Abstract:
Systems, methods and apparatus for applying varying agricultural inputs in accordance with a prescription map. The system includes a plurality of input sources each containing different agricultural inputs. A variety selector selectively places the different inputs from the plurality of input sources in communication with a meter for dispensing the inputs in accordance with the prescription map to minimize prescription errors.

Description:
BACKGROUND 
     In recent years, the availability of global positioning systems for commercial applications have enabled varying application rates of agricultural inputs throughout a field. While effective systems have been developed for varying the applications rates of agricultural inputs, systems for varying the types or varieties of agricultural inputs during agricultural operations have proven either costly or ineffective. Thus, there is a need for systems capable of effectively varying agricultural input types or varieties during agricultural operations. 
    
    
     
       DESCRIPTION OF THE DRAWINGS 
         FIG. 1  schematically illustrates an embodiment of an agricultural input selection system. 
         FIG. 2A  illustrates an embodiment of a process for selecting agricultural inputs. 
         FIG. 2B  illustrates an embodiment of a process for selecting a variety switch position. 
         FIG. 2C  illustrates another embodiment of a process for selecting a variety switch position. 
         FIG. 3  illustrates an embodiment of a application rate and input variety map. 
         FIG. 4A  schematically illustrates an embodiment of an agricultural input selection system. 
         FIG. 4B  illustrates another embodiment of an agricultural input selection system. 
         FIG. 4C  illustrates yet another embodiment of an agricultural input selection system. 
         FIG. 5  illustrates the number of seeds in four seed pools plotted against time. 
         FIG. 6  illustrates an as-applied input variety map. 
         FIG. 7A  illustrates an embodiment of an agricultural input selection system including row shut-off devices. 
         FIG. 7B  is a partial front elevation view of an embodiment of a row shut-off device. 
         FIG. 7C  is a partial front elevation view of another embodiment of a row shut-off device. 
         FIG. 7D  is a top view of a slat of the row shut-off device of  FIG. 7C . 
         FIG. 8A  illustrates an embodiment of a process for selecting agricultural inputs using row shut-off devices. 
         FIG. 8B  illustrates an embodiment of a process for selecting a row shut-off device state. 
         FIG. 8C  illustrates an embodiment of a process for selecting a variety switch position. 
         FIG. 9A  illustrates an embodiment of an agricultural input selection system including staging pools. 
         FIG. 9B  is a partial front elevation view of an embodiment of a staging pool. 
         FIG. 9C  is a top view of an embodiment of a slat of the staging pool of  FIG. 9B . 
         FIG. 10A  illustrates a process for selecting a selecting agricultural inputs using staging pools. 
         FIG. 10B  illustrates a process for selecting a staging pool state. 
         FIG. 10C  illustrates a process for selecting a variety switch position. 
         FIG. 11  illustrates a method of generating mapping data representing as-applied agricultural input selection. 
     
    
    
     DESCRIPTION 
     Referring to the drawings, wherein like reference numerals designate identical or corresponding parts throughout the several views,  FIG. 1  schematically illustrates an agricultural input selection system  100 . It should be appreciated that the agricultural inputs may be different seed types, seed varieties or any other desired materials which are metered and applied to a field during an agricultural operation. 
     In one embodiment the selection system  100  is a seed variety selection system which is preferably mounted to a pneumatic seed delivery planter such as disclosed in U.S. Pat. No. 7,779,770, the disclosure of which is incorporated herein by reference, which planter is preferably drawn through the field by a tractor (not shown). In this embodiment, the input selection system  100  preferably includes a plurality of segregated input sources  110 , such as bulk seed hoppers  110   a ,  110   b ,  110   c  (each containing a different input or seed variety) supported by a toolbar of the planter or a cart drawn behind the planter. 
     The bulk seed hoppers are in seed communication with a variety switch  120 . The variety switch  120  is preferably configured to selectively place one of the bulk seed hoppers in seed communication with an entrainer  115  and is preferably configured to selectively remove, disrupt or shut off seed communication between the bulk seed hoppers and the entrainer  115 . 
     The entrainer  115  is preferably in fluid communication with a blower or other pressure source P and is configured to distribute seeds received pneumatically from the bulk seed hoppers to a plurality of row units  190  via a plurality of pneumatic lines  160 . The entrainer  115  and lines  160  are preferably configured to evenly distribute seeds between the row units  190 . Each row unit  190  includes a seed meter or seed singulator  140  such as disclosed in Applicant&#39;s co-pending International Patent Application No. PCT/US2012/030,192, the disclosure of which is incorporated herein by reference, or any other suitable seed meter. As the seeds are communicated through lines  160  toward the seed meter  140 , they preferably pass a first sensor  130  (i.e., a pre-meter sensor  130 ), which may comprise either an optical sensor or an electromagnetic sensor such as that disclosed in Applicant&#39;s co-pending U.S. patent application Ser. No. 12/984,263 (“the &#39;263 application”), the disclosure of which is incorporated herein by reference. 
     Each seed meter  140  preferably includes a seed pool  145  where seeds gather after being delivered to the meter  140 . A seed disc  142  captures seeds from near the bottom of the seed pool  145  and deposits them into a seed tube or seed conveyor. After entering the seed tube or conveyor, the seeds then pass by a second seed sensor  150  (i.e., the post-meter sensor  150 ), which is preferably mounted to a seed tube of the row unit and which may comprise either an optical sensor or an electromagnetic sensor such as that disclosed in the &#39;263 application. After passing the post-meter sensor  150 , the seeds are deposited into a trench opened by the row unit. 
     Turning to  FIG. 4A , an electrical system  400  for controlling the input switch or variety switch  120  is illustrated schematically. The electrical system  400  preferably includes a monitor  410  having a graphical user interface  412 , a memory  414  and a CPU  416 . The monitor  410  is preferably in electrical communication with the variety switch  120 , the pre-meter sensors  130 , and the post-meter sensors  150  of the input selection system  100 . The monitor  410  is preferably also in electrical communication with a global positioning (“GPS”) receiver  466  preferably mounted to the tractor, and one or more speed sensors  468  preferably mounted to the tractor or the planter. The monitor  410  is preferably also in electrical communication with row clutches  470  and seed meter drives  472  configured to individually control each seed meter  140  or a group of seed meters. The monitor  410  is also preferably in electrical communication with an array of downforce sensors  462  (e.g., strain gauges) configured to measure the downforce applied to individual row units of the planter and an array of ride quality sensors  462  (e.g., accelerometers) configured to generate a signal related to the ride quality of individual row units of the planter. 
     Variety Switch—Apparatus 
     The variety switch  120  preferably comprises a selection such as the embodiments disclosed in U.S. Pat. No. 5,915,313 (“the &#39;313 patent”), the disclosure of which is incorporated herein by reference. Preferably, the embodiments may comprise a switch assembly, a single valve or multiple valves as disclosed in the &#39;313 patent. It should be appreciated that unlike the &#39;313 patent, the variety switch is preferably configured to selectively place three or more bulk hoppers in seed communication with the entrainer  115 . Further, the variety switch preferably includes an “off” state in which none of the bulk seed hoppers are in seed communication with the entrainer  115 . 
     Variety Switch—Methods 
     Turning to  FIG. 2A , a process  200  is illustrated for selecting a state or position of the variety switch  120 . At step  205 , the monitor  410  preferably selects a position of the variety switch  120  to permit seed communication from the bulk hopper containing the desired seed variety to be planted corresponding to the location of the planter (e.g., reported by the GPS receiver  466 ) in reference to a variety prescription map stored in the memory  414  of the monitor. For illustrative purposes, a variety prescription map  310  is illustrated having a first region  312   a  corresponding to a first variety and a second region  312   b  corresponding to a second variety. The first region  312   a  and second region  312   b  are preferably separated by a boundary  315 . The graphical representation of the planter  10  and row units  1 ,  2 ,  3 ,  4  represents the position of the planter and row units relative to the prescription map. At step  205  the monitor preferably commands the variety switch to select the bulk seed hopper  110  (e.g., hopper  110   a ) containing the seed variety corresponding to region  312   a  because the row units are located in the region  312   a.    
     At step  210 , the monitor  410  preferably counts the number of seeds passing the pre-meter sensor  130  at each row  190 . At step  215 , the monitor  410  preferably counts the number of seeds passing the post-meter sensor  150  at each row  190 . At step  220 , the system determines a row-by-row seed pool count by subtracting the cumulative number of seeds that have passed the post-meter sensor  150  from the cumulative number of seeds that have passed the pre-meter sensor  130 . Referring to  FIG. 5 , an illustrative set of seed pool counts for four rows are illustrated. It should be appreciated that in normal operation of the system  100 , each row reaches a steady-state value after a period of time. In other embodiments the seed pool count may be established using an estimated value stored in the memory  414  such that a pre-meter sensor  130  is not necessary. It should be appreciated that the estimated steady-state seed pool count depends on the type of seed in the seed pool. Thus, in such embodiments, the monitor is preferably configured to allow a user to select a seed type or variety corresponding to each bulk hopper  110 , and the memory  414  preferably includes an estimated steady-state seed pool count for each seed type. In embodiments without a pre-meter sensor  130 , the monitor may determine whether the estimated steady-state value has been met by determining whether a predetermined time has passed since a state of the variety switch  120  was selected. Alternatively, an optical fill level sensor (not shown) mounted at the top of the seed pool  145  may be in electrical communication with the monitor  410  and configured to send a signal indicating whether the seed pool  145  is full of seed. 
     The number of “seeds-to-event” is determined at step  225 , at step  230  the monitor  410  preferably compares the seed pool count to the number of seeds-to-event. The term “seeds-to-event” as used herein refers to the number of seeds that need to be dispensed prior to crossing a boundary  315  (i.e., the “event”) defining the regions  312  corresponding to different seed varieties. The number of seeds-to-event over time for each row is illustrated in  FIG. 5 . As the planter approaches a boundary  315 , the number of seeds-to-event decreases over time. 
     Referring to  FIG. 3 , the variety prescription  310  is shown layered over an application rate prescription map  320  comprising two regions  322 - 1  and  322 - 2  (defining different application rates) separated by a boundary  325 . In the illustrated position, the row units  1 - 4  pass through varying distances D before crossing the boundary  315  defining a different seed variety to be planted at the application rates  322 - 1  and  322 - 2 . Thus, the row units  1 - 2  are planting at a differing application rate than the row units  3 - 4 . The monitor  410  preferably estimates the distances D based on the GPS position and heading of the planter and the position of the row units  1 - 4 . The monitor  410  then preferably calculates the number of seeds-to-event for each row unit by multiplying the application rate corresponding to the row unit location by the distance D and multiplying the result by a constant conversion factor. 
     At step  240 , the monitor  410  preferably modifies the position of the variety switch to minimize prescription error. A first process  240 ′ for carrying out step  240  is illustrated in  FIG. 2B . At step  242 ′, the monitor  410  preferably determines whether the seed pool count is greater than or equal to the number of seeds-to-event for any of the rows. If so, at step  244 ′, the monitor  410  preferably commands the variety switch  120  to switch to the hopper carrying the variety associated with the region on the other side of the boundary  315  (the post-event variety). A second process  240 ″ for carrying out step  240  is illustrated in  FIG. 2C . At step  242 ″, the monitor  410  preferably determines whether the seed pool count is greater than or equal to the number of seeds-to-event for any of the rows. Referring to  FIG. 5 , step  242 ″ is satisfied at time t 1 . Once step  242 ″ is satisfied, at step  244 ″, the monitor  410  preferably commands the variety switch  120  to disconnect or interrupt communication of all the bulk hoppers  110  from the entrainer  115 . 
     Referring to  FIG. 5 , when step  244 ″ is carried out, the seed pool count begins to decrease. The decreasing level of the seed pool may be measured by subtracting the number of seeds counted by the seed sensor  150  from the steady-state seed pool value. At step  246 ″, the monitor  410  preferably determines whether the seed pool count is less than a minimum threshold (illustrated as Smin in  FIG. 5 ). In some embodiments, step  246 ″ is carried out by comparing the seed pool count to Smin. In other embodiments, an optical sensor located near the bottom of the seed pool  145  is in electrical communication with the monitor  410  such that the monitor  410  determines whether the seed pool is at Smin based on the signal generated by the optical sensor. Referring to  FIG. 5 , step  246 ″ is satisfied at time t 2 . Once step  246 ″ is satisfied, at step  248 ″ the monitor  410  preferably commands the variety switch  120  to switch to the hopper carrying the variety on the other side of the event (e.g., the boundary  315 ). Referring to  FIG. 5 , when step  248  is carried out, the seed pool count begins to increase. 
     At step  250 , the monitor  410  preferably generates as-applied spatial data and displays an as-planted variety map as described herein with reference to  FIG. 11 . 
     Variety Switch and Row Switch—Systems 
     Turning to  FIG. 7A , a variety switch system  700  is illustrated. The variety switch system  700  is similar to one of the embodiments described with reference to  FIG. 1  except that a row switch  710  at each row unit  190  is preferably in seed communication with the entrainer  115  and disposed such that seeds flow through the row switch  710  after passing the pre-meter sensor  130  (in embodiments having the sensor  130 ) and before entering the meter  140 . Each row switch  710  is preferably configured to selectively prevent and allow seed flow to its associated row unit  190 . 
     An electronic system  400 ′ for controlling the variety switch system  700  is illustrated in  FIG. 4B . The system  400 ′ is similar to the system  400  except that the monitor is additionally in electrical communication with each row switch  710 . 
     Variety Switch and Row Switch—Apparatus 
     An embodiment of a row switch  710  is illustrated in  FIG. 7B . The row switch  710  preferably includes an actuator  712  mounted to the meter  140  and operably coupled to a sleeve  714 . As the actuator  712  lowers the position of the sleeve  714 , the sleeve reduces the effective venting area of a vent  162  which vents the line  160  and the interior of the meter  140  to atmosphere. Thus, as the sleeve  714  is lowered, seed delivery to the seed pool  145  is slowed or stopped. 
     An alternative embodiment of a row switch  710 ′ is illustrated in  FIG. 7C . The row switch  710 ′ includes an actuator  712 ′ mounted to the meter  140  and operably coupled to a slat  715 ′. As illustrated in  FIG. 7D , the slat  715 ′ preferably includes an orifice  716 ′ sized to allow air and seed flow through the line  160 . The actuator  712 ′ is preferably disposed to selectively move the slat  715 ′ to open or close the line  160 . The actuator  712 ′ preferably comprises a pneumatic actuator; the actuator is also preferably spring-biased such that the slat  712 ′ is biased into its right-most position (in the perspective of  FIG. 7C ) and the row switch  710 ′ is normally open. The meter  140  preferably includes a small cylindrical vent  164  disposed upstream of the slate  715 ′ such that a small air flow is permitted through the line  160  when the row switch  710 ′ is closed. 
     In other embodiments, the row switch may include a butterfly valve disposed to selectively open or close the line  160 . 
     Variety Switch and Row Switch—Methods 
     Turning to  FIG. 8A , a process  800  is illustrated for selecting a state of the variety switch  120  and the row switch  710  at each row in the system  700 . The process  800  is similar to the process  200  of  FIG. 2A  except that the step  240  is replaced with step  840  and an added step  850  is performed prior to step  250 . 
     At step  840 , the monitor  410  preferably modifies the states of the individual row switches  710  to minimize prescription error. A preferred process  840 ′ for carrying out step  840  is illustrated in  FIG. 8B . It should be appreciated that the process  840 ′ is carried out individually for each row unit  190 . At step  842 ′, the monitor  410  determines whether the seed pool count is greater than or equal to the seeds-to-event for the row unit. Once step  842 ′ is satisfied, at step  843 ′ the monitor  410  preferably closes the row switch  710  such that seed stops flowing to the meter  140 . At step  844 ′, the monitor  410  preferably determines whether the seed pool count is less than a threshold number for the row unit. If step  844 ′ is satisfied, then at step  846  the monitor  410  preferably commands the row switch  710  to open such that seed flows to the meter  140 . 
     At step  850 , the monitor  410  preferably modifies the variety switch position to minimize prescription error. A preferred process  850 ′ for carrying out step  850  is illustrated in  FIG. 8C . At step  851 ′, the monitor  410  determines whether the seed pool count is less than the threshold for any row. It should be appreciated that in alternative embodiments, the monitor  410  may alternatively determine whether the row switch has closed and re-opened at step  851 ′. Once step  851 ′ is satisfied, the monitor  410  preferably commands the variety switch  120  to select the post-event variety (i.e., the variety associated with the region on the other side of the nearest boundary based on the GPS position and heading of the planter). 
     Variety Switch, Row Switch, and Staging Pool—Systems 
     Turning to  FIG. 9A , a variety switch system  900  is illustrated. The variety switch system  700  is similar to one of the embodiments described with reference to  FIG. 7  except that a staging pool  910  at each row unit  190  is preferably in seed communication with the entrainer  115  and disposed such that seeds flow through the staging pool  710  after passing the pre-meter sensor  130  (in embodiments having the sensor  130 ) and before passing through the row switch  710 . Each staging pool  910  is preferably configured to selectively store seed upstream of the seed meter  140 . 
     An electronic system  400 ″ for controlling the variety switch system  900  is illustrated in  FIG. 4C . The system  400 ″ is similar to the system  400 ′ except that the monitor is additionally in electrical communication with each staging pool  910 . 
     Variety Switch, Row Switch and Staging Pool—Apparatus 
     A preferred embodiment of the staging pool  910  is illustrated in  FIG. 9B . The staging pool  910  includes an actuator  920  mounted to the meter  140  and operably coupled to a slat  932 . As illustrated in  FIG. 9C , the slat  932  preferably includes an orifice  934  sized to allow air and seed flow through the line  160  as well as an orifice array  936  configured to allow air flow through the line  160  but to prevent seed flow past the slat  932 . The actuator  920  is preferably disposed to selectively move the slat  932  to open or close the line  160  to seed flow. The actuator  920  preferably comprises a pneumatic actuator. The actuator is also preferably spring-biased such that the slat  932  is biased into its right-most position (in the perspective of  FIG. 9B ) and the row switch  910  is normally open. A cylindrical vent  966  is preferably disposed between the switch  710  and the staging pool  910  such that seeds fill the vent  966  when the slate  932  is in its closed (left-most) position. It should be appreciated that as the vent  966  fills with seed, vent holes in the cylindrical wall of the vent as well as the orifice array  936  become increasingly blocked to air flow such that seed flow through the line  160  slows. In some embodiments, air flow is substantially blocked when the vent  966  is full of seed such that seed flow substantially stops when the vent  966  is full or substantially full of seed. 
     Variety Switch, Row Switch and Staging Pool—Methods 
     Turning to  FIG. 10A , a process  1000  is illustrated for selecting a state of the variety switch  120  and the row switches  710  and staging pools  910  at each row in the system  900 . The process  1000  is similar to the process  800  of  FIG. 8A  except that step  840  is replaced with step  1040  and step  850  is replaced with step  1050 . 
     At step  1040 , the monitor  410  preferably modifies the states of the individual row switches  710  and staging pools  910  to minimize prescription error. A preferred process  1040 ′ for carrying out step  1040  is illustrated in  FIG. 10B . It should be appreciated that the process  1040 ′ is carried out individually for each row unit  190 . At step  1041 ′, the monitor  410  preferably determines whether the variety switch  120  is set to the pre-event variety (i.e., the variety associated with the region on the same side of the boundary where the planter is presently located based on the GPS position and heading of the planter) or the post-event variety (i.e., the variety associated with the region on the other side of the nearest boundary based on the GPS position and heading of the planter). 
     If the variety switch  120  is set to the post-event variety, then at step  1046 ′ the monitor  410  closes the staging pool slat  932 . Because seeds passing the seed sensor  130  after the staging pool is closed are retained in the staging pool  910 , the monitor  410  stops adding seeds passing the pre-meter sensor  130  to the seed pool count and begins adding those seeds to a separate staging pool count stored in the memory  414 . Alternatively, an empirically known steady-state may be assigned to the staging pool count after a predetermined time. 
     If the variety switch  120  is set to the pre-event variety, then at step  1042 ′ the monitor  410  preferably opens the staging pool, stops adding to the staging pool count, adds any existing staging pool count to the seed pool count and then adds subsequent seeds passing the pre-meter sensor  130  to the seed pool count. At step  1043 ′, the monitor  410  determines whether the seed pool count is greater than the number of seeds-to-event. If step  1043 ′ is satisfied, then at step  1044 ′ the monitor  410  closes the row switch  710 . If step  1043 ′ is not satisfied, then at step  1045 ′ the monitor  410  opens the row switch  710  and at step  1046 ′ determines whether the seed pool count is less than a threshold. Once step  1046 ′ is satisfied, at step  1047 ′ the monitor  410  preferably closes the row switch  710 . 
     At step  1050 , the monitor  410  preferably modifies the variety switch position to minimize prescription error. A preferred process  1050 ′ for carrying out step  1050  is illustrated in  FIG. 10C . At step  1052 ′, the monitor  410  determines whether the seed pool count is less than a threshold for any row. Once step  1052 ′ is satisfied, the monitor  410  preferably commands the variety switch  120  to select the post-event variety in the prescription map. 
     Mapping Methods 
     A process  1100  for generating and displaying mapping data is illustrated in  FIG. 11 . An embodiment of an as-planted variety map  340  displayed using the process  1100  is illustrated in  FIG. 6  superimposed over a variety prescription map  310 . 
     Referring to the process  1100  of  FIG. 11 , at step  1105  the monitor  410  records the GPS position of the planter. At step  1110 , the monitor  410  determines a first variety switch position being applied to the variety switch  120 . At step  1115 , the monitor  410  assigns recorded positions to the first variety corresponding to the first variety switch position. For example, the region  344  in  FIG. 6  is associated with the first variety. At step  1120 , the monitor  410  determines whether the variety switch  120  has changed its setting to a second variety switch position associated with a second variety. Once step  1120  is satisfied (e.g., at position  341  in  FIG. 6 ), at step  1125  the monitor  410  continues to assign positions to the first variety until a first predetermined number of seeds (e.g., 20 seeds) pass the sensor  150 . At step  1130 , the monitor  410  begins to assign positions to a mix of the first and second varieties (e.g., the region  342  is assigned to a mix of the first and second varieties). At step  1135 , once a second predetermined number of seeds (e.g., 50 seeds) has passed the seed sensor  150  after the first predetermined number, the monitor  410  begins to assign positions to the second variety (e.g., the region  346  is assigned to the second variety). 
     The foregoing description is presented to enable one of ordinary skill in the art to make and use the invention and is provided in the context of a patent application and its requirements. Various modifications to the preferred embodiment of the apparatus, and the general principles and features of the system and methods described herein will be readily apparent to those of skill in the art. Thus, the present invention is not to be limited to the embodiments of the apparatus, system and methods described above and illustrated in the drawing figures, but is to be accorded the widest scope consistent with the spirit and scope of the appended claims.