Patent ID: 12250898

DETAILED DESCRIPTION

Referring to the drawings, wherein like reference numerals designate identical or corresponding parts throughout the several views,FIG.1illustrates an embodiment of an agricultural implement, e.g., a planter, comprising a toolbar8to which multiple row units10are mounted in transversely spaced relation. In the embodiment shown, each row unit10is mounted to the toolbar by a parallel arm arrangement16such that the row unit is permitted to translate vertically with respect to the toolbar. An actuator18is pivotally mounted to the toolbar8and the parallel arm arrangement16and is configured to apply supplemental downpressure to the row unit10.

The row unit10includes a frame14which supports an opening disc assembly60, a gauge wheel assembly50and a closing assembly40. The opening disc assembly60includes two angled opening discs62rollingly mounted to a downwardly extending shank15of the frame14. The opening discs62are disposed to open a v-shaped seed trench3in the soil surface7as the row unit advances forwardly through the field. The gauge wheel assembly50includes two gauge wheels52pivotally mounted to either side of the frame14by two gauge wheel arms54with the gauge wheels52disposed to roll along the soil surface7. A depth adjustment assembly90is pivotally mounted to the frame14at a pivot92. The depth adjustment assembly90engages with the gauge wheel arms54to limit the upward travel of the gauge wheel arms54, thus limiting the depth of the trench opened by the opening disc assembly60. The closing assembly40is pivotally coupled to the frame14and is configured to move soil back into the seed trench3.

Continuing to refer toFIG.1, seeds5are communicated from a hopper12to a seed meter30configured to singulate the supplied seeds. The seed meter30may be a vacuum-type meter such as that disclosed in International Publication No. WO2012/129442 or any other seed meter known in the art. In operation, the seed meter30dispenses singulated seeds into the seed tube32which communicates the singulated seeds downwardly and rearwardly before depositing the seeds into the seed trench3.

Turning toFIGS.2-6, the depth adjustment assembly90is illustrated in more detail. The depth adjustment assembly90includes a rocker95(FIGS.4-5) pivotally mounted to a depth adjustment body94. The depth adjustment body94is pivotally mounted to the row unit frame14about the pivot92. A handle98is preferably slidably received within the depth adjustment body94such that the user can selectively engage and disengage the handle with one of a plurality of depth adjustment slots97(FIG.6) formed within the row unit frame14. In operation, the upward travel of the gauge wheels52is limited by contact of the gauge wheel arms54with the rocker95. When one of the gauge wheels, e.g., left gauge wheel52-1, encounters an obstruction, the rocker95allows the left gauge wheel arm54-1to travel upward while lowering the right gauge wheel52-2by the same absolute displacement such that the row unit10rises by half the height of the obstruction.

Depth Sensing Implements

The various agricultural trench depth sensing implements100described below and illustrated herein utilize a seed firmer for simplicity of the description and because the seed firmer is already an existing implement that is placed in a seed trench. However, the agricultural trench depth sensing implement100, may utilize any tool or structure that is capable of being disposed in a soil trench opened in a soil surface for measuring depth of the soil trench. Additionally, although the agricultural trench depth sensing implements100are illustrated and described in connection with a seed trench formed by a planter row unit, the depth sensing implement100may be disposed in any trench opened in a soil surface by any implement, assembly or tool. Accordingly, the trench in which the depth sensing implement100is disposed may be referred to interchangeably as a soil trench or seed trench.

Ultrasonic Sensor Embodiments

In one embodiment of the agricultural trench depth sensing implement100shown inFIG.7A, a seed firmer99, similar to the seed firmer embodiments disclosed in U.S. Pat. No. 5,425,318, is provided with an ultrasonic target710disposed on the top side of a rigid portion of the seed firmer99. The rigid portion of the seed firmer is anyplace in which a point on top of the seed firmer remains relative to a point at the rearward or trailing end of the seed firmer. InFIG.7, for the seed firmer shown, the rigid portion is anywhere between A and B on seed firmer99. Seed firmer99may be mounted to row unit10as recognized by those of skill in the art.

In another embodiment of the depth sensing implement100shown inFIG.7B, seed firmer99is provided with an ultrasonic transmitter720mounted on the top side of a rigid portion of the seed firmer99. An ultrasonic target710may be mounted (such as by an arm711) to the row unit10and aimed at seed firmer99to receive an ultrasonic signal from the ultrasonic transmitter720. The purpose of providing an ultrasonic target710is for returning an ultrasonic signal to an ultrasonic transmitter or for receiving an ultrasonic signal.

The ultrasonic transmitter and the ultrasonic receiver may be combined as a transceiver. At least one ultrasonic sensor may be used in conjunction with seed firmer99.

The ultrasonic target710may have a unique shape to return a unique signal back to the ultrasonic sensor. Referring toFIG.8, one embodiment providing a unique shape is a stepped block810having three different step heights. With the ultrasonic target710comprising a stepped block810the signal generated and returned will initially be an area of high amplitude as the signal is first generated, then there will be a period of low amplitude before three areas of amplitude will be observed corresponding to each height on the step block810with a spacing between each block's return signal. The step block810provides a signature signal910that can be used for measuring depth.FIG.9is a representative illustration of the signature910of a return signal for ultrasonic sensor710having three different levels.

In another embodiment of the depth sensing implement100shown inFIG.7C, a depth sensing system is provided with a seed firmer99without an ultrasonic target710. In this embodiment, ultrasonic sensor1010measures the distance to the top of seed firmer99directly with the ultrasonic sensor1010mounted to row unit10(such as by an arm1011) and aimed at seed firmer99.

Referring toFIGS.10A-10C, which are top plan views of the embodiments ofFIGS.7A-7C, respectively, there can additionally be a pair of ultrasonic sensors (1020-1,1020-2) disposed on the row unit10with one aimed at soil surface7-1adjacent to one side of the soil trench3and the other aimed at soil surface7-2adjacent to the other side of the soil trench3. InFIG.10A, the ultrasonic target710is disposed on the top side of the seed firmer99and the transmitter/transceiver720disposed on the row unit10supported therefrom by arm711. InFIG.10B, the transmitter/transceiver720is disposed on the top side of the seed firmer99and the ultrasonic target710is disposed on the row unit10supported therefrom by arm711. InFIG.10C, the transceiver1010is disposed on the row unit10supported therefrom by arm1011without a target on the seed firmer99. By providing the pair of ultrasonic sensors1020-1,1020-2on each side of the soil trench3in conjunction with the ultrasonic sensor disposed on or over the seed firmer, three measurements are provided which may be used to determine depth of the soil trench3. The measurements from each side can be averaged or weighted to provide a single measurement for reference for the soil surface. This can be useful when there is debris as described below. The difference between the measurement for soil surfaces7-1and/or7-2to seed firmer99can be used to determine the depth of the soil trench3.

In any of the above embodiments of the depth sensing implement100, there is an expected range of distance between a transmitted ultrasonic signal and the object that is being targeted. There may debris, such as a rock, a clump of dirt, or a plant stalk, next to the soil trench3which will shorten the measured distance. In the case of a plant stalk, the plant stalk may lean over the soil trench3and come between the ultrasonic signal to or from seed firmer99. When a signal is received that translates to a distance outside of an expected range, the data for this measurement may be discarded to prevent an unrealistic measurement from being used.

It should be appreciated that gauge wheels52or wheels on closing assembly40may cause a divit near the sides of the soil trench3. When measuring the distance to the ground, this divit distance may be accounted for when mounting the sensors1020-1,1020-2on the row unit10.

In any of the embodiments above, a plurality of measurements for a given location may be taken and averaged. For example, three measurements for a given location may be taken and averaged.

FIG.11Ashows another embodiment of depth sensing implement100comprising a seed firmer99with a mounting arm1160mounted to the rigid portion of seed firmer99and capable of rising above the seed firmer99. The mounting arm1160supports a transverse portion1170perpendicular to seed firmer99and sized so that the outer ends of the transverse portion1170extend over adjacent sides of trench7-1and7-2. Ultrasonic transceivers1120-1and1120-1are disposed near the outer ends of the transverse portion1170and are aimed down to adjacent sides7-1and7-2of the soil trench3. Knowing the placement of seed firmer99, ultrasonic transceivers1120-1and1120-2measure the distance to the adjacent sides of trench7-1and7-2so that the seed depth in seed trench3may be calculated. Alternatively, only one transceiver1120-1or1120-2may need to be used, but having both allows for better measurement and accounting for debris. This embodiment simplifies over the embodiments described below in connection withFIGS.12A to12Cby eliminating one measurement.

FIG.11Cshows another embodiment of a depth sensing implement100similar to the embodiment shown inFIG.11A, except that mounting arm1160-1is disposed on row unit10. Knowing the placement of seed firmer99, ultrasonic transceivers1120-1and1120-2measure the distance to the adjacent sides of trench7-1and7-2so that the seed depth in trench3can be calculated. Also, only one ultrasonic transceiver1120-1or1120-2may need to be used, but having both allows for better measurement and accounting for debris.

Finger Sensor Embodiments

FIGS.12A-12Fillustrate various embodiments a depth sensing implement100comprising a seed firmer99to which is coupled a first ground engaging finger1210and a second ground engaging finger1220wherein the first ground engaging finger1210contacts soil surface7-1adjacent soil trench3, and the second ground engaging finger1220contacts soil surface7-2adjacent soil trench3.

In a first embodiment shown inFIG.12A-1, each ground engaging finger1210and1220is disposed on seed firmer99independent from the other ground engaging finger. Each ground engaging finger1210,1220is pivotally mounted to brackets1230-1and1230-2that are disposed on the rigid portion of seed firmer99that allows for rotation of the ground engaging finger1210and1220in a vertical direction. To measure the distance that each ground engaging finger1210and1220travels relative to seed firmer99, bracket1230-1and1230-2each have a rotary encoder1240-1and1240-2(such as angular displacement sensor no. 55250 available from Hamlin Incorporated, Lake Mills, WI.). In operation, the ground engaging fingers1210and1220ride along the soil surface7-1,7-2(seeFIG.12A-2) such that the angular position of the ground engaging finger1210and1220is constrained relative to the soil surface. A signal generated by the encoders1240-1and1240-2is thus related to the vertical height of the row unit10with respect to the soil, and thus to the depth of the soil trench3.

In an alternative embodiment shown inFIG.12B, the ground engaging fingers1210and1220are pivotally mounted to brackets1230-1and1230-2, but instead of the rotary encoder1240-1and1240-2(as inFIG.12A), in the embodiment ofFIG.12B, Hall effect sensors1250-1and1250-2are disposed on or in seed firmer99for detecting a position of the ground engaging fingers1210and1220. In either of the embodiments shown inFIG.12A or12B, rather than two brackets1230-1,1230-2, there may be a single bracket1230, such as shown inFIG.12C.

FIG.12Dillustrates yet another alternative embodiment of a depth sensing implement100apparatus utilizing finger sensors. In this embodiment, ground engaging fingers1210and1220are connected together through an arm1260pivotally connected at its distal end to a bracket1230. The arm1260pivots or rotates about a pivot axis of the bracket1230in a vertical direction above seed firmer99to allow ground engaging fingers1210and1220to raise and lower to engage soil surface7-1and7-2, respectively. A Hall effect sensor1250is disposed on or in seed firmer99or on or in the arm1260for detecting the position of the arm1260relative.

In another embodiment shown inFIG.12E, ground engaging fingers1210and1220are connected through an angular displacement sensor1270allowing for rotation around seed firmer99. The angular displacement sensor1270is connected through an arm1260that is pivotally mounted to a bracket1230disposed on the rigid portion of seed firmer99such that the arm1260is able to pivot or rotate about a pivot axis through the bracket1230in a vertical direction. This configuration allows for one or both ground engaging fingers1210and1220to engage soil surface7-1and7-2, respectively. Arm1260will pivot in a vertical direction above seed firmer99, and ground engaging fingers1210and1220will be able to rotate around seed firmer99to the lowest point. In the event that one ground engaging finger1210or1220encounters debris, such as a rock, a clump of dirt, or a stalk, the other ground engaging finger will still be able to rotate towards the soil surface7. This allows for better exclusion of data samples that are out of the expected range. Thus, it should be appreciated that if the ground engaging fingers1210and1220are in fixed relationship to each other, any debris will cause both ground engaging fingers1210and1220to be at the same vertical height over seed firmer99. However, with angular displacement sensor1240as shown inFIG.12E, when measuring the height displacement of arm1260, angular displacement sensor1270can allow for detection of debris and correction of the height based on the rotation of angular displacement sensor1270.

In another embodiment shown inFIG.12F, which is similar to the previous embodiment shown inFIG.12E, ground engaging fingers1210and1220are connected through a pivot1280allowing for rotation around seed firmer99. The arm1265supports the pivot1280at its rearward end and the forward end of the arm1265is pivotable about pin1240within the bracket1230disposed on the rigid portion of seed firmer99thus allowing for the rotation of arm1265in a vertical direction. This configuration allows for one or both ground engaging fingers1210and1220to engage soil surface7-1and7-2, respectively. Arm1265will pivot in a vertical direction above seed firmer99, and ground engaging fingers1210and1220will be able to rotate around seed firmer99to the lowest point. In the event that one ground engaging finger1210or1220encounters debris, such as a rock, a clump of dirt, or a stalk, the other ground engaging finger will still be able to rotate towards the soil surface7and thus have angular displacement sensor travel about half of the distance if the pivot1280were not present. This allows for better exclusion of data samples that are out of the expected range. When both ground engaging fingers1210and1220are in fixed relationship to each other, any debris causes both ground engaging fingers1210and1220to be at the same vertical height over seed firmer99.

Side Sensor Embodiments

FIGS.13A-13Fillustrate various alternative embodiments of a trench depth sensing implement100which utilize a seed firmer99with side sensors1310. Each of the side sensors are in electrical communication with a processor120(discussed below). In the embodiment illustrated inFIG.13A, seed firmer99has a plurality of sensors1310disposed in vertical alignment on the side of seed firmer99at a rigid portion for sensing the presence of soil in the soil trench3. The rigid portion of the seed firmer99on which the sensors1310are disposed may have a height greater than the depth of the soil trench3such that least one of the sensors1310is above the soil surface7in order to detect the top of the soil trench3. It should be appreciated that if seed firmer99does not have a sufficient height, then all sensors1310would be in the trench3and the top of the trench3could not be determined. Alternatively, rather than rigid portion of the seed firmer having a height greater than the depth of the soil trench, the sensors1310may be disposed in the rigid portion section of the seed firmer99toward the forward end (i.e., opposite the rearward or trailing end98of the seed firmer99) where the seed firmer curves upward towards the attachment end97above the soil trench3such that at least one of the sensors1310is above the top of soil trench3.

FIG.13Cillustrates another embodiment of a trench depth sensing implement100in which side sensors1310are disposed on a wall1320that diverges outwardly from the body of the seed firmer99and rearwardly away from the forward resilient portion1340of the seed firmer99such that at least some of the side sensors1310are in contact with the sidewall of the soil trench3. As illustrated inFIG.13D, a biasing element1350, such as a spring, may be disposed between seed firmer99and wall1320to bias the wall1320outwardly toward the sidewall of the soil trench3. Illustrated inFIG.13Eis another embodiment in which the bottom1321of wall1320is connected at the bottom1322of seed firmer99such that the wall1320diverges outwardly upwardly from the bottom1322of the seed firmer99.

In another embodiment illustrated inFIG.13F, the sensors1310are disposed on an arcuate wall1330which diverges outwardly from the body of the seed firmer99and rearwardly away from the forward resilient portion1340of the seed firmer99before curving back toward the seed firmer body. In this embodiment, the forward end, the rearward end as well as the upper end and bottom end of the arcuate wall1330are connected to the body of the seed firmer99. The arcuate wall1330may be biased away from the body of the seed firmer99towards a sidewall of the trench, such as by a spring1350disposed between the body of the seed firmer99and the arcuate wall1330.

It should be appreciated that the more sensors1310disposed on the seed firmer99or on the walls1320,1330will allow for an increased fineness of measurement of the depth of the soil trench3. In the various embodiments, there may be at least three sensors1310or at least four, at least five, at least six, at least seven, at least eight, at least nine, or at least ten sensors1310.

The sensors1310may be any sensor that can sense soil in the side of the soil trench3. These can include, but are not limited to, optical, capacitance, inductive, radar, or ultrasonic. The depth of the soil trench3may be determined by knowing the relative position of the seed firmer99on row unit10in relation to the bottom of seed firmer99such that the change between sensors indicating a difference between soil and above the trench. The location of these sensors is then used for determining depth. It should be appreciated that soil trenches are typically V-shaped. Thus, depending on the embodiment, sensors1310at the bottom of seed firmer99may be closer to the soil defining the sidewalls of the soil trench than the sensors1310at the top of seed firmer99. The difference in signal may be taken into consideration for determining the top of trench3.

As stated previously, although the embodiments above are described and illustrated with a seed firmer99that is typically used when planting and which is disposed in the seed trench3, it will be appreciated that seed firmer99may be replaced with any other implement that can be attached to a planter row unit10or other agricultural implement. With respect to planter row units, the depth being measured is the depth where seed5is in the seed trench3. Seed trenches are typically formed as a V-shape by opening discs62, and because of the size and/or shape of seed5, the seed5may not be fully at the bottom of trench3. Thus for planter applications, it may be more important to determine the actual depth of seed5and not the total depth of the seed trench3. In such applications, because the bottom of seed firmer99contacts the top of seed5, knowing the location of seed firmer99allows for knowing the depth of the seed5.

Accelerometer

In another embodiment, an accelerometer700may be disposed on any part that adjusts when depth is adjusted. Parts that adjust when depth is adjusted include gauge wheel arm54, depth adjustment body94, or a depth adjustment assembly90. Examples of depth adjustment assemblies are described in PCT Application No. PCT/US2017/018269, which is incorporated herein by reference in its entirety. Each of the parts that adjust when depth is adjusted have a range of motion that is related to a position of the gauge wheel52, which translates to gauge wheel arm52, depth adjustment body94, and depth adjustment assembly90, which thus relates to depth of the soil trench. As the position of any of these parts on which the accelerometer is disposed changes position across its range of motion, the orientation of accelerometer700changes. The change in orientation of accelerometer700relates to the position of the part, which provides the depth of the soil trench3. In one embodiment, accelerometer700is positioned so that none of its x-axis, y-axis, or z-axis are perpendicular to the ground across the entire range of motion of the part. This allows all three axes to be used to determine position across the full range of motion.FIG.15illustrates accelerometer700disposed on depth adjustment body94or gauge wheel arm54-2. Both placements are used for illustration purposes in a single drawing, but only one accelerometer700is required.FIG.16illustrates accelerometer700disposed on an embodiment of depth adjustment assembly90providing automatic depth control (discussed below).

Automatic Trench Depth Adjustment

A trench depth adjustment system500for automatically controlling the depth of the soil trench3is illustrated inFIG.14. The trench depth sensor implement100(representing any of the above sensors) mounted to each row unit10is in communication (electrical or wireless) with a processor120. The processor120may be disposed in the trench depth sensing implement100, on the row unit10, or incorporated into the monitor540(as shown inFIG.14) located in the cab80of a tractor drawing the planter. The monitor540is in electrical communication with a depth adjusting assembly90configured to modify the depth of the trench3. The monitor540may include a central processing unit, a memory, and a graphical user interface configured to display the depth measured by the trench depth sensor implement100. The monitor540may include processing circuitry configured to modify a command signal to the depth control assembly90based on an input from the trench depth sensor implement100. The command signal preferably corresponds to a selected depth. The monitor540may also be in electrical communication with a GPS receiver550mounted to the tractor or the planter.

A trench depth control system, such as disclosed U.S. Patent Application Publication No. 2013/0104785, incorporated herein in its entirety by reference, may be configured to automatically control the depth adjusting assembly to modify the depth of the trench3based on depth measured by the trench depth sensor implement100.FIG.16illustrates an alternative embodiment for automatically controlling trench depth based on depth measured by the trench depth sensor implement100. As illustrated inFIG.16, and as disclosed in Applicant's International Patent Application No. PCT/US2017/018274, incorporated herein in its entirety by reference, a depth adjustment assembly90utilizes a gear rack1910and an electric motor1930configured to drive gears1940along the gear rack1910. The electric motor1930is in electrical communication with the monitor540, which is in communication with any of the embodiments of the trench depth sensor implements100disclosed herein. As discussed in more detail below, when the monitor540determines that the measured trench depth is not equal to or within a threshold range (e.g., 5%) of a preselected depth, the monitor540sends a command signal to actuate the electric motor1930to drive the gears1940to position the depth adjustment body1994with respect to the frame14and the gauge wheel arms54to produce the measured trench depth that approximates the selected trench depth.

The measured trench depth may be mapped by the monitor540recording and time-stamping the GPS position of the planter reported by the GPS receiver550based on the monitor540receiving signals from the trench depth sensor implements100described herein associated with each row unit. The monitor540may store and time-stamp the depth measurements (the “measured depth”) at each row unit. The monitor540may display an image correlated to the measured depth on a map at a map location corresponding to the GPS position of the planter at the time of the depth measurements. For example, in some embodiments the monitor540displays a legend correlating colors to ranges of depth. In some such embodiments, the depth range less than zero is correlated to a single color while a set of depth ranges greater than zero are correlated to a set of colors such that the color intensity increases with depth.

FIG.17illustrates a process1700for controlling depth based on the signal generated by one of the trench depth sensor implements100described above. At step1710, the monitor540preferably estimates the depth of the trench3based on the signal generated by the trench depth sensor implement100. At step1720, the monitor540preferably compares the measured depth to a selected depth entered by the user or previously stored in memory. Alternatively, the selected depth may be selected using the methods disclosed in U.S. Publication No. US2016/0037709, incorporated herein in its entirety by reference. If at step1730the measured depth is not equal to or within a threshold range (e.g., 5%) of the selected depth, then at step1740the monitor540preferably sends a command signal to the depth adjuster90in order to bring the measured depth closer to the selected depth; for example, if the measured depth is shallower than the selected depth, then the monitor540preferably commands the depth adjuster to rotate the depth adjustment assembly90in order to increase the trench depth.

Various modifications to the preferred embodiment of the apparatus, and the general principles and features of the system and methods described herein will be readily apparent to those of skill in the art. Thus, the present invention is not to be limited to the embodiments of the apparatus, system and methods described above and illustrated in the drawing figures, but is to be accorded the widest scope consistent with the scope of the appended claims.