Patent Description:
Many conventional agricultural machines, in particular agricultural machines such as planters, include a frame. Some such agricultural machines include a center portion of the frame and various other portions of the frame arranged laterally outward from the center portion. Some agricultural machines that include a frame may have a weight distribution system related to the frame. Weight distribution systems of conventional agricultural machines are manually adjustable by an operator or other user.

<CIT>, for example, discloses an implement comprising: a frame having a main section and a wing section pivotally coupled to the main section; a main wheel assembly coupled to the frame main section to support the frame main section for movement over a ground surface; a wing wheel assembly coupled to the frame wing section to support the frame wing section for movement over the ground surface; a row unit mounted to the frame wing section to dispense a product to the ground surface; a weight transfer system coupled to the frame main and wing sections and adapted to transfer weight from the frame main section to the frame wing section to reduce the load carried by the main wheel assembly; a row unit downforce system coupled to the frame wing section and adapted to apply a force on the row unit relative to the frame wing section; a pressure transducer configured to measure the force applied by the row unit downforce system and generate a signal indicative of the applied force; and a control system adapted to operate the weight transfer system in response to the signal from the pressure transducer to assist the row unit downforce system, the control system programmed to actuate the weight transfer system to apply an additional force on the frame wing section in response to the signal. Furthermore, a method of operating an implement is disclosed.

Drawbacks have been identified such as lack of convenience and difficulty of use due to physical constraints. These drawbacks are often due to the requirement for manual adjustment of weight distribution across the frame. Therefore, what is needed is a system and method for automatically distributing or redistributing weight across a frame of an agricultural machine.

According to the invention, an agricultural machine comprises a system for automatically redistributing weight across a frame of an agricultural machine during operation thereof. The agricultural machine comprises the frame, which includes: a center section, a first wing section coupled to the center section, and a second wing section coupled to the center section and positioned opposite the first wing section; a product storage system supported by the center section and including one or more tanks configured to store product usable in an operation of the agricultural machine; a first actuator coupled to the center section and to the first wing section; a second actuator coupled to the center section and to the second wing section; and at least one sensor configured to measure or detect a characteristic associated with the product stored in the product storage system; a controller operatively coupled to the first actuator, the second actuator, and the at least one sensor; wherein the controller is configured to determine the volume of product in the product storage system based on at least one measured or detected characteristic associated with the product and received from the at least one sensor; and wherein the controller is configured to adjust at least one of the first actuator and the second actuator to redistribute weight across the frame based on the determined volume of product in the product storage system. The at least one sensor is configured to measure the vibration frequency of the one or more tanks of the product storage system; wherein the controller determines the volume of product in the product storage system based on the measured vibration frequency of the one or tanks of the product storage system.

In some embodiments, the at least one sensor is configured to measure the shape of a collection of product in the product storage system; wherein the at least one sensor is one of a LIDAR sensor, ultrasonic sensor, or stereo camera sensor; and wherein the controller determines the volume of product in the product storage system based on the measured shape of the collection of product in the product storage system.

In some embodiments, the agricultural machine further comprises: a user interface operatively coupled to the controller and configured to send a signal to the controller indicative of a quantity of seeds in the one or more tanks of the product storage system; and wherein the at least one sensor includes a first sensor configured to measure the singulation rate of seeds output from the product storage system; and wherein the controller determines the volume of product in the product storage system based on the determined quantity of seeds in the product storage system and the measured singulation rate received by the controller from the first sensor.

In some embodiments, the user interface is configured to send a signal to the controller indicative of the quantity of fertilizer in the one or more tanks of the product storage system wherein the at least one sensor further includes a second sensor configured to measure a flow rate of fertilizer output from the product storage system; and wherein the controller determines the volume of product in the product storage system based on the indicated quantity of fertilizer in the product storage system and the measured flow rate of fertilizer received by the controller from the second sensor.

In some embodiments, the agricultural machine further comprises a learning module operatively coupled to the controller and the at least one sensor; wherein the at least one sensor is configured to capture images of a collection of product in the one or more tanks of the product storage system; and wherein the learning module includes instructions that when executed: (i) compare the captured images to prior images of collections of product in product storage tanks, and (ii) identify a volume of the collection of product in the one or more tanks of the product storage system based on stored relationships between the prior images and corresponding volumes of product; wherein the controller determines the volume of product in the product storage system based on the identified volume received from the learning module.

In some embodiments, the at least one sensor includes: a first sensor positioned at a first height in the product storage system and a second sensor positioned at a second height in the product storage system below the first sensor; wherein the first sensor is configured to detect whether a collection of product in the product storage system is positioned level with or above a first sensor and the second sensor is configured to detect whether the collection of product in the product storage system is positioned level with or above the second sensor; and wherein the controller determines the volume of product in the product storage system in response to receiving an indication from the second sensor that the collection of product is no longer equal to or above the second sensor.

In some embodiments, the at least one sensor further includes: a third sensor configured to measure at least one of a singulation rate of seed and a flow rate of fertilizer output from the one or more tanks of the product storage system; wherein the controller is configured to determine the volume of product remaining in the one or more tanks of the product storage system based on the indication from the second sensor and based on at least one of a measured singulation rate of seed and a measured flow rate of fertilizer received from the third sensor. In some embodiments, the agricultural machine further comprises at least one additional sensor operatively coupled to the controller and configured to measure or detect a characteristic associated with a row unit or a wheel assembly coupled to the frame of the agricultural machine; and wherein the controller is configured to adjust at least one of the first actuator and the second actuator based on the measured or detected characteristic associated with the row unit or wheel assembly coupled to the frame of the agricultural machine.

In some embodiments, the first wing section includes a wing wheel assembly having a tire, a third actuator having a cylinder configured to adjust a downward force of the tire on the soil, and the at least one additional sensor; wherein the at least one additional sensor is configured to measure a wing wheel assembly characteristic including at least one of a pressure within the cylinder and a pressure within the tire; and wherein the controller is configured to adjust the first actuator based on the measured wing wheel assembly characteristic received from the at least one additional sensor.

In some embodiments, the first wing section includes a wing wheel assembly having a tire and the at least one additional sensor; wherein the at least one additional sensor is configured to capture a first set of images of the soil prior to compaction by the tire and a second set of images subsequent to compaction by the tire; and wherein the controller is configured to adjust the first actuator based on the first set of images and the second set of images captured by the at least one additional sensor.

In some embodiments, the at least one additional sensor includes: (i) a first sensor configured to measure a pressure applied by a cylinder of the row unit, and (ii) a second sensor configured to measure a downforce of the row unit; wherein the controller is configured to compare: (i) the measured pressure applied by the row unit with (ii) a predetermined maximum pressure of the cylinder of the row unit; wherein the controller is configured to compare the measured downforce of the row unit to a desired downforce at the row unit; and wherein, if the controller determines that: (i) the measured downforce is less than the desired downforce and (ii) the measured pressure is at least equal to the maximum pressure, then the controller is configured to adjust at least one of the first actuator and the second actuator based on the measured pressure applied by the row unit and the measured downforce at the row unit, each of which are indications received by the controller from the at least one additional sensor.

Also according to the invention, a method of automatically redistributing weight across a frame of an agricultural machine during operation thereof comprises: determining a volume of product in a product storage system of the agricultural machine, wherein the product storage system is supported by the frame; determining a type of product in the product storage system based on input received from a user interface; determining a weight of the product in the product storage system based on the determined type and determined volume of product in the product storage system; adjusting a first actuator coupled to a center section of the frame and to a first wing section of the frame positioned adjacent to the center section, wherein adjusting the first actuator includes distributing approximately <NUM>% of the determined weight of the product to the first wing section of the frame; adjusting a second actuator coupled to the center section and to a second wing section of the frame positioned adjacent to the center section and opposite the first wing section, wherein adjusting the second actuator includes distributing approximately <NUM>% of the determined weight of the product to the second wing section of the frame; and repeating the determining and adjusting steps throughout operation of the agricultural machine.

In some embodiments, determining the volume of product in the product storage system includes: measuring a shape of a collection of product in the product storage system via at least one of a LIDAR sensor, an ultrasonic sensor, or a stereo camera sensor.

In some embodiments, determining the volume of product in the product storage system includes: determining an initial quantity of product in the product storage system via a user interface; and at least one of: measuring a singulation rate of seeds output from the product storage system; and measuring a flow rate of fertilizer output from the product storage system.

In some embodiments, determining the volume of product in the product storage system includes: capturing images of a collection of product in one or more tanks of the product storage tanks; and comparing the capture images of product in the one or more tanks to prior images of collections of product, wherein the prior images are each associated a volume of product.

In some embodiments, determining the volume of product in the product storage system includes: determining whether a collection of product in the product storage system is positioned at a height that is level with or above a first sensor positioned at a first height in the product storage system; and determining whether the collection of product in the product storage system is positioned at a height that is level with or above a second sensor positioned at a second height in the product storage system, wherein the second sensor is positioned below the first sensor.

In some embodiments, determining the volume of product in the product storage system further includes: measuring with a third sensor at least one of: a singulation rate of seeds output from the product storage system; and a flow rate of fertilizer from output from the product storage system.

In some embodiments, determining the volume of product in the product storage system further includes: comparing the volume as determine from the second sensor with the volume as determined from the third sensor; identifying an error constant based on the difference between the volume as determine from the second sensor and the volume as determined from the third sensor; and updating the determined volume of product in the product storage system based on the error constant.

In another illustrative embodiment, a method of automatically redistributing weight across a frame of an agricultural machine during operation thereof comprises: determining the weight of a measured volume of product within a product storage system supported by the frame, wherein determining the weight of the measured volume of product includes measuring or detecting, with a first set of one or more sensors, a characteristic associated with the product in the product storage system; measuring, with a second set of one or more sensors, a first operational characteristic of the agricultural machine, wherein the first operational characteristic is associated with one or more row units or one or more wheel assemblies coupled to the frame of the agricultural machine; measuring, with a third set of one or more sensors, a second operational characteristic of the agricultural machine, wherein the second operational characteristic is also associated with one or more row units or one or more wheel assemblies coupled to the frame of the agricultural machine; comparing the first measured operational characteristic with the second measured operational characteristic; and adjusting an actuator coupled to a center section of the frame and to a wing section of the frame to redistribute the weight of the measured volume of product based on the comparison between the first measured operational characteristic and the second measured operational characteristic.

In <FIG> of the present disclosure, an illustrative embodiment of an agricultural machine <NUM> is shown as a row crop planter. The agricultural machine <NUM> is illustrated as including a frame <NUM> having a draw bar <NUM> and a tool bar <NUM> spanning laterally to define a width thereof. At the forward end of the draw bar <NUM> is a tongue <NUM> for coupling the frame <NUM> to a towing vehicle such as a tractor. The tool bar <NUM> is shown as having a center section <NUM>, a first wing section <NUM>, and a second wing section <NUM>. The first and second wing sections <NUM>, <NUM> extend laterally away from the main section <NUM> in opposite directions. During operation, a towing vehicle, such as a tractor, may pull the agricultural machine <NUM> in a forward direction <NUM>, as shown in <FIG>.

The first and second wing sections <NUM>, <NUM> may be pivotably coupled to the center section <NUM> for rotation about fore and aft extending axes <NUM> and <NUM>. The pivot-type connection allows the wing sections to follow the ground contour as the agricultural machine <NUM> moves through a field. A first plurality of row units <NUM> may be coupled to the center section <NUM> and function as center section ground engaging tools. A second plurality of row units <NUM> may be coupled to the first and second frame wing sections <NUM>, <NUM> and form wing section ground engaging tools. In aspects of the disclosure described herein, the first and second plurality of row units <NUM> and <NUM> may be identical. Thus, it should be appreciated that description of the row units <NUM> applies equally to the row units. Further, description of a single component (e.g., row unit or wheel assembly) should be understood to apply to the corresponding plurality of those components.

The agricultural machine <NUM> may also include a product storage system <NUM> mounted to the center section <NUM> of the frame <NUM>. The product storage system <NUM> may include product bins or tanks, <NUM>, <NUM> and <NUM>, as shown in <FIG> for example. The tanks <NUM>, <NUM>, <NUM> may hold seed that is delivered pneumatically to mini-hoppers <NUM> on the row units <NUM>, <NUM> (see <FIG>). In other embodiments, the tanks may hold dry or liquid fertilizer or water that is used to dilute a concentrated insecticide or other chemical to be applied. In some embodiments, the agricultural machine <NUM> may include additional tanks, which may be positioned on the draw bar <NUM>, the center section <NUM> of the tool bar <NUM>, or the struts extending between the tool bar <NUM> and the draw bar <NUM>. The additional tanks may include, for example, seed or fertilizer.

Referring still to <FIG>, the agricultural machine <NUM> is shown including main wheel assemblies <NUM> coupled to and supporting the center section <NUM> of the tool bar <NUM> for movement over the ground. Moreover, wing wheel assemblies <NUM> are coupled to the first and second wing sections <NUM>, <NUM> for supporting the wing sections <NUM>, <NUM> for movement over the ground. Thus, each of the wheel assemblies <NUM>, <NUM> may be referred to as ground engaging tools. It should be appreciated that, in some embodiments, the wheels may be replaced by continuous tracks yet otherwise function in the same manner as described herein. In <FIG>, a pair of wing wheel assemblies <NUM> are shown coupled to the second wing section <NUM>. Each wing wheel assembly <NUM> may include a tire or wheel <NUM> mounted to a support structure <NUM> for rotation on an axle <NUM>. The support structure <NUM> includes a mounting bracket <NUM> secured to the wing section <NUM> and to a lift arm <NUM>. The lift arm <NUM> may be pivotably connected to the bracket <NUM> by a pin <NUM>. The second wing section <NUM> may be raised or lowered by operation of one or more actuators <NUM> (e.g., hydraulic cylinders) coupled between the lift arms <NUM> and mounting brackets <NUM> which are in turn secured to the wing section <NUM>. Both the rod end and the base end of each cylinder <NUM> may be attached to the lift arms <NUM> and mounting brackets <NUM> by pins <NUM>. It should be appreciated that the actuators described throughout this disclosure may be hydraulic, electric, or of any other type capable of moving or applying force to nearby components. The main wheel assemblies <NUM> may have similar components as the wing wheel assemblies <NUM>, namely wheels, tires or tracks, lift arms and actuators. The main wheel assemblies <NUM> may have components sized to carry larger loads than the wing wheel assemblies <NUM>, which are otherwise similar such that the description of the wing wheel assemblies <NUM> applies equally to the main wheel assemblies <NUM>.

An exemplary row unit <NUM> is shown in <FIG>. The row unit <NUM> may include a row unit frame attached to the tool bar <NUM> by a linkage assembly <NUM> including parallel arms as shown. The linkage assembly may allow up and down movement of the row unit <NUM> relative to the tool bar <NUM> (e.g., second wing section <NUM>) to follow ground contours. The row unit frame may support a double disc type furrow opener <NUM> for forming a seed furrow in the soil or ground. A gauge wheel <NUM> may be provided adjacent the opener <NUM>. The gauge wheel <NUM> functions as furrow depth regulation member, associated with the disc furrow opener <NUM>. The gauge wheel <NUM> may be vertically adjustable relative to the furrow opener <NUM> to vary the depth of the furrow which is cut into the soil by the disc furrow opener <NUM>. In some embodiments, a gauge wheel sensor <NUM> may be coupled to and/or positioned on the gauge wheel <NUM>. The gauge wheel sensor <NUM> is configured to measure the downforce of the row unit <NUM>. The gauge wheel sensor <NUM> is operatively coupled to a controller <NUM>, which is described below. The gauge wheel sensor <NUM> is configured to send a signal to the controller <NUM> indicative of the measured downforce of the gauge wheel <NUM> of the row unit <NUM>.

Referring still to <FIG>, a seed meter <NUM>, which may also be carried by the row unit frame, receives seed or other product from the product storage system <NUM>. Seed or other product may be delivered to the mini-hopper <NUM> from the product storage system <NUM> by any conventional pneumatic distribution system, such as the one described in <CIT>, or by any other suitable system. An exemplary hose <NUM> of the pneumatic distribution system is shown in <FIG>. In other embodiments, the seed meter <NUM> may be arranged in other locations along the flow path of seed from the product storage system <NUM> to the soil. The row unit <NUM> may also include a pair of closing wheels <NUM> which follow behind the gauge wheel <NUM> and are positioned generally in line with furrow opener <NUM>. The closing wheels <NUM> may push soil back into the furrow upon the seed or product being deposited therein.

Referring now to <FIG>, a diagrammatic view of a control system <NUM> of the agricultural machine <NUM> is shown. For example, the agricultural machine <NUM> includes the controller <NUM>. The controller <NUM> may include a memory and a processor configured to execute instructions (i.e., algorithmic steps) stored on the memory. The controller <NUM> may be a single controller or a plurality of controllers operatively coupled to one another. The controller <NUM> may be hardwired or connected wirelessly to other components of the control system <NUM> via Wi-Fi, Bluetooth, or other known means of wireless communication. The controller <NUM> may be housed by the agricultural machine <NUM> or positioned remotely, away from the agricultural machine <NUM>.

The controller <NUM> may be operatively coupled to a user interface <NUM> and configured to receive input data from the user via the user interface <NUM>. For example, a user may input via the user interface <NUM> the type of product(s) (e.g., type of seed or fertilizer) being utilized in an agricultural operation and stored in the product storage system <NUM>. In another example, a user may input a quantity of product loaded or to be loaded into the product storage system <NUM>. In some embodiments, the user interface <NUM> may include an scanning device <NUM> (e.g., a mobile device or dedicated scanning tool) operatively coupled to the controller <NUM> and configured to scan a bar code or other indicia of a separate container (e.g., that of a seed bag) to identify the quantity of product or type of product within the separate container. It should be appreciated that the product of the one or more separate containers may be used to fill the one or more tanks of the product storage system <NUM>, and a user may use the scanning device <NUM> to scan the one or more separate containers as the product is added to the tanks. The scanning device <NUM> is configured to send a signal to the controller <NUM> indicative of the identified quantity and/or type of product with the one or more separate containers.

Referring still to <FIG>, control system <NUM> may further include one or more sensors <NUM> configured to measure the volume of seed or other product within one or more tanks of the product storage system <NUM>. Specifically, the one or more sensors <NUM> are configured to measure the shape of a collection of product within the one or more tanks of the product storage system <NUM>. Thus, the one or more sensors <NUM> may be referred to as shapes sensors. The one or more sensors <NUM> may be for example an ultrasonic sensor, a LIDAR sensor, and/or a stereo camera with a reference target positioned in a predetermined location within the one or more tanks. In some embodiments, the geometry of a tank is known and stored in the memory of the controller <NUM>, which makes use of the one or more sensors <NUM> more effective (i.e., more accurate) in determining the volume of product in the one or more tanks. The ultrasonic sensor may omit radio frequency waves, whereas the LIDAR sensor may emit optical as well as radio frequency waves. In any event, the one or more sensors <NUM> are configured to measure the volume of product (e.g., seed or fertilizer) in the one or more tanks. The one or more sensors <NUM> are operatively coupled to the controller <NUM> and configured to send a single thereto indicative of the volume of product in the one or more tanks. Thus, the controller <NUM> is configured to determine the volume of product in the one or more tanks based on measurements from the one or more sensors <NUM>. As shown in <FIG>, the one or more shape sensors <NUM> are an example of product characteristic sensors, which measure or detect a characteristic associated with the product stored in the product storage system <NUM>. In an exemplary embodiment, the agricultural machine <NUM> may also include a sensor <NUM>, as shown in <FIG>, positioned on the row unit <NUM>. The sensor <NUM> is configured to measure the singulation rate of the seeds (e.g., seeds per acre). Thus, the sensor <NUM> may be referred to as a singulation sensor <NUM>. It should be appreciated that the singulation rate may be measured by one or more sensors positioned on various locations of the agricultural machine <NUM>, and the sensor <NUM> is merely one example of the structure and arrangement of the one or more seed singulation rate sensors. As shown in <FIG>, the singulation sensor <NUM> is another example of a product characteristic sensor. As shown in <FIG>, the sensor <NUM> is included in the control system <NUM> and is operatively coupled to the controller <NUM> and configured to send a signal to the controller <NUM> indicative of the measured singulation rate, which corresponds to the number of seeds output from one or more tanks of the product storage system <NUM> in an amount of time or over a distance or area of travel of the agricultural machine <NUM>. Thus, the controller <NUM> is configured to continuously determine the volume of the seeds left in the one or more tanks of the product storage system <NUM> based on the identified quantity of seeds initially added to the one or more tanks (e.g., via input received from the user interface <NUM>) and the measured singulation rate received from the singulation sensor <NUM>.

In an exemplary embodiment, the agricultural machine <NUM> may also include a sensor <NUM> positioned in or adjacent to a flow path of the fertilizer, as shown for example in <FIG>. The sensor <NUM> is configured to measure the flow rate of liquid or other fertilizer being distributed, and therefore, the sensor <NUM> may also be referred to as a fertilizer sensor or flow rate sensor <NUM>. It should be appreciated that the fertilizer flow rate may be measured by one or more sensors positioned on various locations of the agricultural machine <NUM>, and the sensor <NUM> is merely one example of the structure and arrangement of the one or more fertilizer sensors. As shown in <FIG>, the fertilizer sensor <NUM> is another example of a product characteristic sensor. As shown in <FIG>, the sensor <NUM> is included in the control system <NUM> and is operatively coupled to the controller <NUM> and configured to send a signal to the controller <NUM> indicative of the measured flow rate of fertilizer output from the one or more tanks of the product storage system <NUM>. The controller <NUM> is configured to continuously determine the volume of the fertilizer remaining in the one or more tanks of the product storage system <NUM> based on the identified quantity of fertilizer added to the tanks (e.g., via input received from the user interface <NUM>) and the measured flow rate received from the sensor <NUM>.

Referring still to <FIG>, the control system <NUM> may further include one or more sensors <NUM> (e.g., cameras), which in some embodiments are positioned in or adjacent to the one or more tanks of the product storage system <NUM>. The one or more sensors <NUM> maybe referred to as cameras or tank cameras <NUM>. As shown in <FIG>, the tank cameras <NUM> are another example of product characteristic sensors. The one or more cameras <NUM> are operatively coupled to the controller <NUM>. In some embodiments, the cameras <NUM> are operatively coupled to a learning module <NUM>, which is operatively coupled to the controller <NUM>. The learning module <NUM> includes a collection of software, which in some embodiments, is arranged in the cloud. The learning module <NUM> is configured to determine the volume of product in the one or more tanks of the product storage system <NUM> based on images received from the one or more cameras <NUM>. The learning module <NUM> may include and may be used to execute, for example, the following algorithm (i.e., step-by-step procedure) to perform the function of determining the volume of product in the one or more tanks of the product storage system <NUM>: (i) receive images from the one or more cameras <NUM>, (ii) compare the images received the from the one or more cameras <NUM> to images received at a prior time, (iii) identify the volume of product associated with the images received at a prior time (e.g., based on stored relationships between the images received at a prior time and associated product volumes), and (iv) send a signal to controller <NUM> indicative of the volume of product associated with one or more images received at the prior time. As a result, based on input from the cameras <NUM> and based on input from the learning module <NUM>, the controller <NUM> is configured to determine the volume of product in the one or more tanks of the product storage system <NUM>.

Referring still to <FIG>, the control system <NUM> may further include a plurality of discrete sensors <NUM> positioned in or adjacent to the one or more tanks of the product storage system <NUM>. As shown in <FIG>, the discrete sensors <NUM> are another example of product characteristic sensors. In some embodiments, the control system <NUM> may include discrete sensors <NUM> positioned at certain levels of a tank including: full, ¾, ½, ¼, and empty. In other embodiments, the discrete sensors <NUM> may be positioned at other levels of the tank. Thus, the one or more discrete sensors <NUM> are each configured to determine whether the volume of product in a tank is less than the volume of the tank below that discrete sensor <NUM>. In other words, each discrete sensor <NUM> determines whether the volume of product is: (a) below the level at which the discrete sensor <NUM> is positioned, or (b) at or above the level at which the discrete sensor <NUM> is positioned. Each discrete sensor <NUM> is operatively coupled to the controller <NUM> and configured to send a notification to the controller <NUM> when the level of product in the one or more tanks of the product storage system <NUM> falls below that discrete sensor <NUM>.

In some embodiments, the controller <NUM> uses input from the singulation sensor <NUM> and/or the fertilizer sensor <NUM> in combination with input from the discrete sensors <NUM> to determine the volume of product in the one or more of the tanks of the product storage system <NUM>. For example, each time a discrete sensor <NUM> sends a notification to the controller <NUM>, the controller <NUM> replaces the volume as determined from the singulation sensor <NUM> with the volume as determined from the notification from the discrete sensor <NUM>. Subsequently, the controller <NUM> continues to determine the volume based on new input from the singulation sensor <NUM>. The process steps above are repeated each time the controller <NUM> receives another notification from another discrete sensor <NUM>.

As a separate process, input from the singulation sensor <NUM> and input from the discrete sensors <NUM> are both used by the controller <NUM>, wherein, if the input received from the singulation sensor <NUM> does not match the input received from the discrete sensor <NUM>, then the controller <NUM> stores an error constant in its memory equal to the difference in volume based on the different input by the two sensors <NUM>, <NUM>. The controller <NUM> increases the error constant proportionally over time and adds the increased error constant to the volume determined by the singulation sensor <NUM>. It should be appreciated that each of the combined processes described above are executable by the controller <NUM> based on fertilizer flow rate as well (via sensor <NUM>). Therefore, based on the notification from the discrete sensors <NUM> and input from at least one of the singulation sensor <NUM> and the fertilizer sensor <NUM>, the controller <NUM> is configured to determine the volume of product in the one or more tanks of the product storage system <NUM>.

According to the invention, the control system <NUM> further includes a sensor <NUM> configured to measure the frequency of one of more tanks (or of the adjacent support structures) of the product storage system <NUM>. Thus, the sensor <NUM> may be referred to as a frequency sensor. For example, a tank that is full of product will resonate at a different frequency than a tank that is half filled with product. More specifically, the full tank will have a dampened frequency as compared to the half filled tank. In some embodiments, the sensor <NUM> may be a strain gauge or other frequency-measuring instrument coupled to a tank or to an adjacent support structure for the product storage system <NUM>. In other embodiments, the process is executable via feedback from an audio sensor, which may determine various audible characteristics of the agricultural machine <NUM> corresponding to volume of product. In any event, as shown in <FIG>, the frequency sensor <NUM> is a product characteristic sensor. As shown in <FIG>, the sensor <NUM> is operatively coupled to the controller <NUM> and configured to send a signal to the controller <NUM> indicative of the measured frequency. Based on stored relationships between frequencies and corresponding volumes of product in the one or more tanks of the product storage system <NUM>, the controller <NUM> is configured to determined the volume of product in the product storage system <NUM> based on the measured frequency.

Based on the volume determinations described above, the controller <NUM> is configured to determine the weight of the product in the one or more tanks. For example the controller <NUM> receives an indication of the type of product(s) via the user interface <NUM>, and is configured to determine the weight of a predetermined volume of each product based on stored relationships in the memory. For example, the controller <NUM> may multiply the weight of the predetermined volume of product by the volume of product in the tank to determine the weight of the product in the tank.

Referring still to <FIG>, control system <NUM> may further include a first actuator <NUM> having a first cylinder and a second actuator <NUM> having a second cylinder. The first actuator <NUM> and the second actuator <NUM> are shown in <FIG> and <FIG>. As shown in <FIG>, the controller <NUM> is operatively coupled to the first and second actuators <NUM>, <NUM> and configured to send signal to the actuators <NUM>, <NUM> causing their respective cylinders to extend or retract. In <FIG>, the first actuator <NUM> is shown as being positioned between and coupled to the center section <NUM> of the frame <NUM> and the first wing section <NUM> of the frame <NUM>. Likewise, the second actuator <NUM> is shown as being positioned between and coupled to the center section <NUM> of the frame <NUM> and the second wing section <NUM> of the frame <NUM>. In the illustrative embodiment, the actuators <NUM>, <NUM> span across the fore and aft extending axes <NUM>, <NUM>, respectively. As the cylinders extend and retract, more or less force may be applied to the respective wing sections <NUM>, <NUM> from the center section <NUM>.

In this disclosure, the control system <NUM> may be used in control methods <NUM>, <NUM>, <NUM>, and <NUM>, which are described as methods for controlling weight distribution across the frame <NUM> based on a measured volume of products that are stored in the product storage system <NUM>. This disclosure is most applicable to embodiments in which at least a portion of product weight is supported by the frame <NUM>, and in particular by the center section <NUM> of the frame <NUM>. After the weight of the product is known, the product weight (e.g., a percentage of the product weight) may be redistributed according to the step-by-step processes described herein.

Regarding control method <NUM>, it has been discovered that, at times, it is advantageous to proportionally distribute the product weight between the center section <NUM> and each wing section <NUM>, <NUM> of the frame <NUM> such that the center section <NUM> retains approximately <NUM>% of the product weight and each wing section <NUM>, <NUM> receives approximately <NUM>% of the product weight. Control method <NUM> is shown in <FIG>. As shown in step <NUM>, the controller <NUM> determines the product weight. As shown in step <NUM>, based on the product weight, the controller <NUM> sends a signal to each actuator <NUM>, <NUM> to adjust the respective cylinders (by a change in distance and/or change in pressure) sufficient to cause approximately <NUM>% of the product weight to be transferred to each wing section <NUM>, <NUM>. As shown in step <NUM>, the weight and/or volume-determining step and the actuator-adjustment steps of this process are repeated throughout an operation of the agricultural machine <NUM>. As such, the weight of the product remains proportionally distributed between the center section <NUM> and each wing section <NUM>, <NUM> of the frame <NUM> during the planting, fertilizing, or other operation of the agricultural machine <NUM>.

Regarding control method <NUM>, it has been discovered that, at times, it is advantageous to diverge from a proportional distribution of product weight across the frame <NUM>. For example, in laterally uneven terrain, the row units <NUM> of one or both wing sections <NUM>, <NUM> may not maintain sufficient contact with the ground, which causes reduce planting efficacy. This problem may be referred to as "floating the wings," and it may result from having insufficient downforce at the row units <NUM> that are coupled to the wing sections <NUM>, <NUM>.

Achieving the correct downforce of the row units <NUM> is important because it allows seed to be planted at the proper depth. Downforce margin is calculated as the inherent weight of a row unit <NUM>, plus the downward force applied by the row unit <NUM>, minus the soil penetration resistance. The downward force applied by the row unit <NUM> itself may be measured in terms of pressure applied by a cylinder of the row unit <NUM>. The row unit <NUM> may apply downforce with various different structures depending on the embodiment. For example, in some embodiments, the row unit <NUM> includes a pneumatic system, and in other embodiments, the row unit <NUM> includes a hydraulic system, such as an Individual Row Hydraulic Downforce system (IRHD), which is a hydraulic actuator configured to force the row unit <NUM> downward toward the soil. The structures mentioned above apply downward force (via cylinder pressure) to allow the opening disc <NUM> to reach and maintain a targeted planting depth. In some embodiments, the control system <NUM> includes a row unit applied pressure sensor <NUM> configured to measure the pressure applied by the row unit <NUM>. As shown in <FIG>, the row unit applied pressure sensor <NUM> is an example of an operational characteristic sensor, which measures or detects a characteristic associated with a ground engaging tool of the agricultural machine, such as a row unit <NUM>, <NUM> or a wheel assembly <NUM>, <NUM>. In some embodiments, the row unit applied pressure sensor <NUM> may be coupled to or positioned on a cylinder of the pneumatic or hydraulic cylinder to determine the pressure therein. In any event, the row unit applied pressure sensor <NUM> is operatively coupled to the controller <NUM> and configured to send a signal to the controller <NUM> indicative of the pressure in the cylinder of the row unit <NUM>, which corresponds to the downward force applied by the row unit <NUM>, on its own. While, in some instances, the weight of the row unit <NUM> and the applied downward force from the row unit <NUM> may be sufficient to allow the opener <NUM> to reach a desired planting depth, in other instances, additional downward force above and beyond that may be required to maintain required planting depth while account for changing field conditions. After the available product weight is determined (e.g., via the control system <NUM>), a portion of the product weight can be transferred to the wing sections <NUM>, <NUM> to provide additional downward force for the row units <NUM> as needed.

Thus, as described by control method <NUM> in <FIG>, to solve the floating wings problem, at least three things are required: (i) automatic identification of the floating wings during operation of the agricultural machine, (ii) automatic determination of the amount of product weight available to be transferred from the center section <NUM> of the frame <NUM> to each wing section <NUM>, <NUM> of the frame <NUM>, and (iii) automatic transfer of weight from the center section <NUM> of the frame <NUM> to each wing section <NUM>, <NUM> of the frame <NUM> in response to identification of the problem.

Regarding the control method <NUM> shown in <FIG>, at step <NUM>, the controller <NUM> is configured to determine the desired downforce at the row unit <NUM>. In some embodiments, the desired downforce value may be received by the controller <NUM> from the user interface <NUM> as input from the user. At step <NUM>, the gauge wheel sensor <NUM> is configured to measure the downforce (i.e., pressure) of the row unit <NUM> and send a signal to the controller indicative of the same. At a step <NUM>, the controller <NUM> is configured to compare the measured downforce received via the gauge wheel sensor <NUM> to desired the downforce for the row units <NUM> of each of the wing sections <NUM>, <NUM>. As shown at step <NUM>, the row unit applied pressure sensor <NUM> is configured measure the pressure the cylinder of the row unit <NUM>, which is received by the controller <NUM>. At step <NUM>, the controller <NUM> compares the received pressure measurement to values stored in the memory to determined whether the received pressure measurement is equal to a predetermined maximum pressure value for the cylinder. As shown at step <NUM>, if the controller <NUM> determines that the cylinder of the row unit <NUM> is at a maximum pressure (i.e., maximum row unit downforce) and determines that the measured downforce via the gauge wheel sensor <NUM> is less than the desired downforce (step <NUM>), then in response, the controller <NUM> sends a signal to the actuator <NUM>, <NUM> corresponding to the floating wing section <NUM>, <NUM> to cause the actuator <NUM>, <NUM> to extend or retract, which shifts weight from the center section <NUM> of the frame <NUM> to the desired wing section <NUM>, <NUM>. It should be appreciated that, prior to transferring weight to a wing section <NUM>, <NUM>, at a step <NUM>, the controller <NUM> determines the weight of the product in the product storage system <NUM>. Thus, the amount of weight available to be transferred is determined prior to distributing a percentage of the weight to the floating wing section <NUM>, <NUM>. It should also be appreciated that, as shown in <FIG>, the gauge wheel sensor <NUM> is another example of an operational characteristic sensor.

Referring now to <FIG>, a control method <NUM> is shown. As suggested by the control method <NUM>, at times, it may be advantageous to balance the force applied at each wheel assembly <NUM>, <NUM>. Accordingly, at step <NUM> the force or pressure at each wheel assembly <NUM>, <NUM> may be measured. At step <NUM>, the measured characteristic of the wheel assembly <NUM> may be compared to the measured characteristic of the wheel assemblies <NUM>. At step <NUM>, product weight be may be transferred to the wing sections <NUM>, <NUM> or to the center section <NUM> of the frame <NUM> based on the result of the comparison and based on the determined weight of product in the product storage system <NUM>.

Specifically, each wheel assembly <NUM>, <NUM> includes one or more wheel assembly sensors <NUM>, which are operatively coupled to the controller <NUM> and configured to send a signal thereto indicative of the force applied at the wheel assembly <NUM>, <NUM>. As shown in <FIG>, the wheel assembly sensor <NUM> is another example of an operational characteristic sensor. In the illustrative embodiment shown in <FIG>, the wheel assembly sensor <NUM> is illustrated as a tire pressure sensor configured to measure a pressure of the tire <NUM> and configured to send a signal to the controller <NUM> indicative of the same. In other embodiments, the wheel assembly sensor <NUM> may be an actuation sensor configured to measure a pressure or extension distance of the cylinder <NUM>. In such an embodiment, the actuation sensor is operatively coupled to the controller <NUM> and configured to send a signal to the controller <NUM> indicative of the measured pressure or extension distance of the cylinder <NUM>. In any event, as suggested by steps <NUM>, <NUM>, the one or more wheel assembly sensors <NUM> are configured to measure a characteristic (e.g., tire or cylinder pressure) corresponding to the downward force applied at the wheel assemblies <NUM>, <NUM>. As shown in step <NUM>, the controller <NUM> is configured to compare the measured pressure at wheel assemblies <NUM> to the measured pressure at wheel assemblies <NUM>. At step <NUM>, based on the determined pressure at each wheel assembly <NUM>, <NUM>, the controller <NUM> is configured to send signals to the actuators <NUM>, <NUM> to adjust the weight distributed to the wing sections <NUM>, <NUM> to balance the pressures of the wheel assemblies <NUM>, <NUM>. It should be appreciated that at step <NUM>, prior to transferring weight to a wing section <NUM>, <NUM>, the controller <NUM> determines the weight of the product in the product storage system <NUM>. Thus, the amount of weight available to be transferred is determined prior to distributing a percentage of the weight to wing sections <NUM>, <NUM> to balance the pressure at each wheel assembly <NUM>, <NUM>.

Referring control method <NUM>, at times, it may be advantageous to balance the soil compaction at various portions of the frame <NUM>. For example, each wheel assembly <NUM>, <NUM> may include one or more cameras <NUM> arranged to capture images of the soil compaction of each wheel. These cameras may be referred to as compaction cameras or sensors <NUM>. As shown in <FIG>, the compaction cameras <NUM> are another example of operational characteristic sensors. Specifically, a first camera may be arranged to capture images of the soil compacted by the wheels at the wing assemblies <NUM> and additional cameras may be arranged to capture images of the soil compacted by the wheels <NUM> at the wheel assemblies <NUM>. Each camera is operatively coupled to the controller <NUM> and configured to send images to the controller <NUM> of the compacted soil. The controller <NUM> may compare the degree of compaction based on images received from the first camera to the degree of compaction based on images received from the additional cameras. Based on the comparison, the controller <NUM> is configured to send signals to the actuators <NUM>, <NUM> to adjust the weight distributed to the wing sections <NUM>, <NUM> to balance the compaction of each wheel. It should be appreciated, for example, at step <NUM>, that prior to transferring weight to a wing section <NUM>, <NUM>, the controller <NUM> determines the weight of the product in the product storage system <NUM>. Thus, the amount of weight available to be transferred is determined prior to distributing a percentage of the weight to wing sections <NUM>, <NUM> to balance the degree of compaction from the wheels of each section of the frame <NUM>.

In some embodiments, the cameras <NUM> are operatively coupled to a learning module <NUM>, which is operatively coupled to the controller <NUM>. The learning module <NUM> includes a collection of software, which in some embodiments, is arranged in the cloud. The learning module <NUM> is configured to determine the degree of compaction based on images received from the one or more cameras <NUM>. The learning module <NUM> may comprise and may be used to execute, for example, the following algorithm (i.e., step-by-step procedure) to perform the function of determining the degree of soil compaction: (i) receive images from the one or more cameras <NUM>, (ii) compare the images received the from the one or more cameras <NUM> to images received at a prior time, (iii) identify the degree of compaction associated with the images received at a prior time (e.g., based on stored relationships between the images received at a prior time and soil compaction), (iv) receive input regarding field characteristics (e.g., soil type), (v) send a signal to controller <NUM> indicative of the degree of compaction based on the one or more images received at the prior time and the current soil type. As a result, based on input from the cameras <NUM> and input from the learning module <NUM>, the controller <NUM> is configured to determine the degree of soil compaction for the wheels associated with each section of the frame <NUM>, respectively.

In some embodiments, the cameras <NUM> may be replaced by or used in combination with one or more other sensors <NUM> configured to measure the degree of soil compaction. The one or more other sensors <NUM> may be for example an ultrasonic sensor or a LIDAR sensor. Each of the more or more other sensors <NUM> are operatively coupled to the controller <NUM> and configured to send a signal to the controller <NUM> associated with a degree of soil compaction. Referring still to <FIG>, in some embodiments, the one or more cameras <NUM> and/or the one or more other sensors <NUM> may include a first set of cameras and/or other sensors and a second set of cameras and/or other sensors. As suggested by step <NUM>, the first of set of cameras and/or other sensors are arranged to capture images of the soil prior to compaction by the wheels <NUM> of each wing section <NUM>, <NUM> of the frame <NUM>. As suggested by step <NUM>, the second set of cameras and/or other sensors are arranged to capture images of the soil subsequent to compaction by the wheels <NUM>. Based on the images received from the cameras and/or other sensors, the controller <NUM> is configured to determine the change in compaction of the soil based on compaction by the wheels <NUM> of the wing sections <NUM>, <NUM>. Additionally, at steps <NUM>, <NUM>, the cameras and/or other sensors measure the soil at the wheel assembly <NUM> of the center section <NUM> before and after the wheels compact the soil. Based on the images received from the cameras and/or other sensors, the controller <NUM> is configured to determine the change in compaction of the soil based on compaction by the wheels of the center section <NUM>. At step <NUM>, the controller <NUM> is configured to compare the change in compaction at the center section <NUM> of the frame <NUM> to the change in compaction at the wing sections <NUM>, <NUM> of the frame <NUM>. Based on the comparison, the controller <NUM> is configured to send signals to the actuators <NUM>, <NUM> to adjust the weight distributed to the wing sections <NUM>, <NUM> to balance the compaction. It should be appreciated that, at step <NUM>, prior to transferring weight to a wing section <NUM>, <NUM>, the controller <NUM> determines the weight of the product in the product storage system <NUM>. Thus, the amount of weight available to be transferred is determined prior to distributing a percentage of the weight to wing sections <NUM>, <NUM> to balance the soil compaction of the wheels of each section of the frame <NUM>.

An approximated value, as the term is used herein, describes a range of values immediately surrounding a specified value, and more particularly describes the specified value plus or minus an error constant sufficient to adjust for delay in process steps described herein and/or variation from the specified value as a result of normal ware and tear on the agricultural machine <NUM>.

Claim 1:
Agricultural machine (<NUM>) comprising:
a frame (<NUM>) including: a center section (<NUM>), a first wing section (<NUM>) coupled to the center section (<NUM>), and a second wing section (<NUM>) coupled to the center section (<NUM>) and positioned opposite the first wing section (<NUM>);
a product storage system (<NUM>) supported by the center section (<NUM>) and including one or more tanks (<NUM>, <NUM>, <NUM>) configured to store product usable in an operation of the agricultural machine (<NUM>);
a first actuator (<NUM>) coupled to the center section (<NUM>) and to the first wing section (<NUM>);
a second actuator (<NUM>) coupled to the center section (<NUM>) and to the second wing section (<NUM>); and
at least one sensor (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>) configured to measure or detect a characteristic associated with the product stored in the product storage system (<NUM>);
a controller (<NUM>) operatively coupled to the first actuator (<NUM>), the second actuator (<NUM>), and the at least one sensor (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>);
wherein the controller is configured to determine the volume of product in the product storage system (<NUM>) based on at least one measured or detected characteristic associated with the product and received from the at least one sensor (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>); and
wherein the controller is configured to adjust at least one of the first actuator (<NUM>) and the second actuator (<NUM>) to redistribute weight across the frame (<NUM>) based on the determined volume of product in the product storage system (<NUM>), characterized in that the at least one sensor (<NUM>) is configured to measure the vibration frequency of the one or more tanks (<NUM>, <NUM>, <NUM>) of the product storage system (<NUM>);
wherein the controller determines the volume of product in the product storage system (<NUM>) based on the measured vibration frequency of the one or more tanks (<NUM>, <NUM>, <NUM>) of the product storage system (<NUM>).