AGRICULTURAL IMPLEMENTS HAVING ROW UNIT POSITION SENSORS AND A ROTATABLE IMPLEMENT FRAME, AND RELATED CONTROL SYSTEMS AND METHODS

An implement includes an implement frame having an integrated elongate toolbar carrying at least one row unit, at least one wheel coupled to the implement frame and defining an axis of rotation, a sensor configured to sense a position of the at least one row unit relative to the ground, and a control system. The control system is configured to receive a signal related to the sensed position of the at least one row unit relative to the ground and cause a lift system to raise or lower a portion of the implement frame connected to the lift system to rotate the implement frame about the axis of rotation of the at least one wheel based at least in part on the signal. Control systems and related methods are also disclosed.

FIELD

Embodiments of the present disclosure relate generally to machines and methods for working agricultural fields. In particular, embodiments relate to implements (e.g., planters, tillage, etc.) and to methods of controlling such implements.

BACKGROUND

Crop yields are affected by a variety of factors, such as seed placement, soil quality, weather, irrigation, and nutrient applications. Seeds are typically planted in trenches formed by discs or other mechanisms of a planter row unit. Depth of seed placement is important because seeds planted at different depths emerge at different times, resulting in uneven crop growth. Trench depth can be affected by soil type, moisture level, row unit speed, and operation of the opening discs. It would be beneficial to have improved methods of controlling the location of planter row units so that seeds can be more precisely placed in a field.

BRIEF SUMMARY

In some embodiments, an implement includes an implement frame having an integrated elongate toolbar carrying at least one row unit, at least one wheel coupled to the implement frame and defining an axis of rotation, a sensor configured to sense a position of the at least one row unit relative to the ground, and a control system. The control system is configured to receive a signal related to the sensed position of the at least one row unit relative to the ground and cause a lift system to raise or lower a portion of the implement frame connected to the lift system to rotate the implement frame about the axis of rotation of the at least one wheel based at least in part on the signal.

Other embodiments include a control system for an implement having at least one wheel coupled to an implement frame. The implement frame has an integrated elongate toolbar carrying at least one row unit. The control system includes a sensor configured to sense a position of the at least one row unit relative to the ground, and a controller. The controller is configured to receive a signal from the sensor indicating the position of the at least one row unit relative to the ground and cause a lifting system to raise or lower a portion of the implement frame to rotate the implement frame about an axis of rotation of the at least one wheel based on the sensed position of the at least one row unit.

Certain embodiments include a computer-implemented method for operating a tractor and an implement having a frame coupled to the tractor, the frame supported by at least one wheel and having an integrated elongate toolbar carrying at least one row unit. The method includes receiving an indication of a position of the at least one row unit relative to the ground sensed by a sensor, and causing a lift system to raise or lower a portion of the implement frame relative to the tractor to rotate the implement frame about an axis of rotation of the at least one wheel based at least in part on the indication of the position of the at least one row unit.

DETAILED DESCRIPTION

The illustrations presented herein are not actual views of any tillage implement or portion thereof, but are merely idealized representations that are employed to describe example embodiments of the present disclosure. Additionally, elements common between figures may retain the same numerical designation.

The following description provides specific details of embodiments of the present disclosure in order to provide a thorough description thereof. However, a person of ordinary skill in the art will understand that the embodiments of the disclosure may be practiced without employing many such specific details. Indeed, the embodiments of the disclosure may be practiced in conjunction with conventional techniques employed in the industry. In addition, the description provided below does not include all elements to form a complete structure or assembly. Only those process acts and structures necessary to understand the embodiments of the disclosure are described in detail below. Additional conventional acts and structures may be used. Also note, the drawings accompanying the application are for illustrative purposes only, and are thus not drawn to scale.

As used herein, spatially relative terms, such as “beneath,” “below,” “lower,” “bottom,” “above,” “upper,” “top,” “front,” “rear,” “left,” “right,” and the like, may be used for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Unless otherwise specified, the spatially relative terms are intended to encompass different orientations of the materials in addition to the orientation depicted in the figures.

FIG. 1is a simplified side view of a system100including a tractor102and an implement120. The tractor102includes a chassis104supported by wheels106and/or tracks. An operator cab108is typically supported by the chassis104and includes a control system110that may control operation of the tractor102and/or the implement120. In some embodiments, the operator cab108may be omitted if the tractor102is configured to function without an onboard human operator (e.g., as a remotely operated drone or a computer-operated machine). The control system110may include a central processing unit (“CPU”), memory, and graphical user interface (“GUI”) (e.g., a touch-screen interface). A global positioning system (“GPS”) receiver may be mounted to the tractor102and connected to communicate with the control system110. The tractor102has a power source112configured to move the wheels106, which may include an internal combustion engine, an electric motor, or other source. The power source112may also provide power to a lift system114carried by the tractor102, which is depicted as a tow hitch116. Note that one of the rear wheels106has been omitted from view to more clearly show the tow hitch116. The tow hitch116may be a 2-point lifting hitch, as shown. In other embodiments, the implement120is pulled by a 3-point lifting hitch or a fixed drawbar. Typically, if the implement120is pulled by a 3-point hitch, the top link thereof is not connected to the implement120. Thus, the implement120may pivot with respect to the tow hitch116. In some embodiments, the lift system114may be a part of the implement120, and thus the implement120may be pulled by a fixed drawbar that is stationary relative to the tractor102. In such embodiments, the implement120itself may include a pivoting or lateral adjustment, such as a support coupled to one or more actuators, in place of the hitch116shown.

As shown inFIG. 1, the implement120has a frame122including an integrated toolbar124supporting row units126. The row units126may be any type of ground-engaging device for planting, seeding, fertilizing, tilling, or otherwise working crops or soil, typically in rows. As an example, the row unit126is shown in the form of a planter row unit. The row unit126has a body128pivotally connected to the toolbar124by a parallel linkage130, enabling the row unit126to move vertically independent of the toolbar124. In some embodiments, the body128of the row unit126may be connected to the toolbar124by another structure, such as a rotating arm. The body128may be a unitary member, or may include one or more members coupled together (e.g., by bolts, welds, etc.). The body128operably supports one or more hoppers132, a seed meter134, a seed delivery mechanism136, a seed trench opening assembly138, a trench closing assembly140, and any other components as known in the art. It should be understood that the row unit126shown inFIG. 1may optionally be a part of a central fill planter, in which case the hoppers132may be one or more mini-hoppers fed by a central hopper carried by the implement120.

The implement120is supported by at least one wheel146coupled to the implement frame122. The wheel146rotates about an axle148connected to the frame122by a fixed mount150. The axle148defines an axis of rotation around which the wheel146rotates. A weight of the implement frame122is supported by the wheel146. Though only one wheel146is shown inFIG. 1, multiple wheels146(e.g., two wheels, three wheels, four wheels, etc.) may support the weight of the implement frame146.

At least one sensor142and/or144may be used to determine a position of a row unit126relative to the ground. In some embodiments, sensor(s)142,144may be carried on the body128of the row unit126itself. In other embodiments, the sensor may be carried by the toolbar124, the tractor102, or even by another vehicle (e.g., another ground vehicle, an unmanned aerial vehicle, etc.). The sensor142may be a rotary sensor configured to measure an angle of an element of the parallel linkage130relative to the body128of the row unit126or to the toolbar124, and may be connected to a pivot point of the body128of the row unit126or to the toolbar124. In some embodiments, an additional sensor145may be configured to detect the position of the toolbar104relative to the ground. The sensor(s)144,145depicted may include a non-contact depth sensor, for example, an optical sensor, an ultrasonic transducer, an RF (radio frequency) sensor, lidar, radar, etc. Such sensors are described in, for example, U.S. Patent Application Publication 2019/0075710, “Seed Trench Depth Detection Systems,” published Mar. 14, 2019.

The sensor(s)142,144,145may provide information to the control system110, which information can be used by the control system110to determine how to adjust the lift system114. That is, the control system110is configured to receive a signal (e.g., a wired or wireless signal) related to the position of the row unit126relative to the ground and cause the lift system114to raise or lower based at least in part on the signal.

Vertical movement of the lift system114causes rotation of the frame122about the axle148. If the lift system114is a 3-point or 2-point lifting hitch116as shown inFIG. 1, the lift system114may be used to raise or lower the toolbar124by changing an angle a of the frame122relative to the ground. The lift system114may be configured such that upward movement of the front of the frame122can cause downward movement of the toolbar124because the toolbar124is fixed relative to the frame122.

As depicted inFIGS. 2 through 5, when the tractor102encounters a change in field elevation and/or slope, the sensor(s)142,144,145may provide a signal to the control system110, and the control system110may use that signal to calculate how to change the position of the lift system114to maintain a preselected position of the toolbar124and/or the row unit126. For example, and as shown inFIGS. 2 and 3, when the front wheels106of the tractor102travel up a slope, the tractor102tilts upward, and points on the tractor102behind its rear axle become closer to the ground. However, because the implement120is still on level ground, the lift system114raises (corresponding to a smaller angle a) relative to the tractor102to keep the frame122oriented such that the row unit126can engage the ground.

As shown inFIG. 4, the tractor102may continue up the slope, and the lift system114may lower relative to the tractor102(corresponding to a larger angle a) to maintain the same orientation shown inFIGS. 1 through 3.

As shown inFIG. 5, the tractor102may travel on level ground as the implement120is still traveling up the slope, and the lift system114may raise relative to the tractor102(corresponding to a smaller angle a) to maintain the same relative orientation between the implement frame122and the ground.

In each ofFIGS. 1 through 5, the parallel linkages130are shown in the same position (approximately parallel to the frame122). However, the parallel linkages130of each row unit126may also adjust to move the row units126, and may move independent of one another. Vertical movement of the lift system114provides additional range of motion to enable the implement120to keep the row units126engaged with the soil, whereas reliance on movement of the parallel linkages130alone would limit the range of terrain over which the row units126could be effectively used.

Furthermore, the frame122of the implement120may pivot relative to the lift system114. Thus, the position of the toolbar124may vary based on the position of the lift system114(e.g., the position of the tow hitch116) and the contours of the ground. Vertical movement of the lift system114while the ground is flat causes tilting of the frame122relative to the ground. The position of the row units126relative to the ground depends on the position of the toolbar124(which in turn depends on the position and angle of the frame122) and the position of the parallel linkage130.

The height of each row unit126may be adjusted independently of the other row units126by adjusting the individual parallel linkages130. In certain field terrain, each parallel linkage130may be adjusted within its operating range such that each row unit126interacts with the ground at a preselected position. Movement of the toolbar124based on the lift system114can increase the effective range of height of the row units126relative to the tractor102. Thus, the implement120in combination with the tractor102as described may effectively be used to work fields having contours that are steeper than contours that can be effectively worked by conventional implements.

FIG. 6shows a simplified rear view of the implement120traveling over level ground. The lift system114(FIGS. 1 through 5) is adjusted such that the row units126may each engage the ground by appropriate adjustment of the parallel linkages130. The parallel linkages130may adjust the depth at which individual row units126operate (e.g., plant seeds) in the ground.

FIG. 7shows a simplified rear view of the implement120traveling over sloped ground, and illustrates how the implement120may adjust to different terrain. InFIG. 7, the ground at the left-hand side is sloped upward from the center, and the ground at the right-hand side is level. The toolbar124may be coupled to one or more adjustable wing sections124athat can flex (i.e., move relative to the toolbar124) to match different terrain, such as described in U.S. Pat. No. 10,582,654, “Implement Load Balancing System,” issued Mar. 10, 2020. One or more actuators602may raise or lower the wing section124asuch that the row units126carried by that wing section124aremain at a preselected position with respect to the ground. That is, in addition to the parallel linkage130, which is adjustable on a per-row-unit basis, the actuator602and the lift system114may adjust the height and/or angle of the toolbar124or wing section(s)124a, based at least in part on the sensed positions of the row units126. Adjustment of the actuator602provides an additional range of adjustment beyond that provided by the parallel linkages130and the lift system114. That is, the row units126may be adjusted by moving the toolbar124upward or downward (i.e., by moving the lift system114), by moving the actuator602, and by moving the row units126with respect to the toolbar124(i.e., by rotating the parallel linkage130). Thus, each row unit126may exhibit a wider total range of motion than an implement120having only the parallel linkage130to adjust the height of the row unit126with respect to the tractor102.

Typically, there may be multiple row units126on each of the toolbar124and the wing section(s)124a. Thus, movement of the actuator602typically changes the position of the multiple row units126. The control system110may calculate an appropriate position of the actuator602, the lift system114, and the parallel linkages130so that the row units126on the toolbar and the wing section(s)124acan each be at a preselected depth. That is, the control system110may select an actuator position and a hitch position such that the row units126can each be adjusted with the parallel linkages130to be at a preselected depth. The actuator502may enable a wider range of operating conditions (e.g., maximum field slope variation) than conventional wing control systems and may enable the control system110to respond more quickly to changing field terrain.

Though the implement120is described herein as a planter, other types of implements may have other types of row units, such as tillage implements (e.g., disc harrows, chisel plows, field cultivators, etc.) and seeding tools (e.g., grain drills, disc drills, etc.).

FIG. 8is a simplified flow chart illustrating a computer-implemented method800of using the implement120to work an agricultural field. In block802, an indication is received of a position of at least one row unit relative to ground sensed by a sensor. For example, a signal from the sensor may be received by a controller. In block804, a lift system raises or lowers a portion of an implement frame and rotates the implement frame about an axis of rotation a wheel based at least in part on a sensed position of the at least one row unit. For example, a signal may be sent to a control component associated with the tractor102.

Still other embodiments involve a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium) having processor-executable instructions configured to implement one or more of the techniques presented herein. An example computer-readable medium that may be devised is illustrated inFIG. 9, wherein an implementation900includes a computer-readable storage medium902(e.g., a flash drive, CD-R, DVD-R, application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), a platter of a hard disk drive, etc.), on which is computer-readable data904. This computer-readable data904in turn includes a set of processor-executable instructions906configured to operate according to one or more of the principles set forth herein. In some embodiments, the processor-executable instructions906may be configured to cause a computer associated with the tractor102(FIG. 1) to perform operations908when executed via a processing unit, such as at least some of the example method800depicted inFIG. 8. In other embodiments, the processor-executable instructions906may be configured to control a system, such as at least some of the example system100depicted inFIG. 1. Many such computer-readable media may be devised by those of ordinary skill in the art that are configured to operate in accordance with one or more of the techniques presented herein.

Additional non limiting example embodiments of the disclosure are described below.

Embodiment 1: An agricultural system comprising an implement comprising an implement frame. The implement frame has an integrated elongate toolbar carrying at least one row unit, and at least one wheel coupled to the implement frame and defining an axis of rotation. A sensor is configured to sense a position of the at least one row unit relative to ground. A control system is configured to receive a signal related to the sensed position of the at least one row unit relative to the ground and cause a lift system to raise or lower a portion of the implement frame connected to the lift system to rotate the implement frame about the axis of rotation of the at least one wheel based at least in part on the signal.

Embodiment 2: The system of Embodiment 1, wherein vertical movement of the lift system causes rotation of the implement frame.

Embodiment 3: The system of Embodiment 1 or Embodiment 2, wherein the lift system comprises a lifting hitch secured to a tractor.

Embodiment 4: The system of Embodiment 1 or Embodiment 2, wherein the lift system comprises a pivoting or lateral adjustment configured to be secured to a fixed drawbar of a tractor.

Embodiment 5: The system of any one of Embodiment 1 through Embodiment 4, wherein the at least one row unit is coupled to the toolbar by a parallel linkage.

Embodiment 6: The system of Embodiment 5, wherein the sensor comprises a rotary sensor configured to measure an angle of an element of the parallel linkage.

Embodiment 7: The system of any one of Embodiment 1 through Embodiment 6, wherein the sensor comprises an ultrasonic, lidar, or radar sensor.

Embodiment 8: The system of any one of Embodiment 1 through Embodiment 7, wherein the sensor is carried by the implement.

Embodiment 9: The system of any one of Embodiment 1 through Embodiment 8, wherein the control system is carried by a tractor pulling the implement.

Embodiment 10: The system of any one of Embodiment 1 through Embodiment 9, further comprising at least one adjustable wing section rotatably coupled to the toolbar.

Embodiment 11: The system of Embodiment 10, further comprising an actuator configured to raise or lower the at least one wing section relative to the toolbar.

Embodiment 12: The system of Embodiment 11, wherein the control system is configured to control the actuator based at least in part on the sensed position of the at least one row unit.

Embodiment 13: The system of any one of Embodiment 1 through Embodiment 12, wherein a weight of the implement frame is supported by the at least one wheel.

Embodiment 14: A control system for an implement having at least one wheel coupled to an implement frame, the implement frame having an integrated elongate toolbar carrying at least one row unit. The control system comprises a sensor configured to sense a position of the at least one row unit relative to ground, and a controller configured to receive a signal from the sensor indicating the position of the at least one row unit relative to the ground and cause a lifting system to raise or lower a portion of the implement frame to rotate the implement frame about an axis of rotation of the at least one wheel based on the sensed position of the at least one row unit.

Embodiment 15: A computer-implemented method for operating a tractor and an implement having a frame coupled to the tractor, the frame supported by at least one wheel and having an integrated elongate toolbar carrying at least one row unit. The method comprises receiving an indication of a position of the at least one row unit relative to ground sensed by a sensor, and causing a lift system to raise or lower a portion of the implement frame relative to the tractor to rotate the implement frame about an axis of rotation of the at least one wheel based at least in part on the indication of the position of the at least one row unit.

Embodiment 16: The method of Embodiment 15, wherein receiving an indication of a position of the at least one row unit relative to ground sensed by a sensor comprises receiving a signal from the sensor.

The structures and methods shown and described herein may be used in conjunction with those shown in U.S. Provisional Patent Application 60/007,114, “Agricultural Implements Having Row Unit Position Sensors and at Least One Adjustable Wheel, and Related Control Systems and Methods,” filed Apr. 8, 2020; U.S. Provisional Patent Application 63/007,130, “Systems Comprising Agricultural Implements Connected to Lifting Hitches and Related Control Systems and Methods,” filed Apr. 8, 2020; and U.S. Provisional Patent Application 63/007,182, “Agricultural Implements Having Row Unit Position Sensors and Actuators Configured to Rotate Toolbars, and Related Control Systems and Methods,” filed Apr. 8, 2020. All references cited herein are incorporated herein in their entireties. If there is a conflict between definitions herein and in an incorporated reference, the definition herein shall control.

While the present invention has been described herein with respect to certain illustrated embodiments, those of ordinary skill in the art will recognize and appreciate that it is not so limited. Rather, many additions, deletions, and modifications to the illustrated embodiments may be made without departing from the scope of the invention as hereinafter claimed, including legal equivalents thereof. In addition, features from one embodiment may be combined with features of another embodiment while still being encompassed within the scope of the invention as contemplated by the inventors. Further, embodiments of the disclosure have utility with different and various agricultural machine types and configurations.