to one or more components of the planting implement10. In some examples, the toolbar16may be configured to support a plurality of seed-planting units or row units18. Each row unit18may be configured to form a furrow having a predefined depth within the soil S of a field. Thereafter, each row unit18may deposit an agricultural product, such as seeds, fertilizers, pesticides, and other chemicals and materials, within the corresponding furrow and subsequently close the corresponding furrow after the agricultural product has been deposited. In general, the planting implement10may include any number of row units18. For example, in the illustrated example, the planting implement10includes sixteen row units18coupled to the toolbar16. However, in other embodiments, the planting implement10may include six, eight, twelve, twenty-four, thirty-two, thirty-six, or any other number of row units18.

Additionally, in some examples, the planting implement10can include a pneumatic distribution system20. In general, the pneumatic distribution system20is configured to distribute seeds from a bulk storage tank to the individual row units18. As such, the pneumatic distribution system20may include a fan22or other pressurized air source and a plurality of seed conduits24extending between the fan22and the row units18. In this respect, the pressurized air generated by the fan22conveys the seeds from the bulk storage tank through the seed conduits24to the individual row units18. However, the seeds may be provided to the row units18in any other suitable manner.

It will be further appreciated that the configuration of the planting implement10described above and shown inFIG.1is provided only to place the present subject matter in an exemplary field of use. Thus, it will be appreciated that the present subject matter may be readily adaptable to any agricultural implement configuration.

Referring now toFIGS.2and3, the row unit18can include a linkage assembly26, which may be a four-bar linkage, configured to couple the row unit18to the toolbar16, while enabling vertical movement of the row unit18relative to the toolbar16.

In various examples, the movement of the row unit18may be accomplished through a depth adjustment system28. In some cases, the depth adjustment system28can include a row unit actuator30that can extend between a mounting bracket32and a lower portion of the parallel linkage assembly26to establish a contact force between the row unit18and the soil S. The row unit actuator30is configured to apply a force to the row unit18in a downward direction ddrelative to the toolbar16, thereby driving one or more ground-engaging tools34into the soil S. As will be appreciated, a desired level of down force may vary based on soil type, the degree of tillage applied to the soil S, soil moisture content (i.e., percent water by volume of soil makeup), amount of residue cover, and/or tool wear, among other factors. Because such factors may vary from one side of the implement10to the other, a different level of down force may be selected for each row unit18.

Furthermore, a desired level of down force may be at least partially dependent on the speed at which the row unit18is pulled across the field. For example, as speed increases, the ground-engaging tools34may have a tendency to rise out of the ground due to the interaction between the soil S and the implement10. Consequently, a greater down force may be applied during higher speed operation to ensure that the ground-engaging tools34remain at a desired depth. In addition, the weight of the row unit18applies a force to the ground-engaging tools34in the downward direction dd. However, as seeds and/or other products are transferred from a storage container within the row unit18to the soil S, the weight of the row unit18decreases. Therefore, the row unit actuator30may apply a greater force to the row unit18to compensate. In some examples, the row unit actuator30may be implemented within a system100(FIG.3) configured to automatically regulate the pressure within the row unit actuator30to maintain a desired contact force between the ground-engaging tools34and the soil S. Because each row unit18can include an independent row unit actuator30, the contact force may vary across the implement10.

In various examples, the linkage assembly26can be pivotally coupled to a frame36. The frame36may be configured to support various elements of the row unit18, such as a metering system and a product storage container, for example. As illustrated, the frame36can further support an opener assembly40, a soil closing assembly42, a press assembly44, and a residue manager assembly46, each of which may include one or more ground-engaging tools34.

In the illustrated configuration, the opener assembly40can include a ground-engaging tool34in the form of a gauge wheel assembly having a gauge wheel48and a rotatable arm50, which can function to movably couple the gauge wheel48to the frame36. The gauge wheel48may be positioned a vertical distance D above an opener disk52to establish a desired trench depth for seed deposition into the soil S. As the row unit18travels across a field, the opener disk52excavates a trench into the soil S, and seeds are deposited into the trench.

In some examples, the depth adjustment system28may include an opener control actuator54extending between the frame36and the rotatable arm50of the opener assembly40. The opener control actuator54is configured to adjust the penetration depth D of the opener disk52by varying a position of the gauge wheel48relative to the frame36. While one opener assembly40is illustrated in the present examples, it will be appreciated that alternative examples may include a pair of opener assemblies40positioned on opposite side portions of the frame36. In such configurations, the opener disks52may be angled toward one another to establish a wider trench within the soil S.

In various instances, seeds may be deposited within the excavated trench via a seed tube38extending between a metering system within the frame36and the soil S. The seed tube38exit may be positioned aft of the opener assembly40and forward of the closing assembly42such that seeds flow into the trench.

The closing assembly42may include one or more ground-engaging tools34in the form of a closing disk56that can push the excavated soil into the trench, thereby closing the trench. As illustrated, the closing assembly42can include an arm58extending between the frame36and the closing disk56.

The depth adjustment system28may include a closing disk actuator60that can be operably coupled to the arm58of the closing assembly42and configured to regulate a contact force between the closing disk56and the soil S. For example, a large contact force may be applied to effectively push dense soil into the trench, while a relatively small contact force may be applied to close a trench within loose soil. While one closing disk56is shown in the illustrated example, a pair of disks56may be provided without departing from the teachings provided herein. Additionally or alternatively, various examples may employ closing wheels or any other device instead of the illustrated closing disk56.

In some examples, the press assembly44can include a ground-engaging tool34in the form of a press wheel62that can be positioned aft of the closing assembly42and can serve to pack soil on top of the deposited seeds. In some examples, the press wheel assembly40can include an arm64extending between the frame36and the press wheel62.

The depth adjustment system28may include a press wheel actuator66that can be operably coupled to the arm64of the press wheel assembly44and configured to regulate a contact force between the press wheel62and the soil S. For example, in dry conditions, it may be desirable to firmly pack soil directly over the seeds to seal in moisture. In damp conditions, it may be desirable to leave the soil S over the seeds fairly loose in order to avoid compaction which may result in seed crusting. The process of excavating a trench into the soil S, depositing seeds within the trench, closing the trench, and packing soil on top of the seeds establishes a row of planted seeds within a field. By employing multiple row units18distributed along the toolbar16, as shown inFIG.3, multiple rows of seeds may be planted within the field.

In some examples, the row unit18can employ a residue manager assembly46to prepare the ground before seed deposition. As illustrated, the residue manager assembly46can include a ground-engaging tool34, such as a wheel68, coupled to the frame36by a linkage70. The ground-engaging tool34can include tillage points or fingers72configured to break up crop residue on the soil surface. While a single residue manager ground-engaging tool34is shown in the illustrated example, it will be appreciated that the residue manager assembly46may include a pair of ground-engaging tools34angled toward one another. In addition, the residue manager assembly46may serve as a shock absorber to dissipate row unit bounce caused by contact with rocks or piles of residue, thereby protecting mechanical components of the row unit18.

The depth adjustment system28can include a residue manager actuator74that can be configured to regulate a contact force between the ground-engaging tool34and the soil S. In some instances, the residue manager actuator74can extend from a residue manager bracket76to the linkage70of the residue manager assembly46. The bracket76may be operably coupled with any component of the row unit18, such as the frame36, and/or any component of the implement10, such as the toolbar16.

In various instances, each of the downforce actuator30, the opener control actuator54, the closing disk actuator60, the press wheel actuator66, and/or the residue manager actuator74of the depth adjustment system28may be configured as a motor, a cylinder, and/or any other device that may be powered electrically, hydraulicly, pneumatically, magnetically, thermally, and/or through any other manner.

With further reference toFIGS.2and3, in some instances, the depth adjustment system28can further include a sensor system78having one or more sensors80. The one or more sensors80may be operably coupled with the frame36, a sensor bracket82, and/or any other component of the row unit18or the implement10. In some examples, the one or more sensors80may additionally or alternatively be positioned at any other suitable location(s) on and/or coupled to any other suitable component(s) of the implement10and/or the work vehicle. Each of the sensors80may have a field of view directed toward a predefined location as generally illustrated by dashed lines84inFIGS.2and3.

In some instances, any of the one or more sensors80may be a soil sensor configured to capture data indicative of a soil characteristics, such as a soil moisture content, a degree of tillage applied to the soil S, an amount of residue cover, a soil composition, and/or any other characteristic, within the field. It will be appreciated that the soil sensor may generally correspond to any suitable sensing device configured to function as described herein. For example, in various embodiments, the soil sensor may include an emitter configured to emit an electromagnetic radiation signal, such as an ultraviolet radiation signal, a near-infrared radiation signal, a mid-infrared radiation signal, or a visible light signal for reflection off of the soil S. The soil sensor may also include a receiver configured to receive the reflected electromagnetic radiation signal. One or more spectral parameters (e.g., the amplitude, frequency, and/or the like) of the reflected electromagnetic radiation signal may, in turn, be indicative of the soil composition. In this regard, the emitter may be configured as a light-emitting diode (LEDs), or another electromagnetic radiation-emitting device and the receiver may be configured as a photoresistor or other electromagnetic radiation-receiving device. However, in alternative embodiments, the soil sensor may have any other suitable configuration and/or components.

Additionally or alternatively, any of the one or more sensors80may be configured as a depth sensor. It will be appreciated that the depth sensor may generally correspond to any suitable sensing device configured to function as described herein. For example, in various instances, the depth sensor may be configured as any device capable of determining a ground-engaging tool position relative to the soil S, such as a line scanner, a ground penetrating sensor (e.g., ground penetration radar unit), and/or any other practicable device. In some instances, the depth sensor may have a field of view that is at least partially aligned with the row unit18and/or laterally offset of the row units18. In such instances, the depth sensor may capture data indicative of a first height h1of an on-row path of the row unit18(e.g., in the path of one or more ground-engaging tools34of the row unit18) relative to a component of the implement10, such as a base portion of the frame36, and a second height h2of an off-set path of the row unit18(e.g., untouched, inter-row unit space that is generally not worked on by one or more ground-engaging tools34of the row unit18) relative to the component of the implement10, such as the base portion of the frame36. Additionally or alternatively, the depth sensor may be operably coupled with the rotatable arm50of the opener assembly40and the frame36, the arm58of the closing assembly42, the arm64of the press wheel assembly44and the frame36, and/or the linkage70of the residue manager assembly46and the frame36to determine rotational movement of the component relative to the frame36. Based on the amount of rotation, the depth of the respective component may be determine. Additionally or alternatively, the depth sensor may be in the form of one or more pressure sensors and/or displacement sensors that are positioned within and/or operably coupled with the row unit actuator30, the opener control actuator54, the closing disk actuator60, the press wheel actuator66, and/or the residue manager actuator74. The pressure sensor may be configured to determine the depth or a change in depth of the component and/or the row unit18based on the change in pressure within the row unit actuator30, the opener control actuator54, the closing disk actuator60, the press wheel actuator66, and/or the residue manager actuator74. Additionally or alternatively, the displacement sensor may be configured to detect a change in position of a component (e.g., a piston, a rod, a defined tooth, etc.) of the row unit actuator30, the opener control actuator54, the closing disk actuator60, the press wheel actuator66, and/or the residue manager actuator74and determine the change in depth based on the change in displacement.

Referring now toFIG.4, a block view of a system100for operating various agricultural implements is illustrated in accordance with aspects of the present subject matter. In general, the system100will be described herein with reference to the planting implement10and the row unit18described above with reference toFIGS.1-3. However, it will be appreciated that the disclosed system100may generally be utilized with any planter or seeder having any suitable implement configuration, with row units18having any suitable row unit configuration, with seed meters having any suitable meter configuration, and/or with seed transport members have any suitable transport member configuration. For purposes of illustration, communicative links, or electrical couplings, of the system100shown inFIG.4are indicated by dashed lines. The one or more communicative links or interfaces may be one or more of various wired or wireless communication mechanisms, including any combination of wired (e.g., cable and fiber) and/or wireless (e.g., cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms and any desired network topology (or topologies when multiple communication mechanisms are utilized). In various examples, the wireless communication networks can include a wireless transceiver (e.g., a BLUETOOTH module, a ZIGBEE transceiver, a Wi-Fi transceiver, an IrDA transceiver, an RFID transceiver, etc.), local area networks (LAN), and/or wide area networks (WAN), including the Internet, providing data communication services.

In several examples, the system100may include a computing system102and various other components configured to be communicatively coupled to and/or controlled by the computing system102, such as one or more row units18and a respective depth adjustment system28operably coupled with each row unit18. Accordingly, while one row unit18and depth adjustment system28is illustrated inFIG.4, it will be appreciated that the planting implement10may include any number of row units18,18n-2,18n-1,18nwithout departing from the scope of the present disclosure.

The computing system102may be communicatively coupled to one or more actuators, such as the row unit actuator30, the opener control actuator54, the closing disk actuator60, the press wheel actuator66, and/or the residue manager actuator74, of the one or more row units18,18n-2,18n-1,18n. The computing system102may further be communicatively coupled with the sensor system. Based on the data received from the sensor system78, the computing system102can be configured to determine a probability of a penetration variation of a ground-engaging tool34relative to a respective defined depth range based on the soil characteristic. In some instances, the probability of a penetration variation of the ground-engaging tool34relative to the respective depth range may be based on the soil characteristic may be determined based on the detected soil characteristics. Additionally or alternatively, the probability of a penetration variation of the ground-engaging tool34relative to the respective depth range may be based on a difference between the detected height of the row unit18, as calculated based on the first height and the second height, and the defined depth range.

In some instances, the computing system102may activate one or more of the actuators to alter a first position of a ground-engaging tool34to a second position of the ground-engaging tool34when the probability of variation exceeds a defined threshold and/or the detected depth deviates from the defined depth range. In some instances, the data captured by the sensor system78may be used to determine the corrective action. For instance, the second position can be at least partially based on the probability of a penetration variation and/or the difference between the detected height of the row unit18, as calculated based on the first height and the second height, and the defined depth range. The defined depth may be a discrete depth and/or a range of depths that includes the discrete depth plus or minus a defined amount.

In general, the computing system102can include any suitable processor-based device, such as a computing device or any suitable combination of computing devices. Thus, in several embodiments, the computing system102may include one or more processors106and associated memory108configured to perform a variety of computer-implemented functions. As used herein, the term “processor” refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic controller (PLC), an application-specific integrated circuit, and other programmable circuits. Additionally, the memory108of the computing system102may generally comprise memory elements including, but not limited to, a computer-readable medium (e.g., random access memory (RAM)), a computer-readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disc-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disc (DVD) and/or other suitable memory elements. Such memory108may generally be configured to store information accessible to the processor106, including data110that can be retrieved, manipulated, created, and/or stored by the processor106and instructions112that can be executed by the processor106and configure the computing system102to perform various computer-implemented functions, such as one or more algorithms and/or related methods. In addition, the computing system102may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control bus, and/or the like.

In several embodiments, the data110may be stored in one or more databases. The data110may be associated with the operation of the row unit18, which may be received by the sensor system78. Additionally or alternatively, the data110may be associated with a positioning system114. In some examples, the positioning system114may be configured to determine the location of the implement10and/or the row unit18by using a satellite navigation positioning system (e.g. a global positioning system (GPS), a Galileo positioning system, the Global Navigation satellite system (GLONASS), the BeiDou Satellite Navigation and Positioning system, a dead reckoning device, and/or any other practicable device). In such embodiments, the location determined by the positioning system114may be transmitted to the computing system102(e.g., in the form of location coordinates) and stored within as data110for subsequent processing and/or analysis.

In several embodiments, the instructions112stored within the memory108of the computing system102may be executed by the processor(s)106to implement a control module122. In general, the control module122may be configured to sample and/or evaluate the data110and/or other inputs received by the computing system102. In various examples, the control module122may be configured to sample and/or evaluate the data from one or more of the sensors80described herein continuously, periodically, or as demanded. Based on the data, the control module122may determine a probability of a penetration variation of one or more ground-engaging tools34varying from respective thresholds for each of the ground-engaging tools34through the use of one or more algorithms or other methods. For instance, when running the implement10in wetter soils, the row unit18can unintentionally push deeper into the soil than the defined depth and/or the defined depth range. As such, the data provided by the one or more sensors80may be used to determine whether a probability of over-penetration of the row unit18exceeds a probability threshold. If the probability exceeds the threshold, the control module122may perform one or more control actions. For instance, the control module122may provide a notification to a user interface118and/or an electronic device120.

Additionally or alternatively, the control module122may provide instructions to alter, activate, or manipulate the depth adjustment system28. The computing system102may receive data indicative of a first height h1(FIG.3) of an on-row path of the row unit18(e.g., in the path of one or more ground-engaging tools34of the row unit18) relative to a component of the implement10, such as a base portion of the frame36, and a second height h2(FIG.3) of an off-set path of the row unit18(e.g., untouched, inter-row unit space that is generally not worked on by one or more ground-engaging tools34of the row unit18) relative to the component of the implement10, such as the base portion of the frame36. In some instances, the probability of a penetration variation of the ground-engaging tool34relative to the respective depth range may be based on a difference between the detected height of the row unit18, as calculated based on the first height and the second height, and the defined depth range.

Additional data may be provided to the computing system102(or the controller104of the depth adjustment system28) after the alteration or manipulation of the depth adjustment system28, which can lead to subsequent alterations or manipulations to maintain a detected position of a ground-engaging tool34(or another component) of the row unit18within a defined tool depth and/or within a defined tool depth range. For instance, the one or more algorithms or methods utilized to generate the probability of deviation for each of the ground-engaging tools34, and/or the row unit18as a whole, may be updated based on previous corrective actions allowing for the system to learn from previous actions allowing for closed-loop control of one or more row units18,18n-2,18n-1,18nby the control module122. Additionally or alternatively, the system100may allow for closed-loop control of each row unit18,18n-2,18n-1,18nby the controller104of each row unit18,18n-2,18n-1,18nfor the inputted defined tool depth and/or within the defined tool depth range of the ground-engaging tool34of each row unit18,18n-2,18n-1,18n.

In various examples, the system100may implement machine learning engine methods and algorithms that utilize one or several machine learning techniques including, for example, decision tree learning, including, for example, random forest or conditional inference trees methods, neural networks, support vector machines, clustering, and Bayesian networks. These algorithms can include computer-executable code that can be retrieved by the computing system102and/or each controller104and may be used to generate a predictive evaluation of the alterations to the one or more actuators, such as the row unit actuator30, the opener control actuator54, the closing disk actuator60, the press wheel actuator66, and/or the residue manager actuator74. For instance, the control module122may alter the one or more actuators30,54,60,66,74. In turn, the sensor system78may monitor the corresponding ground-engaging tool position changes and/or residue changes. Each change may be fed back into the control module122and/or the controller104for each row unit18,18nfor further alterations to the one or more actuators30,54,60,66,74.

Moreover, as shown inFIG.4, the user interface118may communicate with the computing system102through a transceiver116. In some cases, the user interface118may be configured to provide feedback to the operator of the planting implement10. As such, the user interface118may include one or more feedback devices, such as display screens, speakers, warning lights, and/or any other practicable device, which are configured to communicate such feedback. In addition, some examples of the user interface118may include one or more input devices, such as touchscreens, keypads, touchpads, knobs, buttons, sliders, switches, mice, microphones, and/or any other practicable device, which are configured to receive user inputs from the operator. In various examples, user inputs may include a defined tool depth and/or a tool depth range for a ground-engaging tool34(or another component) of the row unit18. In various examples, the user interface118may be positioned within a cab of a work vehicle configured to tow the planting implement10across the field. However, in alternative embodiments, the user interface118may have any suitable configuration and/or be positioned in any other suitable location.

Further, the computing system102may also communicate via wired and/or wireless communication with one or more remote electronic devices120through the transceiver116. The electronic device120may include a display for displaying information to a user. For instance, the electronic device120may display one or more user interfaces and may be capable of receiving remote user inputs to set a predefined threshold for any of the operating parameters and/or to input any other information. In addition, the electronic device120may provide feedback information, such as visual, audible, and tactile alerts, and/or allow the user to provide one or more inputs through the usage of the remote electronic device120, which may be a defined tool depth and/or a defined tool depth range for a ground-engaging tool34(or another component) of the residue manager assembly46. It will be appreciated that the electronic device120may be any one of a variety of computing devices and may include a processor and memory. For example, the electronic device120may be a cell phone, mobile communication device, key fob, wearable device (e.g., fitness band, watch, glasses, jewelry, wallet), apparel (e.g., a tee shirt, gloves, shoes, or other accessories), personal digital assistant, headphones and/or other devices that include capabilities for wireless communications and/or any wired communications protocols.

Additionally or alternatively, a defined tool depth and/or a defined tool depth range for a ground-engaging tool34(or another component) of the row unit18may be found or selected in any other suitable way, such as from a predetermined look-up table stored in the computing system102and/or one or more controllers104. In some instances, the look-up tables may be based on the agricultural product being deposited within the field and/or an application map that is stored within the computing system102.

It will be appreciated that, in general, the computing system102of the disclosed system100may correspond to any suitable computing device(s) that can be configured to function as described herein. In several embodiments, the computing system102may form part of an active planting system configured to perform a planting operation, such as by corresponding to a vehicle controller of a work vehicle configured to tow an associated planting implement10and/or an associated implement controller of the planting implement10. Alternatively, the computing system102can include a separate computing device(s) configured to be used primarily for the purpose of performing the various calibration methods and/or routines described herein.

It will additionally be appreciated that the computing system102may correspond to an existing controller of the planting implement10or an associated work vehicle or the computing system102may correspond to a separate processing device. For instance, in some cases, the computing system102may form all or part of a separate plug-in module that may be installed within the planting implement10or associated work vehicle to allow for the disclosed system and method to be implemented without requiring additional software to be uploaded onto existing control devices of the planting implement10or the associated work vehicle.

Referring now toFIG.5, a flow diagram of some examples of a method200for an agricultural operation is illustrated in accordance with aspects of the present subject matter. In general, the method200will be described herein with reference to the planting implement10and one or more row units18described above with reference toFIGS.1-4. However, the disclosed method200may generally be utilized with any suitable vehicle and/or implement. In addition, althoughFIG.5depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure.

As illustrated inFIG.5, at (202), the method200can include performing an agricultural operation with a planting implement having a first row unit and a second row unit. Each row unit can include one or more ground-engaging tools that may be configured to form a furrow having a desired depth within the soil of a field. Thereafter, each row unit may deposit an agricultural product, such as seeds and/or a fertilizer, within the corresponding furrow and subsequently close the corresponding furrow with one or more ground-engaging tools after the agricultural product has been deposited.

At (204), the method200can include receiving data indicative of one or more soil characteristics from a sensor system. In various examples, the one or more soil characteristics may include a soil moisture content (i.e., percent water by volume of soil makeup), a degree of tillage applied to the soil S, an amount of residue cover, a soil composition, and/or any other characteristic.

At (206), the method200can include determining a first probability of a first penetration variation of a first ground-engaging tool relative to a respective depth range for the first ground-engaging tool based at least partially on the first soil characteristic with a computing system. Similarly, at (208), the method can include determining a second probability of a second penetration variation of a second ground-engaging tool relative to a respective depth range for the second ground-engaging tool based at least partially on the first soil characteristic with the computing system. Based on variations in the soil, the probability of the first or second ground-engaging tools deviating from the defined depth range may change. For instance, when running the implement in wetter soils, the row unit can unintentionally push deeper into the soil than the defined depth and/or the defined depth range. As such, when the probability of a penetration variation exceeds a threshold (such as 50%), the method may perform one or more control actions.

For example, at (210), the method200can include altering the first ground-engaging tool relative to a frame of a row unit from a first distance to a second distance with a first actuator. Similarly, at (212), the method can include altering the second ground-engaging tool relative to a frame of a row unit from a third distance to a fourth distance with a second actuator. In various examples, the second distance is based at least partially on the detected first penetration depth and the first defined depth range and the fourth distance is based at least partially on the detected second penetration depth and the second defined depth range. In some cases, a first change from the first distance to the second distance is varied from a second change between the third distance and the fourth distance.

At (214), the method200can include receiving data indicative of a first height of an on-row path relative to a frame and a second height of an off-set path relative to the frame from the sensor system. In turn, at (216), the method200can include determining a detected penetration depth of the first ground-engaging tool based on a deviation between the first height and the second height with the computing system. In some instances, the deviation may be compared to the defined depth range of the first ground-engaging tool to determine an error offset, which may be associated with variations in the soil characteristics. Additionally or alternatively, the method may include monitoring a detected change in height based on the first height and the second height relative to an instructed height change to determine the effect of the soil characteristics on the actual height change to determine a projected error offset. The error offset may be used in subsequent alterations of the first actuator when similar soil characteristics are detected.

At (218), the method can include receiving data indicative of a third height of an on-row path relative to a frame and a fourth height of an off-set path relative to the frame from the sensor system. In turn, at (220), the method200can include determining a detected penetration depth of the second ground-engaging tool based on a deviation between the third height and the fourth height with the computing system. In some instances, the deviation may be compared to the defined depth range of the second ground-engaging tool to determine an error offset, which may be associated with variations in the soil characteristics. Additionally or alternatively, the method may include monitoring a detected change in height based on the third height and the fourth height relative to an instructed height change to determine the effect of the soil characteristics on the actual height change to determine a projected error offset. The error offset may be used in subsequent alterations of the second actuator when similar soil characteristics are detected.

At (222), the method can include generate a notification for a user interface or an electronic device with the computing system when the probability of a first penetration variation of the first ground engaging exceeds a first threshold and/or the probability of a second penetration variation of the second ground engaging exceeds a second threshold, which may be the same or different than the first threshold.

In various examples, the method200may implement machine learning methods and algorithms that utilize one or several vehicle learning techniques including, for example, decision tree learning, including, for example, random forest or conditional inference trees methods, neural networks, support vector machines, clustering, and Bayesian networks. These algorithms can include computer-executable code that can be retrieved by the computing system and/or through a network/cloud and may be used to evaluate and update the position of the ground-engaging tool and/or any other component of the residue manager assembly. In some instances, the vehicle learning engine may allow for changes to the position of the ground-engaging tool and/or any other component of the residue manager assembly to be performed without human intervention.

It is to be understood that the steps of any method disclosed herein may be performed by a computing system upon loading and executing software code or instructions which are tangibly stored on a tangible computer-readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disc, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the computing system described herein, such as any of the disclosed methods, may be implemented in software code or instructions which are tangibly stored on a tangible computer-readable medium. The computing system loads the software code or instructions via a direct interface with the computer-readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the controller, the computing system may perform any of the functionality of the computing system described herein, including any steps of the disclosed methods.