Patent Description:
There are a wide variety of different types of agricultural machines including row planters, disks, ripper shanks, plows, blades, cultivators, harrows, and drills. These types of equipment often have many different mechanisms that can be controlled, at least to some extent, by an operator. Some of these mechanisms include mechanisms that are mechanical, electrical, hydraulic, and electrochemical, among others.

An example of such agricultural machine is disclosed in <CIT>, wherein an agricultural implement includes a row unit frame coupled to a draw bar by a height-adjustable mount, a set of opening discs coupled to the row unit frame such that the opening discs are vertically fixed relative to the row unit frame, and a biasing member configured to adjust a height of the row unit frame to maintain the opening discs in soil at a selected elevation relative to the draw bar. A method of planting may include determining a height of a draw bar relative to a surface of soil, and adjusting a height of the row unit frame relative to the draw bar to apply a force to push a seed trench opening assembly into the soil and form a trench therein. The height of the row unit frame relative to the draw bar may be independent of the hardness of the soil.

Another such agricultural machine is known from <CIT>, wherein an agricultural planter includes systems, methods, and apparatus for providing down force pressure at row units of the planter. The row units may include an electric linear actuator connected to linkages of the row units to provide and maintain a down force pressure for the row unit. The linkage may also be removed and replaced with a strut or like mechanism to apply a direct down force pressure to components of the row unit. One or more sensors can be included to obtain information related to the ground to automatically adjust the amount of down force provided based upon a ground characteristic in order to maintain a substantially uniform furrow depth.

Yet another agricultural machine is disclosed in <CIT>, wherein 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.

Further, <CIT> shows a row unit for the supply of granular material to the ground, comprising seed openers, which have a seed furrow opening arm, and a seed furrow opening disc, which is rotatable attached to a distal part of the seed furrow opening arm. The row unit has a driving arrangement that is operationally connected to the disk and is designed to turn the disk.

The mentioned machines include tools that engage the soil. When using these types of machines, it is often desirable to control the operating depth of engagement of the tools with the soil. Furthermore, it is often desirable to maintain an operating depth consistently while an agricultural machine travels across a worksite. If an operating depth is to be modified, it can also be important to ensure the depth is modified accurately and efficiently as the agricultural machine travels across the worksite.

However, as the agricultural machine travels across the worksite, a desired operating depth can depend on various conditions of the worksite surface. Such conditions can include, but are not limited to, soil composition, soil compaction, soil moisture level, and various other conditions. Based on the conditions, the operating depth, for any particular tool, may need to change in different areas of the worksite. However, accurately controlling operating depth, efficiently, can be problematic because of the varying conditions of the worksite. Additionally, these types of machines often operate in relatively rugged physical terrain. They can operate on relatively steep grades, where the surface is uneven or has obstacles, or on terrain with varying levels of ground conditions.

An agricultural machine includes a frame and a set of frame supporting elements supporting the frame. A set of row units is mounted to the frame and movable relative to the wheels to change a depth of engagement of the row units with the ground over which the agricultural machine travels. At least one actuator drives movement of the set of row units relative to the frame. A ground sensor is operably coupled to the agricultural machine and configured to provide a ground distance signal. Row unit height adjustment logic is configured to receive the ground distance signal and provide a control output to the at least one actuator to generate a height value of the row units relative to ground. The agricultural machine might be a planter and the row units include a plurality of opener discs. The agricultural machine may include a rockshaft pivotally coupled to the frame and a plurality of row units operably coupled to the rockshaft. The ground sensor might be operably mounted to the rockshaft. The ground sensor might be selected from the group consisting of an ultrasonic sensor, a lidar sensor, and a radar sensor. The ground sensor may include a position sensor configured to measure an angle of a mechanism that varies with distance to ground. The ground sensor may include a gauge wheel operably mounted to a row unit, the gauge wheel having angle that varies with distance to ground, and wherein the ground distance signal is received from a position sensor coupled to the gauge wheel. The ground sensor may include a plurality of gauge wheels, one leading and one trailing, and wherein the ground distance signal is based on the plurality of gauge wheels being out of plane. The ground sensor might be an indirect sensor. The ground sensor includes a pressure sensor operably coupled to an individual row hydraulic downforce cylinder. The ground sensor may include a sensor mounted to a draft tube in front of a main-frame. The ground sensor might be configured to detect relative motion between a towing machine and the agricultural machine. The relative motion may include at least one of pitch, yaw, and roll. The ground sensor might be a gyroscope mounted to the towing machine. Another example includes, a method of providing predictive implement height control for a planter having a set of ground row units movable mounted to a rockshaft and movable to change a depth of engagement of the row units with the ground over which the planter travels. The method includes obtaining at least one ground-based measurement, calculating a row unit height adjustment, and providing a control output based on the row unit height adjustment. The at least one ground-based measurement might be obtained from a direct sensor. The at least one ground-based sensor might be obtained from an indirect sensor. Te control output might be provided to a rockshaft cylinder. The control output might be provided to an individual row hydraulic downforce actuator.

A further example is a planter that includes a frame, a set of wheels supporting the frame, and a rockshaft coupled to the frame. A plurality of row units is movably coupled to the rockshaft, each row unit having a set of opener discs, each row unit also having an individual row unit downforce actuator. A rockshaft actuator controls a position of the rockshaft relative to the frame. A ground sensor is operably coupled to the planter and configured to provide a ground distance signal. Row unit height adjustment logic is coupled to the ground sensor and is configured to receive the ground distance signal and provide a control output to the at least one of the rockshaft actuator and an individual row unit downforce actuator to provide closed loop height control of each row unit relative to ground.

<FIG> is a top view of one example of an agricultural planting machine <NUM>. Machine <NUM> is a row crop planting machine that illustratively includes a toolbar <NUM> that is part of a frame <NUM>. <FIG> also shows that a plurality of planting row units <NUM> are mounted to the toolbar <NUM>. Machine <NUM> can be towed behind another machine, such as a tractor.

<FIG> is a side view showing one example of a row unit <NUM>. Row unit <NUM> illustratively includes a chemical tank <NUM> and a seed storage tank <NUM>. It also illustratively includes a disc opener <NUM>, a set of gauge wheels <NUM>, and a set of closing wheels <NUM>. Seeds from tank <NUM> are fed by gravity into a seed meter <NUM>. The seed meter controls the rate at which seeds are dropped into a seed tube <NUM> or other seed delivery system, such as a brush belt, from seed storage tank <NUM>. The seeds can be sensed by a seed sensor <NUM>.

It will be noted that there are different types of seed meters, and the one that is shown is shown for the sake of example only. For instance, in one example, each row unit <NUM> need not have its own seed meter. Instead, metering or other singulation or seed dividing techniques can be performed at a central location, for groups of row units <NUM>. The metering systems can include rotatable discs, rotatable concave or bowl-shaped devices, among others. The seed delivery system can be a gravity drop system (such as that shown in <FIG>) in which seeds are dropped through the seed tube <NUM> and fall (via gravitational force) through the seed tube into the seed trench. Other types of seed delivery systems are assistive systems, in that they do not simply rely on gravity to move the seed from the metering system into the ground. Instead, such systems actively capture the seeds from the seed meter and physically move the seeds from the meter to a lower opening, where they exit into the ground or trench. A downforce actuator <NUM> is mounted on a coupling assembly <NUM> that couples row unit <NUM> to toolbar <NUM>. Actuator <NUM> can be a hydraulic actuator, a pneumatic actuator, a spring-based mechanical actuator or a wide variety of other actuators. In the example shown in <FIG>, a rod <NUM> is coupled to a parallel linkage <NUM> and is used to exert an additional downforce (in the direction indicated by arrow <NUM>) on row unit <NUM>. The total downforce (which includes the force indicated by arrow <NUM> exerted by actuator <NUM>, plus the force due to gravity acting on row unit <NUM>, and indicated by arrow <NUM>) is offset by upwardly directed forces acting on closing wheels <NUM> (from ground <NUM> and indicated by arrow <NUM>) and double disc opener <NUM> (again from ground <NUM> and indicated by arrow <NUM>). The remaining force (the sum of the force vectors indicated by arrows <NUM> and <NUM>, minus the force indicated by arrows <NUM> and <NUM>) and the force on any other ground engaging component on the row unit (not shown), is the differential force indicated by arrow <NUM>. The differential force may also be referred to herein as the downforce margin. The force indicated by arrow <NUM> acts on the gauge wheels <NUM>. This load can be sensed by a gauge wheel load sensor which may be located anywhere on row unit <NUM> where it can sense that load. It can also be placed where it may not sense the load directly, but a characteristic indicative of that load. Both sensing the load directly or indirectly are contemplated herein and will be referred to as sensing a force characteristic indicative of that load (or force). For example, it can be disposed near a set of gauge wheel control arms (or gauge wheel arm) <NUM> that movably mount gauge wheels <NUM> to shank <NUM> and control an offset between gauge wheels <NUM> and the discs in double disc opener <NUM>, to control planting depth. Arms (or gauge wheel arms) <NUM> illustratively abut against a mechanical stop (or arm contact member-or wedge) <NUM>. The position of mechanical stop <NUM> relative to shank <NUM> can be set by a planting depth actuator assembly <NUM>. Control arms <NUM> illustratively pivot around pivot point <NUM> so that, as planting depth actuator assembly <NUM> actuates to change the position of mechanical stop <NUM>, the relative position of gauge wheels <NUM>, relative to the double disc opener <NUM>, changes, to change the depth at which seeds are planted. This is described in greater detail below.

In operation, row unit <NUM> travels generally in the direction indicated by arrow <NUM>. The double disc opener <NUM> opens a furrow in the soil <NUM>, and the depth of the furrow <NUM> is set by planting depth actuator assembly <NUM>, which, itself, controls the offset between the lowest parts of gauge wheels <NUM> and disc opener <NUM>. Seeds are dropped through seed tube <NUM>, into the furrow <NUM> and closing wheels <NUM> close the soil.

In accordance with one example, actuator assembly <NUM> can be automatically actuated by a control system, from the operator compartment of the towing vehicle. It can be actuated based on an operator input detected through that control system, or it can be automatically actuated to automatically change the planting depth as row unit <NUM> is towed across the field. In one example, and as is described in greater detail below, it can be actuated to maintain a desired trench contour or trench profile so that the depth of the seed trench varies, in a desired way. <FIG> shows one example of the planting depth actuator assembly <NUM>, in more detail. Planting depth actuator assembly <NUM> illustratively includes an actuator <NUM> that drives rotation of a linkage that, itself, drives movement of mechanical stop <NUM>. In one example, the linkage can include a drive mechanism <NUM> which can be coupled to output of action <NUM>. Drive mechanism <NUM>, in turn, drives movement of a mechanical stop or wedge <NUM>, as is described in more detail below. Because <FIG> is a side view, only one opening disc <NUM>, gauge wheel <NUM>, closing disc <NUM> and gauge wheel arm <NUM> are shown. It will be appreciated, however, that each of these can have another member to form a pair. This is one example only. Similar items to those shown in <FIG> are similarly numbered.

<FIG> shows opener disc <NUM> is rotatably mounted to shank <NUM> at point <NUM>. Opener discs <NUM> are pulled through the soil in the direction indicated by arrow <NUM> and they open a trench or furrow <NUM> in the soil. The seeds are placed into trench (or furrow)<NUM>. The trench is defined by a bottom soil portion <NUM>, trench sidewalls (one of which is shown at <NUM>) and the soil surface <NUM>. The vertical distance between the soil surface <NUM> and the trench bottom <NUM> is defined as the planting depth. To obtain a desired planting depth, the pair of gauge wheels <NUM> are forced into contact with, and follow, the soil surface <NUM>. A downforce system (such as downforce actuator <NUM> and parallel linage <NUM> shown in <FIG>) is used to apply a downforce on row unit <NUM> to ensure full penetration of the opener discs resulting in ground contact between the gauge wheels <NUM> and the soil surface <NUM> with the gauge wheels arm <NUM> engaging the stop <NUM>.

Gauge wheels <NUM> are movably connected to the row unit shank <NUM> by a set of gauge wheel arms <NUM>. The gauge wheels <NUM> are each connected to an arm <NUM> by a rotary joint <NUM>. Similarly, each arm <NUM> is connected to shank <NUM> by rotary joint <NUM>, so that they are pivotable about a pivot point <NUM>. As the arms <NUM> pivot about pivot point <NUM>, they move upwardly and downwardly in <FIG> to increase or decrease, respectively, the distance between the bottom most points of opening discs <NUM> and gauge wheels <NUM>, and thus change the planting depth (the depth of a furrow <NUM>).

In the example shown in <FIG>, the mechanical stop <NUM> is formed by a wedge that is located between the gauge wheel arm <NUM> and a further mechanical stop <NUM> that may be defined by a portion of the row unit shank <NUM>. The position of the wedge is illustratively changed along a longitudinal axis <NUM> of a drive mechanism <NUM>. As the position of the wedge <NUM> is changed along axis <NUM>, it changes the position of the upper limit of rotation of gauge wheel arm <NUM> about pivot point <NUM>. Thus, when the gauge wheel <NUM> is forced into contact with the ground, wedge <NUM> defines the position of gauge wheels <NUM> relative to the row unit shank <NUM> and relative to opening discs <NUM>, thus defining planting depth.

In one example, drive mechanism <NUM> is a lead screw that is mounted inside the row unit shank <NUM> using a set of bearings <NUM> and <NUM>. The lead screw illustratively has a threaded exterior surface <NUM> that interacts with a threaded interior surface <NUM> of a carriage <NUM> that carries wedge <NUM> so that, as lead screw <NUM> rotates within bearings <NUM> and <NUM>, it drives movement of wedge <NUM> along longitudinal axis <NUM> in a direction that is determined by the direction of rotation of lead screw <NUM>. Changing the position of wedge <NUM> along axis <NUM> thus changes the angle between the longitudinal axis <NUM> of lead screw <NUM> and the elongate axis of gauge wheel arms <NUM>.

In one example, actuator <NUM> drives rotation of lead screw <NUM> at a controllable speed and in a controllable direction. Actuator <NUM> may illustratively be an electric motor with a locking member (such as a self-locking worm drive) mounted between the electric motor and lead screw <NUM>. This can serve to increase the torque available to turn lead screw <NUM>. The self-locking characteristic of the worm drive allows the worm drive to hold the set depth while downforce is acting on gauge wheels <NUM>, without torque being applied to the electric motor or other actuator <NUM>. This also illustratively allows the position of wedge <NUM> to be changed while downforce is acting on the gauge wheel <NUM> and allows the actuator <NUM> to overcome frictional forces between wedge <NUM> and gauge wheel arms <NUM>, as well as those forces between wedge <NUM> and mechanical stop <NUM>, and further frictional forces between the interior threaded surface <NUM> of carriage <NUM> and the exterior threaded surface <NUM> of lead screw <NUM>. A different gear ratio may be used, depending upon the force available from actuator <NUM>. In one example, the gear ratio may be <NUM>:<NUM>, although this is just one example. There are a wide variety of different types of agricultural machines used in the agricultural industry. Some of these machines can include tillage machines which include a wide variety of different ground-engaging tools that can be moved to a desired operating depth within the soil. These ground-engaging tools can include, but are not limited to, disks, ripper shanks, plows, blades, cultivators, harrows, and drills.

As mentioned above, when using these types of machines, it is often desirable to control the operating depth of engagement with the soil. Furthermore, it is often desirable to maintain an operating depth consistently while an agricultural machine travels across a worksite. If an operating depth is to be modified, it can also be important to ensure the depth is modified accurately and efficiently as the agricultural machine travels across the worksite. However, as the agricultural machine travels across the worksite, a desired operating depth can depend on various conditions of the worksite surface.

To determine and control the depth of ground-engaging tools, some current systems use sensors such as Hall Effect sensors, or other types of sensors. In these systems, the sensors sense the position of a main frame of the mobile agricultural machine, relative to the wheels of the mobile agricultural machine. This is used to set the depth of engagement of the tools. However, these types of sensor systems do not always provide an accurate indication of the depth of engagement of the ground-engaging tools with the soil. Because these sensors sense the position of a frame relative to the wheels, the accuracy of such sensors is dependent upon the position of the wheels remaining reflective of true worksite surface height.

When an agricultural machine travels over a worksite that is, for example, soft, and a desired operating depth of <NUM> inches is set by the operator, the wheels may sink into the ground (e.g.an additional <NUM> inches). Thus, the sensor that senses the position of the main frame relative to the wheels will continue to sense an operating depth of <NUM> inches because it is only sensing the position of the main frame of the agricultural machine, relative to the wheels and does not account for the position of the wheels relative to the ground surface. In other words, even though the wheels have sunk into the worksite surface <NUM> inches, the position of the frame relative to the wheels remains the same because the offset between the wheels and the frame remains unchanged. In this example, however, the actual depth of engagement of the tools with the soil will be <NUM> inches instead of the desired <NUM> inches, because the wheels have sunk into the soil <NUM> inches.

Similarly, the wheels may encounter uneven ground or obstacles along the worksite surface. This may cause the wheels to ascend to a height that is not reflective of true worksite surface level, and thereby raise the operating depth of the ground-engaging tools without providing accurate feedback to the operator indicating such an ascension. Consistent, accurate, and efficient operating depth across a worksite surface may be desired in many agricultural operations, and these current systems can often lead to inconsistency.

To address these issues, sensors, such as radar, sensors, can be used to sense the worksite level relative to the frame and give feedback as to the distance of the frame above the worksite surface and thus more accurately determine and maintain operating depth of ground-engaging tools. However, these types of sensors can have trouble when the surface is uneven, such as when mobile agricultural machine encounters obstacles like debris, residue, rocks, root balls, stumps, etc. Obstacles on the worksite surface can give a false indication of the position of the true worksite surface, which in turn causes the machine to move the ground-engaging tools to, or maintain them at, an undesired operating depth. By way of example, a radar sensor may be mounted to the frame of the agricultural machine and be directed to sense a distance between the frame and the worksite surface. However, if the machine travels over a portion of a field where the ground surface is covered with several inches of residue, the radar sensor will measure from the top of the residue mat and thus give an inaccurate indication of the frame height above the actual surface of the ground.

<FIG> is a perspective view of a planter with which embodiments described herein are particularly useful. Row crop planting machine <NUM> bears some similarities to row crop planting machine <NUM> (shown in <FIG>) and like components are numbered similarly. While row crop planting machine <NUM> has <NUM> row units, row crop planting machine <NUM> has <NUM> row units <NUM>. A rockshaft <NUM> is mounted to frame <NUM>. The position of rockshaft <NUM> is controlled by one or more rockshaft cylinders <NUM>. Each of row units <NUM> is pivotally coupled to rockshaft <NUM> and an actuator such as hydraulic cylinder <NUM> controls the vertical force and/or position of each of the row units <NUM>. Row crop planting machine <NUM> includes seed tank <NUM> that provides seeds to each row unit <NUM>, which then plants each seed. A set of frame support elements (e.g. wheels or tracks) <NUM> is operably coupled to and supports frame <NUM>.

As set forth above, the depth of engagement of an agricultural implement, and a planter in particular, is a very important quantity to control accurately during the agricultural operation. When traversing terrain with a planter, large changes in elevation, such as crossing terraces can cause the row units to lift out of the ground or be pushed up to their stops, exceeding the current limits of row unit travel. In accordance with some embodiments described below, closed loop control of the rockshaft is provided to ensure that while planting across various terrain that the row units always have desirable contact with the ground. Predictive implement height control is provided for this closed loop control. As used herein, "predictive" height control means that the distance from the implement to the ground is predicted before the ground engaging portion arrives at a particular location, and then a control signal is generated to control the rockshaft (i.e., by controlling rockshaft cylinders <NUM> and/or individual row hydraulic downforce actuators <NUM>) to maintain the ground engaging portion at the correct depth of engagement. As set forth below, there are a number of ways in which the distance can be measured or otherwise determined.

<FIG> is a side view of a portion of a row unit having a predictive ground sensor and row unit height adjustment mechanism in accordance with one embodiment. In the example illustrated in <FIG>, row unit <NUM> includes a ground distance sensor <NUM> mounted to row unit <NUM> and arranged to sense a distance from row unit <NUM> to the ground. Sensor <NUM> can employ any suitable technology to generate a signal indicative of the distance. For example, sensor <NUM> can be an ultrasonic sensor, a lidar sensor, or a radar sensor. Sensor <NUM> is operably coupled to a processor or controller that uses the sensed distance to generate a control signal to hydraulic cylinder <NUM> to control the height of row unit <NUM>. While the embodiment shown in <FIG> provides a sensor mounted to row unit <NUM>, the sensor <NUM> can be mounted in any suitable location that can provide an indication of distance to ground. For example, the sensor may be mounted on a draft tube in front of the main-frame. Further, the sensor may be mounted to the towing vehicle to detect relative motion between the towing vehicle and the planter. Examples of such sensors include towing vehicle pitch, yaw, and roll sensors as well as a gyroscopic sensor mounted on the towing vehicle.

<FIG> is a side view of a portion of a row unit having a predictive ground sensor and row unit height adjustment mechanism in accordance with another embodiment. <FIG> illustrates a portion of row unit <NUM>. More specifically, row unit <NUM> includes a linkage mechanism <NUM> that includes a first pair of parallel arms <NUM>, <NUM> and a second pair of parallel arms <NUM>, <NUM>.

As the height of the row unit changes, the relative angle θ between the first pair of arms and the second pair of arms changes as well. This angle θ can be measured directly with a position sensor <NUM>, such as encoder, that is coupled to one of the first pair of arms and one of the second pair of arms. Position sensor <NUM> may be any suitable type of device that provides an indication of position, such as an encoder (including a rotary potentiometer, a linear potentiometer, a rotary magnetic encoder, a linear magnetic encoder, a rotary optical encoder, or a linear optical encoder). The encoder provides a measurement of θ, which is then used by a processor or controller to adjust rockshaft height to maintain optimum row unit angle.

<FIG> is a side view of a portion of a row unit having a predictive ground sensor and row unit height adjustment mechanism in accordance with another embodiment. In the illustrated example, gauge wheel <NUM>. Gauge wheel <NUM> is operably mounted to rockshaft <NUM> (shown in <FIG>) and is urged into contact with the terrain using a suitable bias member, such as a spring or hydraulic cylinder. The relationship between the ground and the rockshaft <NUM> is determined by measuring the position of gauge wheel <NUM>. The position can be determined in any suitable manner, such as using an encoder or position sensor described above. The signal from the encoder or position sensor is then provided to the processor or controller to adjust the position of rockshaft <NUM>. While the embodiment shown in <FIG> provides gauge wheel <NUM> mounted to rockshaft, embodiments can be practiced where the gauge wheel is located in other positions as long as the gauge wheel is able to detect distance to ground. For example, in some embodiments, gauge wheel <NUM> is mounted to the front of the bar. In still another embodiment, a pair of gauge wheels are used, one leading and one trailing, and a signal is from an encoder is provided indicative of the wheels being out of plane.

Referring back to <FIG>, if position control is not possible, then it may still be possible to provide closed loop rockshaft position control. In one example, an applied downforce F can be measured by determining the pressure within pressure cylinder <NUM> using pressure sensor <NUM>. Further, the gauge wheel reaction force may be determined by the weight of the row and the applied downforce via individual row hydraulic downforce (IRHD) pressure cylinder <NUM>. Draft is dependent on soil conditions, planting depth, and speed. An estimate of draft can be obtained using gauge wheel reactions, then a sum of the moments about rockshaft <NUM> can be calculated considering the number of row units on rockshaft <NUM> to determine the pressure in the rockshaft cylinder <NUM> to appropriately let the system float.

<FIG> is a perspective view of a portion of a row unit having a predictive ground sensor and row unit height adjustment mechanism in accordance with one embodiment. <FIG> illustrates an angle θ that represents the position of the rockshaft <NUM> relative to the rest of the frame. In accordance with various examples described above, closed loop control of this position is provided regardless of whether the position of the rockshaft relative to ground is measured directly (i.e., using a sensor that measures a distance from the rockshaft to the terrain) or indirectly (i.e., measuring a downforce-related pressure, such as pressure within an IRHD cylinder).

While embodiments described herein generally sense distance to ground prior to a ground-engaging element encountering the sensed location, it is expressly contemplated that accuracy of the system and efficiency of operation may be improved by using a topographical map in conjunction with a GPS sensor. This map information and GPS location can be provided as an additional sensor input to processor <NUM> (shown in <FIG>).

<FIG> is a system block diagram of an agricultural machine architecture <NUM> for automatically controlling planting depth. Architecture <NUM>, includes a planting machine, such as planter <NUM> (shown in <FIG>) which has a plurality of row units (such as row units <NUM> also shown in <FIG>) and it can have other items <NUM>. Each row unit <NUM> may have one or more sensors <NUM> or a gauge wheel <NUM> or other suitable ground measurement mechanism <NUM>. Row unit <NUM> is also shown with other mechanisms <NUM>. Mechanisms <NUM> illustratively include gauge wheels <NUM>, disc opener <NUM>, closing wheels <NUM>, and some or all of the other mechanisms shown in previous figures on row unit <NUM> or <NUM> or different mechanisms.

Row unit <NUM> can have a wide variety of other things <NUM> as well.

Also, as shown in <FIG>, each row unit <NUM> may have the downforce actuator <NUM> and a planting depth actuator assembly <NUM>. In some examples, downforce actuator <NUM> illustratively exerts additional downforce on row unit <NUM> to keep gauge wheels in contact with the ground, as discussed above. Also, in one example, downforce actuator <NUM> may also be an upforce actuator.

<FIG> also shows that, in one example, control system <NUM> can illustratively receive inputs from additional sensors <NUM>-<NUM>, and it can also interact with operator interface mechanisms <NUM>. Operator interface mechanisms <NUM> can include operator input mechanisms <NUM> that operator <NUM> can interact with in order to control and manipulate control system <NUM>, and some parts of planting machine <NUM>.

Therefore, in the example illustrated, control system <NUM> can include one or more processors <NUM>, a data store <NUM>, row unit height control logic <NUM>, operator interface logic <NUM>, and it can include a wide variety of other items <NUM>.

Operator interface mechanisms <NUM> can include a wide variety of mechanisms, such as a display screen or other visual output mechanisms, audio mechanisms, haptic mechanisms, levers, linkages, buttons, user actuatable display elements (such as icons, displayed links, buttons, etc.), foot pedals, joysticks, steering wheels, among a wide variety of others. Operator interface logic <NUM> illustratively controls outputs on the operator interface mechanisms <NUM> and can detect operator inputs through the operator input mechanisms <NUM>. It can communicate an indication of those inputs to other items in control system <NUM> or elsewhere.

Sensors <NUM>-<NUM> can also be a wide variety of different types of sensors that can be used by row unit height control logic <NUM>, or other items.

<FIG> shows that, in one example, architecture <NUM> includes a planting machine (such as planting machine <NUM> shown in the previous figures) and a control system <NUM>. Control system <NUM> can be carried by the towing machine that is towing planting machine <NUM>, it can be carried by planting machine <NUM>, or it can be distributed among the towing machine, planting machine <NUM> and a wide variety of other locations. In one example, control system <NUM> generates control signals to control the planting machine <NUM>, and as will be described in greater detail more specifically below, the planting depth that the row units on planting machine <NUM> are using to plant seeds. <FIG> also shows that, in one example, control system <NUM> can receive sensor signals from a plurality of different sensors <NUM> and <NUM>. It also shows that operator <NUM> (which may be the operator of the towing vehicle) can interact with control system <NUM> through operator interface mechanisms <NUM> which can include, for instance, operator input mechanisms <NUM>.

<FIG> is a flow diagram of a method of providing predictive implement height control for an agricultural implement in accordance with one embodiment. Method <NUM> begins at block <NUM> where one or more ground-based measurements are obtained. These ground-based measurements may be obtained for each row unit, or ground engaging element, of the agricultural machine, or for groups of row units/ground engaging elements. The ground-based measurements may be direct ground-based measurements, such as those obtained from one or more sensors that directly sense a distance to the ground relative to each row unit, as indicated at reference numeral <NUM>. Examples of direct measurements includes measurements obtained from ultrasonic sensors <NUM>, measurements obtained from encoders <NUM>, measurements obtained from radar sensors <NUM>, as well as measurements obtained from other types of sensors, <NUM>. Additionally, or alternatively, ground-based measurements can be obtained indirectly, as indicated at reference numeral <NUM>. Examples, of indirect ground-based measurements include measuring the pressure of fluid within a downforce actuator <NUM> or measuring another quantity that is related to the degree of ground engagements, as indicated at reference numeral <NUM>. An example, of such a measurement includes the measurement of coulter force.

Next, at block <NUM>, the one or more ground-based measurements are used to calculate row unit height adjustments. At block <NUM>, these height adjustments are used to generate control outputs to individual row unit downforce actuators <NUM> to ensure that the row units maintain correct height even as the agricultural implements encounters changing terrain.

The present discussion has mentioned processors and servers. In one example, the processors and servers include computer processors with associated memory and timing circuitry, not separately shown. They are functional parts of the systems or devices to which they belong and are activated by and facilitate the functionality of the other components or items in those systems.

<FIG> is a block diagram of mobile agricultural machine architecture <NUM> deployed in a remote server architecture. In an example, remote server architecture <NUM> can provide computation, software, data access, and storage services that do not require end-user knowledge of the physical location or configuration of the system that delivers the services. In various examples, remote servers can deliver the services over a wide area network, such as the internet, using appropriate protocols. For instance, remote servers can deliver applications over a wide area network, and they can be accessed through a web browser or any other computing component. Software or components shown in <FIG> as well as the corresponding data, can be stored on servers at a remote location. The computing resources in a remote server environment can be consolidated at a remote data center location or they can be dispersed. Remote server infrastructures can deliver services through shared data centers, even though they appear as a single point of access for the user. Thus, the components and functions described herein can be provided from a remote server at a remote location using a remote server architecture. Alternatively, they can be provided from a conventional server, or they can be installed on client devices directly, or in other ways.

<FIG> shows that row unit height control logic <NUM>, or remote systems <NUM>, among other things can be located at a remote server location in cloud <NUM>. Therefore, mobile agricultural machine architecture <NUM> accesses those systems through cloud <NUM>. <FIG> also shows that machine <NUM> can communicate with other remote systems <NUM> (such as a manager system, a supplier or vendor system, etc.) through cloud <NUM>.

<FIG> also depicts another example of a remote server architecture. By way of example, data store <NUM> can be disposed at a location separate from cloud <NUM> and accessed through the cloud <NUM>. Regardless of where they are located, they can be accessed directly by work machine <NUM>, through a network (either a wide area network or a local area network), they can be hosted at a remote site by a service, or they can be provided as a service, or accessed by a connection service that resides in a remote location. Also, the data can be stored in substantially any location and intermittently accessed by, or forwarded to, interested parties.

For instance, physical carriers can be used instead of, or in addition to, electromagnetic wave carriers. In such an example, where cell coverage is poor or nonexistent, another work machine (such as a fuel truck) can have an automated information collection system. As the work machine comes close to the fuel truck for fueling, the system automatically collects the information from the work machine using any type of ad-hoc wireless connection. The collected information can then be forwarded to the main network as the fuel truck reaches a location where there is cellular coverage (or other wireless coverage).

It will also be noted that the elements of <FIG> or portions of them, can be disposed on a wide variety of different devices. Some of those devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices, such as palm top computers, cell phones, smart phones, multimedia players, personal digital assistants, etc..

<FIG> is a simplified block diagram of one illustrative example of a handheld or mobile computing device that can be used as a user's or client's hand held device <NUM>, in which the present system (or parts of it) can be deployed. For instance, a mobile device can be deployed in the operator compartment of towing vehicle for use in generating, processing, or displaying height and depth determinations, recommendations, etc. <FIG> are examples of handheld or mobile devices.

<FIG> provides a general block diagram of the components of a client device <NUM> that can run some components shown in <FIG>, that interacts with them, or both. In the device <NUM>, a communications link <NUM> is provided that allows the handheld device to communicate with other computing devices and under some examples provides a channel for receiving information automatically, such as by scanning. Examples of communications link <NUM> include allowing communication though one or more communication protocols, such as wireless services used to provide cellular access to a network, as well as protocols that provide local wireless connections to networks.

Under other examples, applications can be received on a removable Secure Digital (SD) card that is connected to an interface <NUM>. Interface <NUM> and communication links <NUM> communicate with a processor <NUM> (which can also embody processor(s) from previous Figures) along a bus <NUM> that is also connected to memory <NUM> and input/output (I/O) components <NUM>, as well as clock <NUM> and location system <NUM>.

I/O components <NUM>, in one example, are provided to facilitate input and output operations. I/O components <NUM> for various examples of the device <NUM> can include input components such as buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors and output components such as a display device, a speaker, and or a printer port. Other I/O components <NUM> can be used as well.

Memory <NUM> stores operating system <NUM>, network settings <NUM>, applications <NUM>, application configuration settings <NUM>, data store <NUM>, communication drivers <NUM>, and communication configuration settings <NUM>. Memory <NUM> can include all types of tangible volatile and nonvolatile computer-readable memory devices. It can also include computer storage media (described below). Memory <NUM> stores computer readable instructions that, when executed by processor <NUM>, cause the processor to perform computer-implemented steps or functions according to the instructions. Processor <NUM> can be activated by other components to facilitate their functionality as well.

<FIG> shows one example of handheld or mobile computing device that can be used in the machines and architectures shown in the previous FIGS. In <FIG>, device <NUM> is a tablet computer. Tablet <NUM> is shown with user interface display screen <NUM>. Screen <NUM> can be a touch screen or a pen-enabled interface that receives inputs from a pen or stylus. It can also use an on-screen virtual keyboard. Of course, it might also be attached to a keyboard or other user input device through a suitable attachment mechanism, such as a wireless link or USB port, for instance. Tablet <NUM> can also illustratively receive voice inputs as well.

<FIG> shows one example of a handheld or mobile computing device that can be used in the machines and architectures shown in the previous FIGS. The device in <FIG> is a smart phone <NUM>.

<FIG> shows one example of a computing environment that can be used in the machines and architectures of the previous FIGS. With reference to <FIG>, an example system for implementing some examples includes a general-purpose computing device in the form of a computer <NUM>. Components of computer <NUM> can include, but are not limited to, a processing unit <NUM> (which can comprise processor(s) from previous FIGS. ), a system memory <NUM>, and a system bus <NUM> that couples various system components including the system memory to the processing unit <NUM>. The system bus <NUM> can be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. Memory and programs described with respect to previous FIGS. can be deployed in corresponding portions of <FIG>.

By way of example, and not limitation, computer readable media can comprise computer storage media and communication media. Communication media can embody computer readable instructions, data structures, program modules or other data in a transport mechanism and includes any information delivery media.

The computer <NUM> can also include other removable/non-removable volatile/nonvolatile computer storage media.

A user can enter commands and information into the computer <NUM> through input devices such as a keyboard <NUM>, a microphone <NUM>, and a pointing device <NUM>, such as a mouse, trackball or touch pad. Other input devices (not shown) can include a joystick, game pad, satellite dish, scanner, or the like. These and other input devices are often connected to the processing unit <NUM> through a user input interface <NUM> that is coupled to the system bus, but can be connected by other interface and bus structures. In addition to the monitor, computers can also include other peripheral output devices such as speakers <NUM> and printer <NUM>, which can be connected through an output peripheral interface <NUM>.

The computer <NUM> is operated in a networked environment using logical connections (such as a local area network - LAN, or wide area network-WAN, or a controller area network-CAN) to one or more sensors or remote computers, such as a remote computer <NUM>, or other components.

In a networked environment, program modules can be stored in a remote memory storage device.

Claim 1:
An agricultural machine (<NUM>), comprising:
a frame (<NUM>);
a set of frame support elements (<NUM>) supporting the frame (<NUM>);
a set of row units (<NUM>) mounted to the frame (<NUM>) and movable relative to the wheels to change a depth of engagement of the row units (<NUM>) with the ground over which the agricultural machine (<NUM>) travels;
at least one actuator (<NUM>) that drives movement of the set of row units (<NUM>) relative to the frame (<NUM>);
a ground sensor (<NUM>) operably coupled to the agricultural machine (<NUM>) and configured to provide a ground distance signal; and
row unit height control logic (<NUM>) that is configured to receive the ground distance signal and provide a control output to the at least one actuator (<NUM>) to generate a height value of the row units (<NUM>) relative to ground,
characterized in
further comprising a rockshaft (<NUM>) pivotally coupled to the frame (<NUM>) and the plurality of row units (<NUM>) operably coupled to the rockshaft (<NUM>), wherein the ground sensor (<NUM>) is operably mounted to the rockshaft (<NUM>).