Patent ID: 12185654

BRIEF SUMMARY

Speed control of machines and associated implements during transitions of settings of agricultural parameters is described herein. In one embodiment, a processing system comprises processing logic to execute instructions for processing agricultural data and performing speed control of a machine and associated implement during a transition period for adjusting a setting of an agricultural parameter. A communication unit is coupled to the processing logic. The communication unit to transmit and receive data from the implement. The processing logic is configured to execute instructions to adjust the setting of the agricultural parameter and to determine a desired speed control during the transition period based on a desired transition distance and productivity during the transition period.

DETAILED DESCRIPTION

Depth Control and Soil Monitoring Systems

Referring now to the drawings, wherein like reference numerals designate identical or corresponding parts throughout the several views,FIG.1illustrates a tractor5drawing an agricultural implement, e.g., a planter10, comprising a toolbar14operatively supporting multiple row units200. An implement monitor50preferably including a central processing unit (“CPU”), memory and graphical user interface (“GUI”) (e.g., a touch-screen interface) is preferably located in the cab of the tractor5. A global positioning system (“GPS”) receiver52is preferably mounted to the tractor5. The monitor50can control a speed of the tractor and associated implement in general. The speed can be adjusted during transitions of settings of agricultural parameters based on a desired distance for a transition and productivity during this transition.

Turning toFIG.2, an embodiment is illustrated in which the row unit200is a planter row unit. The row unit200is preferably pivotally connected to the toolbar14by a parallel linkage216. An actuator218is preferably disposed to apply lift and/or downforce on the row unit200. A solenoid valve390is preferably in fluid communication with the actuator218for modifying the lift and/or downforce applied by the actuator. An opening system234preferably includes two opening discs244rollingly mounted to a downwardly-extending shank254and disposed to open a v-shaped trench38in the soil40. A pair of gauge wheels248is pivotally supported by a pair of corresponding gauge wheel arms260; the height of the gauge wheels248relative to the opener discs244sets the depth of the trench38. A depth adjustment rocker268limits the upward travel of the gauge wheel arms260and thus the upward travel of the gauge wheels248. A depth adjustment actuator380is preferably configured to modify a position of the depth adjustment rocker268and thus the height of the gauge wheels248. The actuator380is preferably a linear actuator mounted to the row unit200and pivotally coupled to an upper end of the rocker268. In some embodiments the depth adjustment actuator380comprises a device such as that disclosed in International Patent Application No. PCT/US2012/035585 (“the '585 application”) or International Patent Application Nos. PCT/US2017/018269 or PCT/US2017/018274, the disclosure of each is hereby incorporated herein by reference. An encoder382is preferably configured to generate a signal related to the linear extension of the actuator380; it should be appreciated that the linear extension of the actuator380is related to the depth of the trench38when the gauge wheel arms260are in contact with the rocker268. A downforce sensor392is preferably configured to generate a signal related to the amount of force imposed by the gauge wheels248on the soil40; in some embodiments the downforce sensor392comprises an instrumented pin about which the rocker268is pivotally coupled to the row unit200, such as those instrumented pins disclosed in Applicant's U.S. patent application Ser. No. 12/522,253 (Pub. No. US 2010/0180695), the disclosure of which is hereby incorporated herein by reference.

Continuing to refer toFIG.2, a seed meter230such as that disclosed in Applicant's International Patent Application No. PCT/US2012/030192, the disclosure of which is hereby incorporated herein by reference, is preferably disposed to deposit seeds42from a hopper226into the trench38, e.g., through a seed tube232disposed to guide the seeds toward the trench. In some embodiments, instead of a seed tube232, a seed conveyor is implemented to convey seeds from the seed meter to the trench at a controlled rate of speed as disclosed in U.S. patent application Ser. No. 14/347,902 and/or U.S. Pat. No. 8,789,482, both of which are incorporated by reference herein. In such embodiments, a bracket such as that shown inFIG.30is preferably configured to mount the seed firmer to the shank via sidewalls extending laterally around the seed conveyor, such that the seed firmer is disposed behind the seed conveyor to firm seeds into the soil after they are deposited by the seed conveyor. In some embodiments, the meter is powered by an electric drive315configured to drive a seed disc within the seed meter. In other embodiments, the drive315may comprise a hydraulic drive configured to drive the seed disc. A seed sensor305(e.g., an optical or electromagnetic seed sensor configured to generate a signal indicating passage of a seed) is preferably mounted to the seed tube232and disposed to send light or electromagnetic waves across the path of seeds42. A closing system236including one or more closing wheels is pivotally coupled to the row unit200and configured to close the trench38.

Turning toFIG.3, a depth control and soil monitoring system300is schematically illustrated. The monitor50is preferably in data communication with components associated with each row unit200including the drives315, the seed sensors305, the GPS receiver52, the downforce sensors392, the valves390, the depth adjustment actuator380, and the depth actuator encoders382. In some embodiments, particularly those in which each seed meter230is not driven by an individual drive315, the monitor50is also preferably in data communication with clutches310configured to selectively operably couple the seed meter230to the drive315.

Continuing to refer toFIG.3, the monitor50is preferably in data communication with a cellular modem330or other component configured to place the monitor50in data communication with the Internet, indicated by reference numeral335. The internet connection may comprise a wireless connection or a cellular connection. Via the Internet connection, the monitor50preferably receives data from a weather data server340and a soil data server345. Via the Internet connection, the monitor50preferably transmits measurement data (e.g., measurements described herein) to a recommendation server (which may be the same server as the weather data server340and/or the soil data server345) for storage and receives agronomic recommendations (e.g., planting recommendations such as planting depth, whether to plant, which fields to plant, which seed to plant, or which crop to plant) from a recommendation system stored on the server; in some embodiments, the recommendation system updates the planting recommendations based on the measurement data provided by the monitor50.

Continuing to refer toFIG.3, the monitor50is also preferably in data communication with one or more temperature sensors360mounted to the planter10and configured to generate a signal related to the temperature of soil being worked by the planter row units200. The monitor50is preferably in data communication with one or more reflectivity sensors350mounted to the planter10and configured to generate a signal related to the reflectivity of soil being worked by the planter row units200.

Referring toFIG.3, the monitor50is preferably in data communication with one or more electrical conductivity sensors365mounted to the planter10and configured to generate a signal related to the temperature of soil being worked by the planter row units200.

In some embodiments, a first set of reflectivity sensors350, temperature sensors360, and electrical conductivity sensors are mounted to a seed firmer400and disposed to measure reflectivity, temperature and electrical conductivity, respectively, of soil in the trench38. In some embodiments, a second set of reflectivity sensors350, temperature sensors360, and electrical conductivity sensors370are mounted to a reference sensor assembly1800and disposed to measure reflectivity, temperature and electrical conductivity, respectively, of the soil, preferably at a depth different than the sensors on the seed firmer400.

In some embodiments, a subset of the sensors are in data communication with the monitor50via a bus60(e.g., a CAN bus). In some embodiments, the sensors mounted to the seed firmer400and the reference sensor assembly1800are likewise in data communication with the monitor50via the bus60. However, in the embodiment illustrated inFIG.3, the sensors mounted to the seed firmer the sensors mounted to the seed firmer400and the reference sensor assembly1800are in data communication with the monitor50via a first wireless transmitter62-1and a second wireless transmitter62-2, respectively. The wireless transmitters62at each row unit are preferably in data communication with a single wireless receiver64which is in turn in data communication with the monitor50. The wireless receiver may be mounted to the toolbar14or in the cab of the tractor5.

a. Soil Monitoring, Seed Monitoring and Seed Firming Apparatus

Turning toFIG.4, an embodiment of a seed firmer400is illustrated having a plurality of sensors for sensing soil characteristics. The seed firmer400preferably includes a flexible portion410mounted to the shank254and/or the seed tube232by a bracket415. In some embodiments, the bracket415is similar to one of the bracket embodiments disclosed in U.S. Pat. No. 6,918,342, incorporated by reference herein. The seed firmer preferably includes a firmer body490disposed and configured to be received at least partially within v-shaped trench38and firm seeds42into the bottom of the trench. When the seed firmer400is lowered into the trench38, the flexible portion410preferably urges the firmer body490into resilient engagement with the trench. In some embodiments the flexible portion410preferably includes an external or internal reinforcement as disclosed in PCT/US2013/066652, incorporated by reference herein. In some embodiments the firmer body490includes a removable portion492; the removable portion492preferably slides into locking engagement with the remainder of the firmer body. The firmer body490(preferably including the portion of the firmer body engaging the soil, which in some embodiments comprises the removable portion492) is preferably made of a material (or has an outer surface or coating) having hydrophobic and/or anti-stick properties, e.g. having a Teflon graphite coating and/or comprising a polymer having a hydrophobic material (e.g., silicone oil or polyether-ether-ketone) impregnated therein. Alternatively, the sensors can be disposed on the side of seed firmer400(not shown).

Returning toFIGS.4and5, the seed firmer400preferably includes a plurality of reflectivity sensors350a,350b. Each reflectivity sensor350is preferably disposed and configured to measure reflectivity of soil; in a preferred embodiment, the reflectivity sensor350is disposed to measure soil in the trench38, and preferably at the bottom of the trench. The reflectivity sensor350preferably includes a lens disposed in the bottom of the firmer body490and disposed to engage the soil at the bottom of the trench38. In some embodiments the reflectivity sensor350comprises one of the embodiments disclosed in U.S. Pat. No. 8,204,689 and/or U.S. Provisional Patent Application 61/824,975 (“the '975 application”), both of which are incorporated by reference herein. In various embodiments, the reflectivity sensor350is configured to measure reflectivity in the visible range (e.g., 400 and/or 600 nanometers), in the near-infrared range (e.g., 940 nanometers) and/or elsewhere the infrared range.

The seed firmer400may also include a capacitive moisture sensor351disposed and configured to measure capacitance moisture of the soil in the seed trench38, and preferably at the bottom of trench38.

The seed firmer400may also include an electronic tensiometer sensor352disposed and configured to measure soil moisture tension of the soil in the seed trench38, and preferably at the bottom of trench38.

Alternatively, soil moisture tension can be extrapolated from capacitive moisture measurements or from reflectivity measurements (such as at 1450 nm). This can be done using a soil water characteristic curve based on the soil type.

The seed firmer400may also include a temperature sensor360. The temperature sensor360is preferably disposed and configured to measure temperature of soil; in a preferred embodiment, the temperature sensor is disposed to measure soil in the trench38, preferably at or adjacent the bottom of the trench38. The temperature sensor360preferably includes soil-engaging ears364,366disposed to slidingly engage each side of the trench38as the planter traverses the field. The ears364,366preferably engage the trench38at or adjacent to the bottom of the trench. The ears364,366are preferably made of a thermally conductive material such as copper. The ears364are preferably fixed to and in thermal communication with a central portion362housed within the firmer body490. The central portion362preferably comprises a thermally conductive material such as copper; in some embodiments the central portion362comprises a hollow copper rod. The central portion362is preferably in thermal communication with a thermocouple fixed to the central portion. In other embodiments, the temperature sensor360may comprise a non-contact temperature sensor such as an infrared thermometer. In some embodiments, other measurements made by the system300(e.g., reflectivity measurements, electrical conductivity measurements, and/or measurements derived from those measurements) are temperature-compensated using the temperature measurement made by the temperature sensor360. The adjustment of the temperature-compensated measurement based on temperature is preferably carried out by consulting an empirical look-up table relating the temperature-compensated measurement to soil temperature. For example, the reflectivity measurement at a near-infrared wavelength may be increased (or in some examples, reduced) by 1% for every 1 degree Celsius in soil temperature above 10 degrees Celsius.

The seed firmer preferably includes a plurality of electrical conductivity sensors370r,370f. Each electrical conductivity sensor370is preferably disposed and configured to measure electrical conductivity of soil; in a preferred embodiment, the electrical conductivity sensor is disposed to measure electrical conductivity of soil in the trench38, preferably at or adjacent the bottom of the trench38. The electrical conductivity sensor370preferably includes soil-engaging ears374,376disposed to slidingly engage each side of the trench38as the planter traverses the field. The ears374,376preferably engage the trench38at or adjacent to the bottom of the trench. The ears374,376are preferably made of a electrically conductive material such as copper. The ears374are preferably fixed to and in electrical communication with a central portion372housed within the firmer body490. The central portion372preferably comprises an electrically conductive material such as copper; in some embodiments the central portion372comprises a copper rod. The central portion372is preferably in electrical communication with an electrical lead fixed to the central portion. The electrical conductivity sensor can measure the electrical conductivity within a trench by measuring the electrical current between soil-engaging ears374and376.

Referring toFIG.5, in some embodiments the system300measures electrical conductivity of soil adjacent the trench38by measuring an electrical potential between the forward electrical conductivity sensor370fand the rearward electrical conductivity sensor370f. In other embodiments, the electrical conductivity sensors370f,370rmay be disposed in longitudinally spaced relation on the bottom of the seed firmer in order to measure electrical conductivity at the bottom of the seed trench.

In other embodiments, the electrical conductivity sensors370comprise one or more ground-working or ground-contacting devices (e.g., discs or shanks) that contact the soil and are preferably electrically isolated from one another or from another voltage reference. The voltage potential between the sensors370or other voltage reference is preferably measured by the system300. The voltage potential or another electrical conductivity value derived from the voltage potential is preferably and reported to the operator. The electrical conductivity value may also be associated with the GPS-reported position and used to generate a map of the spatial variation in electrical conductivity throughout the field. In some such embodiments, the electrical conductivity sensors may comprise one or more opening discs of a planter row unit, row cleaner wheels of a planter row unit, ground-contacting shanks of a planter, ground-contacting shoes depending from a planter shank, shanks of a tillage tool, or discs of a tillage tool. In some embodiments a first electrical conductivity sensor may comprise a component (e.g., disc or shank) of a first agricultural row unit while a second electrical conductivity sensor comprises a component (e.g., disc or shank) of a second agricultural row unit, such that electrical conductivity of soil extending transversely between the first and second row units is measured. It should be appreciated that at least one of the electrical conductivity sensors described herein is preferably electrically isolated from the other sensor or voltage reference. In one example, the electrical conductivity sensor is mounted to an implement (e.g., to the planter row unit or tillage tool) by being first mounted to an electrically insulating component (e.g., a component made from an electrically insulating material such as polyethylene, polyvinyl chloride, or a rubber-like polymer) which is in turn mounted to the implement.

In other embodiments, below is a table relating measured properties (some listed above), each of the property's impact on seed germination and/or emergence; how the property is measured; output of the information as raw data, seed environment score, time to germination, time to emergence, and/or seed germination risk; and actuation of equipment or action to take. Note, a Stop Planting Action may be listed below for a Measured Property for which Stop Planting alone may not be taken, but Stop Planting may be an action for this Measured Property in combination with one or more other Measured Properties. For example, soil color alone may not be a reason to stop planting, but soil color in combination with other Measured Properties may result in a Stop Planting Action. This can also be the situation for other actions, such as Row Cleaner Aggressiveness.

MeasuredImpact on germination/Actuation/PropertyemergenceHow MeasuredOutputActionSoil ColorRadiative heatSeed firmer 400,Raw dataAdjust depthabsorption400′ ImageryDays to GerminationAdjust downforceDays to EmergenceHybrid selectionSeed Germination RiskRow cleanerSeed Environment ScoreaggressivenessStop plantingResidueRadiative heatSeed firmer 400,Raw dataRow cleanerabsorption400′ ImageryDays to GerminationaggressivenessResidue in furrowDays to EmergenceAdjust depthSeed environmentSeed Germination RiskAdjust downforcequalitySeed Environment ScoreTopographyWatershed runoffReference sourceRaw dataAdjust depthor infiltrationDays to GerminationAdjust downforceDays to EmergenceRow cleanerSeed Germination RiskaggressivenessSeed Environment ScoreStop plantingSoilWater holdingSeed firmer 400,Raw dataAdjust depthTexture/Typecapacity400′ ImageryDays to GerminationAdjust downforceSeed imbibingDays to EmergenceHybrid selectionrateSeed Germination RiskRow cleanerThermal insulativeSeed Environment ScoreaggressivenessfactorStop plantingOrganic MatterWater holdingSeed firmer 400,Raw dataAdjust depthcapacity400′ ImageryDays to GerminationAdjust downforceSeed imbibingDays to EmergencePopulationrateSeed Germination RiskHybrid selectionThermal insulativeSeed Environment ScoreRow cleanerfactoraggressivenessStop plantingSoil TemperatureImpact onSeed firmer 400,Raw dataAdjust depthgermination400′Days to GerminationAdjust downforceDays to EmergencePopulationSeed Germination RiskStop plantingSeed Environment ScoreRow cleaneraggressivenessSoil MoistureImpact onSeed firmer 400,Raw dataAdjust depthgermination400′Days to GerminationAdjust downforceDays to EmergencePopulationSeed Germination RiskStop plantingSeed Environment ScoreRow cleaneraggressivenessSeed Shape/SizeVolume of waterUser inputRaw dataAdjust depthto germinateDays to GerminationAdjust downforceDays to EmergenceHybrid selectionSeed Germination RiskRow cleanerSeed Environment ScoreaggressivenessStop plantingSeed Cold GermRisk of noUser inputRaw dataAdjust depthgerminationDays to GerminationAdjust downforcebased onDays to EmergenceHybrid selectiontemperatureSeed Germination RiskRow cleanerSeed Environment ScoreaggressivenessStop plantingTime of DayBias of currentMonitorRaw dataN/Atemperature,moistureFurrow DepthInsulative effectDepth Actuator/Raw dataAdjust depthof soil,Depth SensorDays to GerminationAdjust downforceTime required toDays to EmergenceRow cleaneremerge from thisSeed Germination RiskaggressivenessdepthSeed Environment ScoreStop plantingTemperatureTemperatureWeather sourceRaw dataAdjust depthForecastimpact onDays to GerminationAdjust downforcegerminationDays to EmergencePopulationSeed Germination RiskHybrid selectionSeed Environment ScoreStop plantingRow cleaneraggressivenessPrecipitationMoisture impactWeather sourceRaw dataAdjust depthForecaston germinationDays to GerminationAdjust downforceDays to EmergencePopulationSeed Germination RiskHybrid selectionSeed Environment ScoreStop plantingRow cleaneraggressivenessWind SpeedThermal andWeather sourceRaw dataAdjust depthForecastevaporativeDays to GerminationAdjust downforceimpact on soilDays to EmergencePopulationtemperatureSeed Germination RiskHybrid selectionand/or moistureSeed Environment ScoreStop plantingRow cleaneraggressivenessCloud CoverThermal andWeather sourceRaw dataAdjust depthForecastevaporativeDays to GerminationAdjust downforceimpact on soilDays to EmergencePopulationtemperatureSeed Germination RiskHybrid selectionand/or moistureSeed Environment ScoreStop plantingRow cleaneraggressiveness

In other embodiments, any of the sensors do not need to be disposed in a firmer. The sensors can be in any implement that is disposed on an agricultural implement in contact with the soil. For example, firmer body490can be mounted to any bracket and disposed anywhere on an agricultural implement and in contact with soil. Examples of an agricultural implement include, but are not limited to, planters, harvesters, sprayers, side dress bars, tillers, fertilizer spreaders, and tractor.

There are many ways of handling transitions of settings of agricultural parameters. For example, for multihybrid, there is a planned exhaustion of seeds from the seed meter before making a switch to the different seed type. In general, when a change is needed, the change is commanded, but without slowing of the tractor to reduce the transition zone. The monitor/controller is connected to the tractor over a CAN/ISOBUS network and control tractor speed.

There exists some mechanical systems that have a maximum actuation speed when changing from a first setpoint to a second setpoint for an agricultural parameter (e.g., soil properties, moisture, seed depth, seed population, multi-hybrid change from one type of hybrid to another, liquid/granular fertilizer/insecticide/herbicide/fungicide application, tillage depth for different compaction zones). When knowledge of a setpoint change exists prior to execution of the change, actuation for the setpoint change can occur proactively, ensuring that the target is reached at the intended point in time.

In other cases, knowledge of a setpoint change is not known ahead of time.

As a result, the setpoint changes in a reactionary fashion, and a period of time exists in which the setpoint and actual are different. On an agricultural implement, this transition zone appears as a distance within a field, where the distance is proportional to the time required to complete actuation.

If implement speed can be controlled, speed can be reduced during a transition, shortening the transition zone.

FIG.6illustrates a timeline600for adjusting a setting of an agricultural parameter during planting with no speed adjustment of a machine620. The machine620is pulling an implement610through an agricultural field. In one example, the machine has a constant speed (e.g., 6 mph), a ⅛″ per second maximum actuation rate for changing a depth setting of the implement from a first setpoint (e.g., 1″ depth) during time period602to a second setpoint (e.g., 2″ depth) for time period660. A transition period650from time640to time642occurs for this change from the first setpoint to the second setpoint. In this example, the transition period650lasts for 8 seconds and corresponds to a 70.4 ft transition in the field. No speed adjustment is performed during the transition period650.

FIG.7illustrates a timeline700for adjusting a setting of an agricultural parameter with speed adjustment of a machine720in accordance with one embodiment. The machine720is pulling an implement710through an agricultural field. In one example, the machine has an adjustable speed (e.g., 3-10 mph) that adjusts during a transition time period, a ⅛″ per second maximum actuation rate for changing a depth setting of the implement from a first setpoint (e.g., 1″ depth) during time period702to a second setpoint (e.g., 2″ depth) for time period760. A transition period750from time740to time742occurs for this change from the first setpoint to the second setpoint. In this example, the transition period750lasts for 8 seconds and corresponds to a 35.2 ft transition in the field. The machine speed is reduced from an initial speed for time period702to a second speed (e.g., 3 mph) during the transition period750, and then increases to the first speed (or a different speed) during time period760.

FIG.8illustrates a flow diagram of one embodiment for a method800of using speed control of implements during transitions of agricultural parameters to optimize these transitions. The method800is performed by hardware (circuitry, dedicated logic, etc.), software (such as is run on a general purpose computer system or a dedicated machine or a device), or a combination of both. In one embodiment, the method800is performed by at least one system or device (e.g., monitor80, processing system of a machine, processing system of an implement, soil monitoring system, seed firmer, sensors, implement, row unit, etc). The system executes instructions of a software application or program with processing logic. The software application or program can be initiated by a system or may notify an operator or user of a machine (e.g., tractor, planter, combine) depending on whether agricultural conditions cause a signal to actuate an implement. In one example, a machine pulls an implement in an agricultural field.

In any embodiment herein, at operation802, a processing system (e.g., processing system of machine or an implement, soil monitoring system, monitor50, seed firmer, sensors) can optionally obtain soil measurements (e.g., measurements for moisture, organic matter, porosity, texture/type of soil, furrow residue, etc.) from sensors. At operation804, the processing system (e.g., processing system of machine or an implement, monitor50) can generate a signal to adjust a setting of an agricultural parameter (e.g., change a population of planted seeds by controlling a seed meter, change seed variety (e.g., hybrid), change furrow depth, change application rate of fertilizer, fungicide, and/or insecticide, change applied downforce or upforce of an agricultural implement, such as a planter or tiller, control the force applied by a row cleaner) of an agricultural implement. Generating a signal to actuate an agricultural parameter may be in response to obtaining soil measurements from soil sensors or data obtained from other sensors. This can be done in real time on the go. Examples of soil measurements that can be measured and the control of implements include, but are not limited to:A) moisture, organic matter, porosity, or texture/type of soil to change a population of planted seeds by controlling a seed meter;B) moisture, organic matter, porosity, or texture/type of soil to change seed variety (e.g., hybrid);C) moisture, organic matter, porosity, or texture/type of soil to change furrow depth:D) moisture, organic matter, porosity, or texture/type of soil to change application rate of fertilizer, fungicide, and/or insecticide;E) moisture, organic matter, porosity, or texture/type of soil to change applied downforce or upforce of an agricultural implement, such as a planter or tiller;F) furrow residue to control the force applied by a row cleaner.
In one embodiment for downforce or upforce, a combination of moisture and texture/type can be used. Higher downforce can be applied in sandy and/or wet soils, and lower downforce can be used in clay and/or wet soils. Too much downforce for a given soil type can cause compaction of the soil, which decreases the ability of roots to spread throughout the soil. Too little downforce for a given soil type can allow an implement to ride up and not plant seeds to a targeted depth. The downforce is generally applied through the gauge wheels248adjacent to the trench.

At operation806, upon detection of adjustment of the agricultural parameter (or having knowledge of an adjustment of the agricultural parameter prior to the actual adjustment), the processing system determines whether to optimize a change in speed for a machine and associated agricultural implement during a transition period for shortest transition distance, productivity, or maximum transition distance. At operation808, the processing system optimizes for a shortest transition distance. When a setpoint change occurs, the processing system slows the machine (e.g., vehicle) and associated implement from a first speed to a second speed (e.g., a stop) as soon as possible, conducts a transition for the agricultural parameter, and then restarts machine movement to the first speed (or a different speed) after the transition period ends.

At operation810, the processing system optimizes for productivity (minimum speed). When a setpoint change occurs, the processing system slows the machine (e.g., vehicle) and associated implement from a first speed to a minimum tolerable second speed. While a shorter transition may be possible with a lower minimum speed, productivity is affected at the slower speed. The transition zone is substantially improved, and balanced with achieving productivity while operating at a slower, but acceptable speed. After the transition period ends, the vehicle returns to the first speed.

At operation812, the processing system optimizes for a maximum transition distance. If a specific transition distance is acceptable, then speed of the machine (e.g., vehicle) and associated implement can be reduced from a first speed to a specific second speed that achieves a specific distance in a specific time. For example, if a 50 ft transition is acceptable, and 10 seconds are required to transition, then the speed need not be reduced below 5 feet/second during the transition period.

Controlling tractor speed can provide a means to shorten (in distance) a transition. In one example, an algorithm determines when Amoisture/Adistance increases, then this algorithm signals that an implement is transitioning between zones, and the processing restricts speed based on a magnitude of a zone transition for a length of the transition.

In another example, if an implement enters a region with above normal moisture volatility (based on knowledge from adjacent neighboring passes through a field), speed is temporarily restricted while in the region to ensure that any transitions occur with a shorter response distance, and speed restrictions are removed once leaving the region.

FIG.9shows an example of a system1200that includes a machine1202(e.g., tractor, combine harvester, etc.) and an implement1240(e.g., planter, sidedress bar, cultivator, plough, sprayer, spreader, irrigation implement, etc.) in accordance with one embodiment. The machine1202includes a processing system1220, memory1205, machine network1210(e.g., a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.), and a network interface1215for communicating with other systems or devices including the implement1240. The machine network1210includes sensors1212(e.g., speed sensors), controllers1211(e.g., GPS receiver, radar unit) for controlling and monitoring operations of the machine or implement. The network interface1215can include at least one of a GPS transceiver, a WLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other interfaces from communications with other devices and systems including the implement1240. The network interface1215may be integrated with the machine network1210or separate from the machine network1210as illustrated inFIG.12. The I/O ports1229(e.g., diagnostic/on board diagnostic (OBD) port) enable communication with another data processing system or device (e.g., display devices, sensors, etc.).

In one example, the machine performs operations of a tractor that is coupled to an implement for planting applications of a field. The planting data for each row unit of the implement can be associated with locational data at time of application to have a better understanding of the planting for each row and region of a field. Data associated with the planting applications can be displayed on at least one of the display devices1225and1230. The display devices can be integrated with other components (e.g., processing system1220, memory1205, etc.) to form the monitor50.

The processing system1220may include one or more microprocessors, processors, a system on a chip (integrated circuit), or one or more microcontrollers. The processing system includes processing logic1226for executing software instructions of one or more programs and a communication unit1228(e.g., transmitter, transceiver) for transmitting and receiving communications from the machine via machine network1210or network interface1215or implement via implement network1250or network interface1260. The communication unit1228may be integrated with the processing system or separate from the processing system. In one embodiment, the communication unit1228is in data communication with the machine network1210and implement network1250via a diagnostic/OBD port of the I/O ports1229.

Processing logic1226including one or more processors or processing units may process the communications received from the communication unit1228including agricultural data (e.g., GPS data, planting application data, soil characteristics, any data sensed from sensors of the implement1240and machine1202, etc.). The system1200includes memory1205for storing data and programs for execution (software1206) by the processing system. The memory1205can store, for example, software components such as speed control software for optimizing speed control during a transition of a setpoint of an agricultural parameter (e.g., method800), as planting application software for analysis of soil and planting applications for performing operations of the present disclosure, or any other software application or module, images (e.g., captured images of crops, soil, furrow, soil clods, row units, etc.), alerts, maps, etc. The memory1205can be any known form of a machine readable non-transitory storage medium, such as semiconductor memory (e.g., flash; SRAM; DRAM; etc.) or non-volatile memory, such as hard disks or solid-state drive. The system can also include an audio input/output subsystem (not shown) which may include a microphone and a speaker for, for example, receiving and sending voice commands or for user authentication or authorization (e.g., biometrics).

The processing system1220communicates bi-directionally with memory1205, machine network1210, network interface1215, header1280, display device1230, display device1225, and I/O ports1229via communication links1231-1236, respectively. The processing system1220can be integrated with the memory1205or separate from the memory1205.

Display devices1225and1230can provide visual user interfaces for a user or operator. The display devices may include display controllers. In one embodiment, the display device1225is a portable tablet device or computing device with a touchscreen that displays data (e.g., speed control data, planting application data, captured images, localized view map layer, high definition field maps of seed germination data, seed environment data, as-planted or as-harvested data or other agricultural variables or parameters, yield maps, alerts, etc.) and data generated by an agricultural data analysis software application and receives input from the user or operator for an exploded view of a region of a field, monitoring and controlling field operations. The operations may include configuration of the machine or implement, reporting of data, control of the machine or implement including sensors and controllers, and storage of the data generated. The display device1230may be a display (e.g., display provided by an original equipment manufacturer (OEM)) that displays images and data for a localized view map layer, as-applied fluid application data, as-planted or as-harvested data, yield data, seed germination data, seed environment data, controlling a machine (e.g., planter, tractor, combine, sprayer, etc.), steering the machine, and monitoring the machine or an implement (e.g., planter, combine, sprayer, etc.) that is connected to the machine with sensors and controllers located on the machine or implement.

A cab control module1270may include an additional control module for enabling or disabling certain components or devices of the machine or implement. For example, if the user or operator is not able to control the machine or implement using one or more of the display devices, then the cab control module may include switches to shut down or turn off components or devices of the machine or implement.

The implement1240(e.g., planter, cultivator, plough, sprayer, spreader, irrigation implement, etc.) includes an implement network1250, a processing system1262, a network interface1260, and optional input/output ports1266for communicating with other systems or devices including the machine1202. The implement network1250(e.g, a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.) includes a pump1256for pumping fluid from a storage tank(s)1290to application units1280,1281, . . . N of the implement, sensors1252(e.g., speed sensors, seed sensors for detecting passage of seed, sensors for detecting characteristics of soil or a trench including soil moisture, soil organic matter, soil temperature, seed presence, seed spacing, percentage of seeds firmed, and soil residue presence, downforce sensors, actuator valves, moisture sensors or flow sensors for a combine, speed sensors for the machine, seed force sensors for a planter, fluid application sensors for a sprayer, or vacuum, lift, lower sensors for an implement, flow sensors, etc.), controllers1254(e.g., GPS receiver), and the processing system1262for controlling and monitoring operations of the implement. The pump controls and monitors the application of the fluid to crops or soil as applied by the implement. The fluid application can be applied at any stage of crop development including within a planting trench upon planting of seeds, adjacent to a planting trench in a separate trench, or in a region that is nearby to the planting region (e.g., between rows of corn or soybeans) having seeds or crop growth.

For example, the controllers may include processors in communication with a plurality of seed sensors. The processors are configured to process data (e.g., fluid application data, seed sensor data, soil data, furrow or trench data) and transmit processed data to the processing system1262or1220. The controllers and sensors may be used for monitoring motors and drives on a planter including a variable rate drive system for changing plant populations. The controllers and sensors may also provide swath control to shut off individual rows or sections of the planter. The sensors and controllers may sense changes in an electric motor that controls each row of a planter individually. These sensors and controllers may sense seed delivery speeds in a seed tube for each row of a planter.

The network interface1260can be a GPS transceiver, a WLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other interfaces from communications with other devices and systems including the machine1202. The network interface1260may be integrated with the implement network1250or separate from the implement network1250as illustrated inFIG.9.

The processing system1262communicates bi-directionally with the implement network1250, network interface1260, and I/O ports1266via communication links1241-1243, respectively.

The implement communicates with the machine via wired and possibly also wireless bi-directional communications1204. The implement network1250may communicate directly with the machine network1210or via the network interfaces1215and1260. The implement may also by physically coupled to the machine for agricultural operations (e.g., planting, harvesting, spraying, etc.).

The memory1205may be a machine-accessible non-transitory medium on which is stored one or more sets of instructions (e.g., software1206) embodying any one or more of the methodologies or functions described herein. The software1206may also reside, completely or at least partially, within the memory1205and/or within the processing system1220during execution thereof by the system1200, the memory and the processing system also constituting machine-accessible storage media. The software1206may further be transmitted or received over a network via the network interface1215.

In one embodiment, a machine-accessible non-transitory medium (e.g., memory1205) contains executable computer program instructions which when executed by a data processing system cause the system to performs operations or methods of the present disclosure. While the machine-accessible non-transitory medium (e.g., memory1205) is shown in an exemplary embodiment to be a single medium, the term “machine-accessible non-transitory medium” should be taken to include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) that store the one or more sets of instructions. The term “machine-accessible non-transitory medium” shall also be taken to include any medium that is capable of storing, encoding or carrying a set of instructions for execution by the machine and that cause the machine to perform any one or more of the methodologies of the present disclosure. The term “machine-accessible non-transitory medium” shall accordingly be taken to include, but not be limited to, solid-state memories, optical and magnetic media, and carrier wave signals.

Any of the following examples can be combined into a single embodiment or these examples can be separate embodiments. In one example of a first embodiment, a processing system comprises processing logic to execute instructions for processing agricultural data and performing speed control of a machine and associated implement during a transition period for adjusting a setting of an agricultural parameter. A communication unit is coupled to the processing logic. The communication unit to transmit and receive agricultural data from the implement. The processing logic is configured to execute instructions to generate a signal to adjust the setting of the agricultural parameter, and to determine a desired speed control during the transition period based on a desired transition distance and productivity for the transition period.

In one example of a second embodiment, a computer-implemented method for optimizing speed control during adjustment of a setting of an agricultural parameter comprises receiving agricultural data from an implement, generating a signal to adjust the setting of the agricultural parameter, and determining a desired speed control for the implement during a transition period for adjusting the setting based on a desired transition distance or productivity during the transition period.