implement system and bracket adjustment assembly

专利摘要:
a support adjustment assembly for coupling to an implement frame member includes a laterally adjustable support configured to be coupled to an opener and a first outlet providing at least one nutrient. the assembly further includes a plurality of lateral spacers positioned adjacent the bracket for laterally adjusting the bracket and providing a plurality of adjustment positions. the support adjusting assembly facilitates lateral adjustment of the support by removing at least one captive-maintained lateral spacer which adjusts the lateral adjustment of the support, a lateral adjustment of the first outlet, and an adjustment of a lateral separation between a provided row of seeds. by a second outlet and a row of nutrients provided by the first outlet.
公开号:BR102018009630A2
申请号:R102018009630-3
申请日:2018-05-11
公开日:2018-12-04
发明作者:Richard J. Connell
申请人:Deere & Company；
IPC主号:

专利说明:

(54) Title: IMPLEMENT SYSTEM, E, SUPPORT ADJUSTMENT SET (51) Int. Cl .: A01C 7/04; A01C 7/20.
(52) CPC: A01C 7/04; A01C 7/201.
(30) Unionist Priority: 08/11/2017 US 62/544267; 5/12/2017 US 62/505842; 3/26/2018 US 15/935258; 08/31/2017 US 15/693082; 08/31/2017 US 15/693210; (...)
(71) Depositor (s): DEERE & COMPANY.
(72) Inventor (s): RICHARD J. CONNELL.
(57) Summary: A support adjustment set for coupling to an implement frame member includes a laterally adjustable support, configured to be coupled to an opener and a first outlet that provides at least one nutrient. The set additionally includes a plurality of side spacers positioned adjacent to the support for laterally adjusting the support and providing a plurality of adjustment positions. The support adjustment set facilitates lateral adjustment of the support by removing at least one side spacer held captively that adjusts the lateral adjustment of the support, a lateral adjustment of the first outlet, and an adjustment of a lateral separation between a row of seeds provided a second outlet and a row of nutrients provided by the first outlet.
FIG 1
1/65 “IMPLEMENT SYSTEM, AND SUPPORT ADJUSTMENT SET”
Field of the Invention [001] The present invention generally relates to a system and method for a hitch attachment on the ground with lateral position adjustment.
Background of the Invention [002] Some implements of the prior art dispense nitrogen or nutrients for crops over, in, or in a manner consistent with, the central zone or the central strip between adjacent crop rows. Plants in the crop row may not have the opportunity to absorb some of the nitrogen or nutrients that are dispensed in alignment with the central zone between adjacent crop rows. Higher dosages or concentrations of nutrients may be required to obtain desired results from placing nutrients in the central zone between adjacent rows. Certain producer costs may increase to purchase larger quantities or concentrations of nutrients, fertilizer or nitrogen to compensate for the placement of nutrients in the central zone. Producers have an opportunity to reduce the amounts of nutrients, fertilizer, or nitrogen applied to crops, while maintaining or increasing yields per unit area of land, by dispensing nutrients, fertilizer, or nitrogen in a target application zone closer to a row of plants or plant stems with respect to the central zone. Therefore, there is a need for an attachment to the ground with lateral position adjustment.
Summary of the Invention [003] In accordance with an aspect of the present invention, an implement system is provided. The implement system includes a first outlet configured to provide at least one nutrient, a second outlet configured to provide seed, where the first outlet and the second outlet
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2/65 are laterally separated during the simultaneous provision of seed and nutrients, an opener configured to open the soil, a frame member configured to support the opener and the first outlet, and a laterally adjustable support coupled to the opener and the first outlet and having a plurality of adjustment positions such that the lateral adjustment of the support results in a lateral adjustment of the first outlet and an adjustment of a lateral separation between the row of seeds provided by the second outlet and a row of nutrients provided by the first outlet.
[004] In accordance with an aspect of the present invention, a support fit assembly for coupling to an implement frame member is provided. The set includes a laterally adjustable support, configured to be coupled to an opener and a first outlet that provides at least one nutrient, and a plurality of lateral spacers positioned adjacent to the support to laterally adjust the support and provide a plurality of adjustment positions, the support adjustment set facilitating the lateral adjustment of the support by removing at least one side spacer kept captively that adjusts the lateral adjustment of the support, a lateral adjustment of the first outlet, and an adjustment of a lateral separation between a row of seeds provided a second outlet and a row of nutrients provided by the first outlet.
[005] Other characteristics and aspects will become apparent by considering the detailed description and attached drawings.
Brief Description of the Drawings [006] The detailed description of the drawings refers to the attached figures, in which:
figure 1 is a rear perspective view of a vehicle towing a modality of a hitch attachment system with lateral position adjustment to apply crop inputs with a lateral displacement with respect to one or more rows of plant, beds in
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3/65 seed, drip tape, irrigation lines or reference lines or curves.
[007] Figure 2 is a front perspective view of a system for the attachment of the hitch on the ground with lateral position adjustment in an arrangement that is foldable to become more compact for transportation purposes. [008] Figure 3 is a modality of a block diagram of a control system (for example, electronic components and vehicle software) associated with a hitch implement on the ground with lateral position adjustment.
[009] Figure 4 is a plan perspective view of a modality of a hitch attachment on the ground with lateral position adjustment.
[0010] Figure 5A is a side view of a first configuration of a row unit or the ground hitch assembly for mounting on the implement.
[0011] Figure 5B is a side view of a second configuration of a row unit or the ground hitch assembly for mounting on the implement.
[0012] Figure 5C is a side view of a third configuration of a row unit or the ground hitch assembly for mounting on the implement.
[0013] Figure 5D is a side view of a fourth configuration of a row unit or the ground hitch assembly for mounting on the implement.
[0014] Figure 5E is a side view of a fourth configuration of a row unit or the ground hitch assembly for mounting on the implement.
[0015] Figure 5F shows the fourth configuration of the row unit or the hitch assembly on the ground along the reference line 5F-5F of
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4/65 figure 5E.
[0016] Figure 5G is a side view of a fifth configuration of a row unit or the ground hitch assembly for mounting on the implement.
[0017] Figure 5H is a side view of a fifth configuration of a row unit or the coupling assembly on the ground, when viewed along the reference line 5H-5H of figure 5G.
[0018] Figure 6 is a side and rear view in perspective of a modality of a hitch attachment on the ground with lateral position adjustment.
[0019] Figure 7 is a modality of a block diagram of the control system (for example, electronic components and vehicle software) associated with a hitch implement on the ground with adjustment of the traction position.
[0020] Figure 8 is a modality of a block diagram of the control system (for example, electronic components and vehicle software) associated with a hitch attachment on the ground with position adjustment of one or more side rows.
[0021] Figure 9A shows a plan view of a row of seeds planted in a generally linear row spaced from fertilizer or nutrient in the soil by a substantially uniform distance or separation. [0022] Figure 9B shows a plan view of a row of seeds planted in a generally linear row with variable seed density and spaced from fertilizer or nutrient in the soil by a variable distance or separation.
[0023] Figure 9C shows a plan view of two adjacent rows of seed planted in generally linear rows with variable seed density and spaced from fertilizer or nutrient in the soil by a variable distance or separation, where the seed density and distance
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5/65 variable can be independent of each other in adjacent rows.
[0024] Figure 10 shows a plan view of two adjacent rows of seed, where the separation between seed and nutrient within a given row is fixed, and where the separation between adjacent rows is variable.
[0025] Figure 11 is an elevation view of an implement system according to an embodiment of the present invention;
figure 12 is a perspective view of a support adjustment assembly according to an embodiment of the present invention;
figure 13 is a perspective view of a support adjustment assembly according to an embodiment of the present invention;
figure 14 is a perspective view of a cross section of a support adjustment assembly according to an embodiment of the present invention; and figure 15 is a cross-sectional view of a support adjustment assembly according to an embodiment of the present invention. [0026] The same reference numbers in any set of drawings indicate the same characteristics or elements.
Detailed Description of the Drawings [0027] Figure 1 is a rear perspective view of a vehicle towing a hitch attachment implement on the ground 19 with lateral position adjustment along, or parallel to, the lateral geometric axis 21 to apply harvest entries with an adjustable lateral displacement with respect to one or more rows of plants, seed beds, drip tape, irrigation lines, reference lines or curves. The lateral axis 21 is substantially perpendicular to the vehicle's longitudinal axis 23 of the vehicle, the implement longitudinal axis 25 of the implement 19, or both, figure 1 shows that the hitch attachment on the ground 19 has a tank 102 to support harvest inputs such as chemicals,
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6/65 nutrients, fertilizer, ammonia, nitrogen, potassium, phosphorus, minerals, or other crop input. In an alternative embodiment, crop inputs may include fungicide, pesticide, herbicide, acaricide, or other crop treatment substances. In one embodiment, a spray pump 27 accepts an input from a crop input and pumps the crop input via a first collector 29 and tubes 33 to a group of corresponding first nozzles or first nutrient knives for application in rows harvesting plants or the soil; similarly, the spray pump 27 accepts an input from a crop input and pumps the crop input via a second collector 31 and tubes 33 to a group of corresponding second nozzles and second nutrient knives for application in crop rows plants or soil. [0028] In another configuration, tank 102 may contain pressurized ammonia, anhydrous ammonia, or another pressurized harvest inlet that has a pressure higher than atmospheric pressure so that spray pump 27 is not required, where tank 102 feeds directly a first collector 29, a second collector 31, and where the first collector 29 and the second collector 31 can be associated with the pressure regulator to regulate the pressure and flow of the pressurized collection inlet.
[0029] In one embodiment, a soil hitch attachment 19 comprises a front member 73 for coupling to a hitch 61. For example, the front member 73 may comprise a multi-section folding member, which includes multiple sections. In one embodiment, the front member 73 comprises a set of hinged sections that can be folded upwards, in which a central section (for example, the front member 275) of the hinged sections is associated with a hitch 61 for attachment to a vehicle. to pull or tow the implement. For example, front member 73 comprises a first front member 75 (for example, the first section), a second front member
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175 (for example, second section) and a front member 275 (for example, the third section). The first, second and third front members (75, 175, 275) can be articulated into joints or joints 79 to allow the first front member 75 and the second front member 175 to bend upwards with respect to the front member 275 ( for example, central member) and inwardly towards the longitudinal implement axis 25 for transport.
[0030] In one embodiment, a set of rear members 77 is associated with the front member 73, which comprises the first front member 75, the second front member 175 and the front member 275. As best illustrated in figure 4 and in figure 6, four rear members 77 are shown, although virtually any number of rear members greater than or equal to two can be used in alternative embodiments. For example, rear members 77 comprise a first rear member 84 associated with one or more corresponding first row units 93, a second rear member 184 associated with one or more second row units 193, a third rear member 284 associated with one or more more corresponding third row units 293 and a fourth rear member 384 associated with one or more corresponding fourth row units 393.
[0031] The hitch attachment on the ground 19 can be considered as a set of trapezoidal sections (95, 195, 295, 395), in which each section is formed by a segment or portion of the front member 73, a segment or portion of the rear member 77, and a pair of pivotable arms that pivotally interconnect the corresponding segments of the front member 73 and the rear member 77. Although figure 4 illustrates four trapezoidal sections, any number of trapezoidal sections greater than two can be used.
First Trapezoidal Section
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8/65 [0032] As illustrated in figure 4 with respect to a first trapezoidal section 95, a first rear member 84 is spaced from a segment or portion of the front member 73 and positioned generally parallel to a segment or portion of the front member 73. For example, a first rear member 84 is spaced from a first front member 75 and positioned generally parallel to the first front member 75. A first pair of first pivotable arms (76, 78) are generally parallel to each other. The first pair of first pivotable arms (76, 78) is rotatably connected to front member 73 or the first front member 75 at two front pivot points 82. The first pair of first pivotable arms (76, 78) is rotatably connected to the first rear member 84 at two rear pivot points 85. As best illustrated in the plan view of figure 4, the first front member 75, first pivotable arms (76, 78) and the first rear member 84 collectively form a pivotable trapezoidal structure that allows the first rear member moves along, or parallel to, the lateral geometric axis 21, which allows the opener (for example, nutrient knife 99) or first row units 93 to be laterally adjusted when vehicle 13 crosses a path, wide, a set of rows of plants, a set of rows of seeds, or seed beds planted.
[0033] At least one first opener (for example, nutrient knife 99 or hitch member in the projecting soil in figure 6) extends downwardly from, or with respect to, the first rear member 84. A first actuator 80 it has a first end 87 and a second end 88 opposite the first end 87. The first end 87 is coupled to one of the first pivotable arms (76, 78). In one embodiment, the second end 88 is coupled to the front member 73 or the first front member 75 to adjust the lateral position of the first row units 93 or the corresponding openers (for example, knives).
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9/65 nutrient 99 or other soil hitch members). However, in an alternative embodiment, the second end 88 can be coupled to a rear member or first rear member 84 to adjust the lateral position of the first row units 93 or the corresponding openers (for example, nutrient knives 99 or other members of coupling to the ground). The first actuator 80 increases or decreases the distance or extension between the first end 87 and the second end 88 to adjust the lateral position, such as the lateral position of the first rear member 84 with respect to the first front member 75. A first position sensor 68 is arranged to estimate a lateral position of the first row unit 93 with respect to the longitudinal geometric axis of implement 25 or any reference point in, or associated with, the front member 73, or the lateral position of the first opener (for example, the nutrient knife 99) with respect to the longitudinal geometric axis of implement 25 or any reference point in, or associated with, the front member 73. For example, the first position sensor 68 (in figure 3) can estimate the lateral position with base at an angle 90 between any first pivotable arm (76, 78) and the first front member 75 or the first rear member 84.
Second Trapezoidal Section [0034] In the second trapezoidal section 195, a second rear member 184 is spaced from the second front member 175 and positioned generally parallel to the second front member 175. The pivotable arms of a second pair of second pivotable arms (176, 178) are generally parallel to each other. The second pair of second pivotable arms (176, 178) is rotatably connected to the second front member 175 at two front pivot points 182. The second pair of second pivotable arms (176, 78) is rotatably connected to the second rear member 184 in two rear pivot points 185. As best illustrated in the plan view of figure 4, the second front member 175, second arms
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10/65 pivotable (176, 178) and the second rear member 184 collectively form a pivotable trapezoidal structure that allows the second rear member 184 to move along, or parallel to, the lateral geometric axis 21, which allows the opener (for example , nutrient knife 99) or second row units 193 will be laterally adjusted to a second side position when vehicle 13 crosses a path, width, a set of rows of plants, a set of rows of seeds, or seed beds planted .
[0035] At least one first opener (for example, nutrient knife 99 or hitch member on projecting soil) extends downwardly from, or with respect to, second rear member 184. A second actuator 180 has a first end 187 and a second end 188 opposite the first end 187. The first end 187 is coupled to one of the second pivotable arms (176, 178). In one embodiment, the second end 188 is coupled to the front member 73 or second front member 175 to adjust a second side position of the second row units 193 or the corresponding openers (for example, nutrient knives 99 or other hitch members). ). However, in an alternative embodiment, the second end 188 can be coupled to a rear member or second rear member 184 to adjust the lateral position of the second row units 193 or the corresponding openers (for example, nutrient knives 99 or other members of coupling to the ground).
[0036] The second actuator 180 increases or decreases the distance or extension between the first end 187 and the second end 188 to adjust the lateral position, such as the lateral position of the second rear member 184 with respect to the second front member 175. A second sensor of position 168 is arranged to estimate a second lateral position of the second row unit 193 with respect to the longitudinal geometric axis
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11/65 of implement 25 or any reference point in, or associated with, the front member 73 or the second front member 175; or the lateral position of the first opener (for example, nutrient knife 99) with respect to the longitudinal implement axis 25 or any reference point on, or associated with, the front member 73. For example, the second position sensor 168 (in figure 3) can estimate the lateral position based on an angle 90 between any first pivotable arm (76, 78) and the second front member 175 or the second rear member 184.
Third trapezoidal section [0037] In the third trapezoidal section 295, a third rear member
284 is spaced from the front member 275 and positioned generally parallel to the front member 275. A third pair of third pivotable arms (276, 278) are generally parallel to each other. The third pair of third pivotable arms (276, 278) is rotatably connected to the front member 275 at two front pivot points 282. The third pair of third pivotable arms (276, 278) is rotatably connected to the third rear member 284 at two points rear pivot bars 285. As best illustrated in the plan view of figure 4, front member 275, third pivotable arms (276, 278) and third rear member 284 collectively form a pivotable trapezoidal structure that allows third rear member 284 to move along, or parallel to, the lateral geometric axis 21, which allows the opener (for example, nutrient knife 99) or third row units 293 to be laterally adjusted to a third lateral position when vehicle 13 crosses a path, wide, a set of rows of plants, a set of rows of seeds, or seed beds planted. [0038] At least one first opener (for example, nutrient knife 99 or hitch member on projecting soil) extends downwardly from, or with respect to, third rear member 284. A third actuator 280 has a first end 287 and a second end
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288 opposite the first end 287. The first end 287 is coupled to one of the third pivotable arms (276, 278). In one embodiment, the second end 288 is coupled to the front member 73 or the front member 275 to adjust the lateral position of the third row units 293 or the opener (for example, nutrient knives 99 or other hitch members). However, in an alternative embodiment, the second end 288 can be coupled to a rear member or third rear member 284 to adjust the lateral position of the third row units 293 or the corresponding openers (for example, nutrient knives 99 or other members of coupling to the ground).
[0039] The third actuator 280 increases or decreases the distance or extension between the first end 287 and the second end 288 to adjust the lateral position, such as the lateral position of the third rear member 284 with respect to the front member 275. A third sensor position 268 is arranged to estimate a second lateral position of the third row units 293 with respect to the longitudinal implement axis 25 or any reference point on, or associated with, the front member 73 or the front member 275; or the lateral position of the first opener (for example, nutrient knife 99) with respect to the implement longitudinal geometry axis 25 or any reference point on, or associated with, the front member 73. For example, the third position sensor 268 can estimate the lateral position based on an angle 90 between any third pivotable arm (276, 278) and the front member 275 or the third rear member 284.
Fourth trapezoidal section [0040] In the fourth trapezoidal section 395, a fourth rear member
384 is spaced from the front member 275 and positioned generally parallel to the front member 275. A fourth pair of fourth pivotable arms (376, 378) has arms generally parallel to each other. The fourth pair
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13/65 of fourth pivotable arms (376, 378) is rotatably connected to front member 275 at two front pivot points 382. The fourth pair of fourth pivotable arms (376, 378) is rotatably connected to fourth rear member 384 at two points rear pivot pins 385. As best illustrated in the plan view of figure 4, the front member 275, fourth pivotable arms (376, 378) and the fourth rear member 384 collectively form a pivotable trapezoidal structure that allows the fourth rear member 384 to move along, or parallel to, the lateral geometric axis 21, which allows the opener (for example, nutrient knife 99) or fourth row units 393 to be laterally adjusted to a third lateral position when vehicle 13 crosses a path, width , a set of rows of plants, a set of rows of seeds, or seed beds planted.
[0041] At least one first opener (for example, nutrient knife 99 or hitch member on projecting soil) extends downwardly from, or with respect to, fourth rear member 384. A fourth actuator 380 has a first end 387 and a second end 388 opposite the first end 387. The first end 387 is coupled to one of the third pivotable arms (376, 378). In one embodiment, the second end 388 is coupled to the front member 73 or the front member 275 to adjust the lateral position of the fourth row units 393 or the corresponding openers (for example, nutrient knives 99 or other hitch members) . However, in an alternative embodiment, the second end 388 can be coupled to a rear member or fourth rear member 384 to adjust the lateral position of the fourth row units 393 or the corresponding openers (for example, nutrient knives 99 or other members of coupling to the ground).
[0042] The fourth actuator 380 increases or decreases the distance or extension between the first end 387 and the second end 388 to adjust the lateral position, such as the lateral position of the fourth rear member
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384 with respect to the front member 275. A fourth position sensor 368 (in figure 3) is arranged to estimate a fourth lateral position of the fourth row unit 393 with respect to the longitudinal geometric axis of implement 25 or any reference point no, or associated with, the front member 73 or the front member 275; or the lateral position of the first opener (for example, the nutrient knife 99) with respect to the longitudinal axis of implement 25 or any reference point on, or associated with, the front member 73. For example, the fourth position sensor 368 can estimate the lateral position based on an angle of 90 between any fourth pivotable arm (376, 378) and the front member 275 or the fourth rear member 384.
[0043] Still, in one mode, the first row units
93, the second row units 193, the third row units 293 and the fourth row units 393 can be adjusted laterally and independently of one another. For example, the control system 11 in figure 3 can control some row units (for example, any permutation or combination of 93, 193, 293 or 393) to be centered in the rows, while other row units are laterally moved to the right or to the left, and the lateral position of each separately adjustable set of row units can be continuously adjusted based on the implement's implement position (for example, when determined by an implement location determination receiver 66) in the field to track a path plan, to avoid obstacles, irrigation lines, or drip tape, or to vary the proximity of nutrients to the roots of plants or seeds based on soil characteristics, seed specifications, seed density, varieties / seed coatings, and agronomic prescription plan. Coupling [0044] As illustrated in figure 1, in one modality, a
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15/65 ground hitch implement 19 comprises a first front member 73 or third front implement member 275 for coupling to a hitch 61. As illustrated, hitch 61 comprises a three-point hitch assembly, although other configurations of hitch can be used. In one embodiment, the hitch 61 comprises a pair of lower arms 67 extending backwards from a rear part 15 of the vehicle 13, a set of upper arms 63 spaced from the lower arms 67, where each of the upper arms 63 is coupled to a corresponding lower arm 67 by means of one or more adjustable hydraulic coupling cylinders 65 which are able to adjust the height of the lower arms 67 and a first front member 75 of the implement 19 which is attached to the lower arms 67 in points lower hitch 71. An intermediate arm 17 extends backwards from the rear of the vehicle via a system of flexible connections and an upper hitch point 69 is attached to the first front member 75.
[0045] As illustrated in figure 1, the coupling, as an upper coupling point 69, can be associated with a coupling angle sensor (for example, magnetic field sensor 602) to measure an observed implement angle of the implement ( or its front member (73, 75)) with respect to one or more of the following: (1) the longitudinal axis of vehicle 23 of vehicle 13, (2) the direction of the vehicle, (3) a geometric axis that is coextensive to the front member. For example, a magnet 600 can be attached to, or integrated into, the upper engagement point 69 and a magnetic field sensor 602 can be attached to, or close to, the rear of vehicle 13 to detect a change in magnetic field that indicates an observed implement angle (for example, engagement angle) of the coupling or implement with respect to vehicle 13 or vehicle longitudinal axis 23.
[0046] In an alternative mode, the tensile force sensors
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16/65 options 45 can detect the observed implement angle of the coupling or the implement in relation to the vehicle 13 or the vehicle longitudinal axis 23.
[0047] In figure 1, vehicle 13 (for example, tractor) comprises a propulsion unit that can drive or energize the wheels or caterpillars that can track or cross over a guide path or path plan that is aligned with or coextensive with a center point (or any target displacement from the center point) between adjacent crop rows, to minimize damage to plants or seeds by wheels, tracks or tires. The guide path may comprise a linear path segment, a curved path, a contoured path, or a combination of any of the preceding paths.
[0048] In figure 3, in one embodiment, the vehicle is associated with a vehicle location determination receiver 34, such as a satellite navigation receiver (for example, with differential correction of the signal support phase), to estimate the position of the vehicle 13. The path of the vehicle wheels 104 or vehicle tires 13 and the path of the implement wheels 106 of the implement 19 can be guided consistently with interception or tracking of the guide path or route plan that is aligned com, or coextensive with, the center point (or any target offset from the center point) between adjacent crop rows. In the meantime, the hitch attachment on the ground 19, or its different row units (83, 193, 293 393), can be moved to a side position that is independent of keeping the wheels or tires of the tractor or implement 19 between the rows of plants.
[0049] Instead, the control system 11 or data processing system can adjust the lateral position of the hitch attachment on the ground 19 to have a displacement with respect to a row of plants or row of seeds so that the entries harvest (for
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17/65 example, nutrients, fertilizer, or nitrogen) are directed to, or dispensed into, a target zone (for example, an intermediate target zone) that is between the centerline between adjacent rows and the plant stems, stem or trunk of the plant row, or row of seed bed, drip tape segment, or irrigation segment.
[0050] The implement 19 can be equipped with several sets of coupling on the ground or the row units (93, 193, 293, 393. Under a first mode (for example, nutrient application mode) of operation, the units of rows are designed to apply nitrogen, anhydrous ammonia, fertilizer or other nutrients to rows of plants or seeds that have already been planted. In the first mode, control system 11 can be provided with planted data for plants or seeds, which is based in a location determination receiver, such as a satellite navigation receiver with differential correction, Real Time Kinematic (RTK) correction, or precise point positioning, which provides the coordinates (for example, in two or three dimensions) of seeds or rows of plants for the field and a data processing system that records the coordinates of seeds or rows of plants, which can be referred to as planted data or planting map data (for example, d as historical plantings from a planting that took place previously for the same field in the same growing season). Data such as planted or planting map data can be stored as files on electronic storage media, non-volatile electronic random access memory, optical discs, magnetic storage medium, in vehicle data memory 14, in vehicle data memory implement 52, or otherwise for powering the user interface of the control system 11, or for wireless communication with the control system 11.
[0051] In one embodiment, one or more location determination receivers (34, 66) determine the position of the implement in the field in relation to
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18/65 seed data as planted, seed density data, or both, where seed data as planted or seed density data can include any of the following: seed coordinates or row of plants (for example, two or three dimensions); position points that define linear or curved row segments; linear or quadratic equations that define linear or curved row segments; seed density data as planted for corresponding linear or curved row segments across one or more fields; the type of seed the corresponding tolerance to the concentration of fertilizer, components or corrosive salts that can dehydrate or damage the plant tissue; seed casing (for example, water-soluble polymeric casing, anti-corrosion) of the planted seed and the resistance or tolerance of a seed casing to the concentration of fertilizer, corrosive components or salts that can dehydrate or damage plant tissue.
[0052] In one configuration, control system 11 or its vehicle guide module 16 can guide the vehicle and implement 19 to track an implement path that has a target side offset (e.g. dynamically adjustable side offset versus position vehicle or implement) of the coupling elements on the ground, openers or implement knives with respect to the data as planted or planting map data. Also, if the data as planted includes types of seeds, seed shells, variables, or variable seed density, the target lateral displacement is dynamically adjustable versus the position of the vehicle or implement throughout the field, responsive to the type of seed, seed envelope, seed density, or soil parameters (for example, from the geotechnical study of the soil). For example, denser planting of seeds or certain types of seed (eg feed corn, for consumption by livestock, is more tolerant than sweet corn, for human consumption, the concentration of fertilizer salt) can tolerate
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19/65 higher concentrations of fertilizer, such as certain seed varieties or seeds with polymeric buffer wrap; therefore, the implement data processor 50 or the vehicle guide module 16 or the implement guide module 18 can decrease the target lateral displacement for particular areas of the field with the seeds, the seed types or seed shells that they tolerate higher concentrations of fertilizer (for example, or corrosive compounds or salts), specific areas of higher density of seeds or plants, where more seeds per unit area of land are planted. The implement data processor 50 or the implement guide module 18 varies the fixed or variable lateral displacement based on the seed density of the planted seed data, so that the first opener (for example, knife 99) of a first row unit (eg 93), second opener (eg knife 99) from the second row unit (eg 193), or both, be aligned with lateral displacement closer to the planted seed or plants with greater nearest seed density or plant spacing to provide nutrients. The row units (93, 193, 293, 393) of figure 1, figure 2, figure 4 and figure 6 are configured to work in the first mode. [0053] In a second way, with any of the row units described in figure 5A to figure 5D, the implement 19 can simultaneously apply nutrients and plant seeds in a single path efficiently across the field in a single pass. For example, the first row unit has a first outlet for the application of nutrients in a strip and a second outlet for planting seed with a fixed spatial separation, determined to prevent damage to the seed, for the concentration of nutrients to be applied; and in which the second row unit has a first seed outlet and a second nutrient outlet with a fixed spatial separation, determined to prevent damage to the seed for the concentration of nutrients to be applied. In a
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In the second mode, the implement data processor 50 or the implement guide module 18 does not dynamically vary the lateral displacement between the applied nutrient band and the row of seeds or plants, as in the first mode. Instead, the implement data processor 50 or the implement guide module 18 can fix the lateral displacement between the applied nutrient band and the row of seeds or plants with a certain target lateral displacement or target vertical displacement for a line of implement guide, curve or implement reference path. When used in this document, the nutrient strip can be composed of linear segments, curved segments, discontinuous segments or other nutrient patterns. One or more location determination receivers (34, 66) can determine an implement's position 19 in a field relative to an implement guide line, curve, or implement reference path. Here, lateral displacement, lateral movement or lateral displacement of the different trapezoidal sections or row units can be used for one or more of the following: (1) to balance or equalize pulling forces for planting at higher speeds than in any other possible way, (2) to shift the implement position to track a target implement path, and (3) to keep the implement within internal or external field boundaries, such as water courses, field perimeter, or away from irrigation lines and drip tape.
[0054] Consequently, in one embodiment, an implement data processor 50 or implement guide module 18 is adapted to adjust (for example, programmed with software instructions for) independently or collectively (for example, to adjust in unison) and simultaneously the angle 90 detected by the position sensors (68, 168) to be substantially identical when the lateral displacement of the row units (93, 193) occurs) the first lateral position of the first opener and the second lateral position of the second opener for track the data
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21/65 of seed as planted or plant locations in a field with a fixed or variable lateral displacement. In addition, the implement data processor 50 or the implement guide module 18 can control all or any number of row units in the implement in unison to move in a time synchronized manner, which means that the row units are synchronized or the electronically assembled row units can sweep through the same identical angles 90 at the same time, to move the implement 19 laterally to the right or to the left. The row units (493, 593, 693, 793), from figure 5A to figure 5D, can sustain the operation in the first mode, or both in the first mode and in the second mode.
[0055] In some embodiments, all of the coupling assemblies on the ground or the row units (93, 193, 293, 393) (for example, synchronized row units) of the implement 19 can be moved to have the same magnitude of displacement and the same direction in relation to one or more reference rows of plants or seed beds. However, in other embodiments, a first set of first row units 93, such as hitch sets on the ground, can be moved in the opposite direction and with the same magnitude for a second set of second row units 193 of the hitch sets in the soil; the first set and second row units may contain an approximately equal number of coupling assemblies on the ground or an equal and opposite pulling force between the first set and the second set. Traction or traction force is the force that is parallel to the longitudinal geometric axis of the implement, which is required to pull the implement, where the force can vary based on the width of the implement, the depth of the implement hitch on the ground, and the implement speed or speed. For example, the pulling force of each row unit of implement 19 may depend on the depth and width of the opener, knife or the hitch components on the ground and the speed
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22/65 or implement speed. For operation of implement 19 at higher speeds in the first mode (for example, nutrient application) or in a second mode (for example, simultaneous planting and nutrient application), the implement electronic components 48 or the control system 11 they can use traction compensation to equalize or balance traction, which can cause lateral deviations that can be tracked and documented as planted data-as. Traction compensation is subject to a maximum limit on lateral movement that is allowed for traction compensation to prevent damage to existing seeds, plant rows, irrigation lines, or to maintain internal or external field boundaries around the perimeter or obstacles.
[0056] Traction may depend on the interaction of the ground hitch elements with the ground or floor, such as the compound angle (e.g., lateral tilt, transverse tilt and yaw) of each ground hitch element, such as an opener, nutrient share or knife. As shown in figure 4 and figure 6, each engagement element on the ground, such as the nutrient opener or knife, has a corresponding spring 96 that tensions each engagement element on the ground in a substantially downward direction. For example, spring 96 is tensioned to allow the row unit or its engagement element (s) on the ground to have a vertical displacement, or upward, rotation band, responsive to the application of upward force on the spring 96 from the ground, which exceeds the threshold force (for example, proportional to the spring constant). Consequently, the spring can provide some protection against bending, breaking, or damaging the engagement elements on the ground, at least until the upward displacement is achieved.
[0057] In one embodiment, the implement 19 comprises an implement loader that can laterally move the coupling elements on the ground or the row units (93, 193, 293, 393) and apply nutrients independently, differently and dynamically precisely,
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23/65 fertilizer, nitrogen or other crop inputs, the effectiveness of which can be improved by controlling the lateral distance from a crop row. For example, a control system 11 can apply nitrogen in a typical side corn fertilizer application within a target zone of approximately 15.24 centimeters (or approximately six inches) from the row of plant stems or seed beds to improve the efficiency and effectiveness of this product, which are thus increased in order to improve plant yields and the efficiency of nutrient use. The target zone is positioned closer to the row of plant stems or seed beds than the typical 38.1 centimeter (fifteen inch) row spacing for corn in certain regions.
[0058] In one embodiment, implement 19 comprises a frame with a controllable displacement member or actuators (80, 190, 2080, 380) to move the sections laterally with respect to the rows or beds of plants. Each section has one or more row units (93, 193, 293, 393) as hitch assemblies on the ground to cover the entire width or width of the implement 19. The path of each row unit, section or set of ground hitch can be individually controlled in relation to a planted crop row, seed bed, drip tape, irrigation line, reference line or reference curve for corresponding zones or locations within a field.
[0059] The path of each row unit (93, 193, 293, 393) or implement section 19 can be controlled based on position or location data for implement 19 (its hitch assemblies on the ground) or vehicle 13 , such as one or more location determination receivers (34, 66), or associated antennas. If only the vehicle has a vehicle location determination receiver 34, a kinematic model can estimate the position of the implement 19, a reference point on the implement 19, or a reference point on one or more hitch assemblies on the ground or in the row units (93, 193,
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24/65
293 or 393) of the implement 19. In addition, each section has a position sensor (68, 168, 268,368), such as an angle sensor or rotary potentiometer, to estimate a lateral displacement of the coupling assembly on the ground or the respective row for implement 19 or an implement reference point 19 (for example, fixed frame reference point) on implement 19. Control system 11 can simultaneously track the independent side positions of the respective row units when implement 19 and the vehicle crosses a field.
[0060] In one embodiment, the control system in figure 3 has a user interface 41 to support the adjustment of a lateral displacement of the implement 19 or its coupling sets in the soil from a crop row, seed bed, drip tape, irrigation line, reference line, or reference curve. During a topographic survey of the field or otherwise, the reference positions of the crop rows, seed bed, drip tape, irrigation line, reference line or the reference curve, are stored on a field map by a operation of location determination receiver (34, 66) with differential correction, with corrections from kinematic reference receiver in real time, or precise point positioning settings.
[0061] During implement 19 operation, implement location determination receiver 66 estimates an observed implement position (or position of one or more hitch assemblies on the ground or row units (93, 193, 293, 393 ) of implement 19) with a target lateral offset (for example, user-defined target lateral offset) for the reference positions of the crop rows, seed bed, drip tape, irrigation line, reference lines or reference curves are stored on a field map. The current difference between the reference position and the corresponding observed implement position (or the position of one or more
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25/65 implement 19 solo) represents the lateral displacement observed.
[0062] In one embodiment, an implement location determination receiver 66 is adapted to determine an implement position or a reference position associated with the first front member 75 or the front member 73. An implement data processor 50 or the implement guide module 18 is configured to adjust the first lateral position, a second lateral position, a third lateral position, or a fourth lateral position, or any combination of the preceding lateral positions, based on the determined implement position or position of reference and given as planted with crop rows in a field to maintain: (1) substantially no lateral displacement (eg minus any tracking error) for an implement path plan or implement guide line for one or more implement locations, vehicle locations or areas within the field, or (2) a target lateral offset between an opener or row unit and the row of harvest (for example, row of seeds or row of plants) to one or more implement locations, vehicle locations or areas within the field, (3) a target side offset or between an opener or row unit and irrigation line positions in a field, drip tape positions in a field, internal field boundaries, external field boundaries, waterways or obstructions.
[0063] The observed lateral displacement can be adjusted automatically by measuring an error with respect to the crop row, seed bed, drip tape, irrigation line, reference line, or reference curve, and to automatically adjust the displacement lateral observed to meet or approach a target lateral displacement to reduce or attempt to reduce the position or tracking error to zero. The automatic adjustment can compensate for or remove the frame pull error of the fixed implement 19 in relation to the vehicle position and harvest positions.
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26/65 [0064] In an alternative embodiment, a vehicle imaging device 26, an implement imaging device 58, or both, and an image processing system 24, can estimate the observed lateral displacement or the error of the coupling assemblies in the soil with respect to the harvest position of the harvest rows, planted seeds, seed bed, drip tape, irrigation line, reference lines or reference curves are stored on a field map.
[0065] In another embodiment, the existing harvest row using row probes or tactile sensors can adjust the lateral displacement of the implement 19 relatively to remain precisely aligned with the target lateral displacement in relation to a harvest row, the seed bed, drip tape, irrigation line, reference line or reference curve.
[0066] The coupling set in the soil or nutrient knife could be any type of applicator for nitrogen, ammonia, fertilizer, which places the nutrients in a band below, inside or on the soil. In addition, the coupling set in the soil can support the planting and fertilization of seeds in a single pass through the field, which saves time and fuel and reduces entry costs for producers. A corrugator, roll or corrugated disc is associated with each row unit (93, 193, 293, 393), where the corrugated disc or roll follows the nutrient knife to cover any nutrients injected or applied with soil. The closure 98 may have notches 97 as cut edges.
[0067] Figure 2 is a front perspective view of a hitch attachment on the ground 19 that can be pulled or towed by a vehicle 13, such as a tractor. The hitch attachment on the ground 19 with lateral position adjustment in an arrangement that is foldable to become more compact for transportation purposes. A first trapezoidal section 95 and a second
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27/65 trapezoidal sections 195 are folded up with respect to central trapezoidal sections, such as the third and fourth trapezoidal sections (295, 395). [0068] In one embodiment, the first front member 75 pivots upwards with respect to the front member 275 in the joint 79, while the second front member 175 pivots upwards with respect to the front member 275 in the joint 79. In one mode, a The operator can manually unlock hinge 79 by moving or disengaging a pin, screw or otherwise manually rotating the first front member 75 and the attached row units 93 upward to a locking position. Similarly, the operator can manually unlock hinge 79 by moving or disengaging a pin, screw or otherwise manually rotating the second member 175 and the attached row units 193 upward to a locked position.
[0069] In an alternative embodiment, a primary actuator, such as a primary hydraulic cylinder, has ends connected between the first trapezoidal section 95 and the central trapezoidal section (for example, 395) or sections for raising and lowering the first section of attachments. A secondary actuator, such as a secondary hydraulic cylinder, has ends connected between the second trapezoidal section 195 and the central implement section (for example, 295) or sections, for raising and lowering the second trapezoidal section.
[0070] As illustrated in figure 1 and figure 2, implement 19 has implement wheels 106 and vehicle wheels 104, which are guided between rows of plants or consistent seed beds, preventing or minimizing damage to plants, drip tape or to move within target limits.
[0071] Figure 3 is a modality of a block diagram of the control system associated with a hitch attachment on the ground 19 with lateral position adjustment.
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28/65 [0072] Control system comprises vehicle electronic components 10 and implement electronic components 48. In one embodiment, vehicle electronic components 10 comprise a vehicle data processor 12, vehicle data memory 14, ports of data 22, and a vehicle image processing system 24, which can communicate with each other via the first data bus 20. In one embodiment, the vehicle image processing system 24 is coupled to a data formation device vehicle image 26 that can provide collected image data (e.g., stereo image data) to the vehicle image processing system 24.
[0073] The vehicle data processor 12 may comprise a microprocessor, a microcontroller, a programmable logic array, digital signal processor, an application specific integrated circuit, a logic circuit, an arithmetic logic unit, or other unit electronic data processing.
[0074] The vehicle data storage device comprises electronic memory, non-volatile random access memory, an optical storage device, a magnetic storage device, a magnetic hard disk drive, a magnetic tape, or other device for storing digital data.
[0075] In one embodiment, the vehicle data storage device stores one or more of the following modules, such as software modules: vehicle guide module 16 and implement guide module 18.
[0076] A vehicle location determination receiver 34 may comprise a satellite navigation receiver, such as a satellite navigation receiver or Global Positioning System (GPS) receiver with differential correction receiver to receive a differential correction signal from reference stations. The determination receiver
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29/65 vehicle location 34 can communicate directly with data port 22 of vehicle control system 11 or via vehicle data bus 32. In one embodiment, vehicle electronics 10 comprise a steering controller 36, a brake controller 38, and a propulsion controller 40, which can communicate via vehicle data bus 32. In turn, the steering controller 36 is coupled to the steering system 42; the brake controller 38 is coupled to the brake system 44; the propulsion controller 40 is coupled to the propulsion unit 46.
[0077] In one embodiment, steering system 42 comprises an electro-hydraulic steering system or electric steering system, where the electro-hydraulic steering system comprises a solenoid that controls the valve of a hydraulic steering system and where the electric steering system it comprises an electric motor that drives a rack and pinion gear or other mechanical steering linkage system. The braking system 44 may comprise an electro-hydraulic braking system, a cable braking system, or a mechanical braking system. The propulsion unit 46 comprises an engine, an electric motor, or the fuel metering device that is used in conjunction with an internal combustion engine.
[0078] In one embodiment, the first communications gateway 30 can communicate with vehicle data bus 32 and provides a security layer between the first wireless device 28 and vehicle data bus 32 or components vehicle electronics 10. In addition, the first communications gateway 30 provides buffer for storing communications between vehicle electronics 10 and implement electronics 48. [0079] Implement electronics 48 comprise a data processor implement 50, implement guide module
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30/65
18, implement data storage 52, and data ports 56 that can communicate with each other via the second data bus 54. In implement 19, an optional imaging device 58 is coupled to data ports 56.
[0080] In one embodiment, the first position sensor 68, the second position sensor 168, the third position sensor 268, and the fourth position sensor 368 are coupled to implement data buses 64 or data ports 56 Similarly, in one embodiment, the first actuator 80, the second actuator 180, the third actuator 280 and the fourth actuator 380 are coupled to implement data buses 64 or data ports 56. Each position sensor (68, 168 , 268, 368) may comprise a rotary position sensor; a magnet and magnetic field sensor (for example, Hall effect sensor); or pot. Each actuator (80, 180, 280, 380) can comprise a hydraulic cylinder, a linear actuator, a linear motor, an electric motor with a helical worm gear or rack and pinion gear, or the like.
[0081] In one embodiment, the first position sensor 68 may comprise an angle sensor, an optical sensor, a magnetic field sensor and an associated magnet, a potentiometer, a rotary potentiometer, or another sensor to measure an angle 90 between any first pivotable arm (76, 78) and a first front member 75 or first rear member 84 rotatably connected to the first pivotable arm (76, 78). In one embodiment, the second position sensor 168 may comprise an angle sensor, an optical sensor, a magnetic field sensor and an associated magnet, a potentiometer, a rotary potentiometer, or another sensor for measuring an angle 90 between any second arm pivotable (176, 178) and a second front member 175 or second rear member 184 rotatably connected to the second pivotable arm (176, 178).
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31/65 [0082] An implement location determination receiver 66 may comprise a satellite navigation receiver, such as a satellite receiver with differential correction receiver to receive a differential correction signal from reference stations. The implement location determination receiver 66 can communicate directly with the data port 56 of the implement electronics 48 or data processing system or via the implement data buses 64.
[0083] In one embodiment, the second communications gateway 62 can communicate with implement data buses 64 and provides a security layer between the second wireless device 60 and the second data bus 54 or the electronic components implement 48. In addition, the second communications gateway 62 provides buffer for storing communications between vehicle electronics 10 and implement electronics 48.
[0084] As illustrated in figure 4, the first actuator 80 and the second actuator 180 are mounted on opposite sides of the implement 25 longitudinal geometric axis. Also, the first actuator 80 and the second actuator 180 are mounted on the opposite internal rotating arms. In one embodiment, the first position sensor 68 may comprise a magnet mounted on a rotating arm and a magnetic field sensor mounted on the front member 73 or the first front support member 75, which is a section of the front member 73; the second position sensor 168 can comprise a magnet mounted on a rotating arm and a magnetic field sensor mounted on the front member 73 or the second front support member 175, which is a section of the front member 73. The first position sensor 68 and the second position sensor 168 provide sensor signals or sensor data to data ports 56 or the
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32/65 implement data processor 50 or implement guide module 18 to estimate or determine an angle 90, which in turn indicates the lateral displacement of the relative row unit or its opener (for example, the knife of nutrient 99) with respect to a reference point on the implement or front member 73.
[0085] In one embodiment, optional force sensors 45, such as voltage gauges or piezoelectric sensor modules, provide force signals or force data to data ports 56. Force sensors 45 are illustrated in dashed lines for indicate that they are optional and can be deleted in certain configurations. In one configuration, the force sensors 45 can be positioned on a structural member of the row unit (93, 193, 293, 393), which is subject to tensile forces or similar shear stress or tensile stress from the implement hook onto the floor for the opener (for example, nutrient knife 99), such as where the row unit is affixed to the rear member (84, 184, 284, 384). In another configuration, the force sensors 45 are positioned on the frame member 505 (figure 5A through figure 5C, inclusive). In an alternative configuration, the force sensors 45 can be associated with a mechanical connection between any relative rear member and frame member 505 or the row unit.
[0086] In one embodiment, in a traction force compensation mode, an implement data processor 50 or implement guide module 18 is adapted to adjust (for example, programmed with software instructions in data storage 52 for) independently or collectively the first lateral position of a first opener (for example, nutrient knife 99 and engagement element on the ground) of a first row unit (for example, 93) and the second lateral position and engagement element in the soil of a second opener (for example, nutrient knife 99) of a second row unit (for example
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33/65 example, 193) to balance or equalize the first or second pulling forces or to maintain such first and second pulling forces in the maximum target range of each other, where the first opener is positioned on one side of the longitudinal geometric axis implement and where the second opener is positioned on the opposite side of the longitudinal geometric axis of implement 25. In another embodiment, in a pull force compensation mode, an implement data processor 50 or the implement guide module 18 is adapted to adjust (for example, programmed with software instructions in data storage 52 for) independently or collectively the first side position and first vertical position of a first opener (for example, nutrient knife 99 or hitch element in the ground) of a first row unit (eg 93) and the second side position and second vertical position of a second opener (eg nutrient knife 99 or element coupling to the ground) of the second row unit (for example, 193) to balance or equalize the first or second pulling forces or to keep such first and second pulling forces in the maximum target range of each other, where the first opener is positioned on one side of the implement longitudinal axis and where the second opener is positioned on the opposite side of the implement longitudinal axis 25. The implement data processor 50 or implement guide module 18 can use any combination or weighting of the first observed traction forces, second traction forces, and the observed implement angle to minimize or reduce error in tracking the target implement heading at any given implement position.
[0087] Consequently, in a traction force compensation mode or traction force balance mode, the control system 11, the implement electronics 48, or the implement data processor 50 or the guide module of implement 18 is configured to
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34/65 apply equal and opposite forces (for example, opposite lateral forces of approximately the same magnitude), through the first actuator 80 and the second actuator 180, to the relative row units (93, 193), so that the units of row: (1) balance or equalize the pulling forces (for example, to fall within a certain maximum range of each other) associated with the ground engaging elements (for example, the first opener of the first row unit 93 and the second opener of the second row unit 193) of the row units (93, 193), and (2) prevent the implement 19 from being erroneously directed from a target implement path by the differential interaction of the coupling elements on the ground at from different row units (for example, on opposite sides of the longitudinal implement 25 axis) with the ground.
[0088] As illustrated in figure 4, the third actuator 280 and the fourth actuator 380 are mounted on opposite sides of the longitudinal axis of implement 25. Also, the third actuator 280 and the fourth actuator 380 are mounted on opposite internal rotating arms and associated with respective optional force sensors 45, such as piezoelectric sensor modules that provide force signals or force data to data ports 56. Consequently, in a tractive force balance mode, control system 11, implement electronic components 48, or the implement data processor 50 or the implement guide module 18, are configured to apply equal and opposite forces (for example, opposite lateral forces of approximately the same magnitude), via the third actuator 280 and from the fourth actuator 380, to the respective row units (293, 393), so that the row units can balance or equalize the pulling forces associated with the engagement elements on the ground of the row units (293, 393).
[0089] Figure 4 is a plan perspective view of a modality of a hitch attachment on the ground with position adjustment
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35/65 lateral. As previously indicated, each rear member (84, 184, 284, 384) is spaced from the respective front member (75, 175, 275, 375) and positioned generally parallel to the front member. A pair of pivotable arms (76, 78; 176, 178; 276, 268; 376, 378) have arms generally parallel to each other. The pivotable arms (76, 78; 176, 178; 276, 268; 376, 378) are rotatably connected to a front member (75, 175, 275, 375) at two front pivot points (82, 182, 282, 382 ). The pivotable arms are rotatably connected to the rear member at two rear pivot points (85, 185, 285, 385). At least one first opener (for example, 99) extends downwardly from, or with respect to, each rear member or its row unit (93, 193, 293, 393).
[0090] In one embodiment, the pivotable arms are rotatably connected to the front member 73 by means of supports 86, 186, 286. Similarly, the pivotable arms are rotatably connected to the rear members 77 by means of supports 86, 186, 286. In In one embodiment, each row unit (93, 193, 293, 393) is connected to the rear members 77 by means of fasteners or a display mechanism 189.
[0091] Each actuator (80, 180, 280, 380) has a first end (87, 187, 287, 387) and a second end (88, 188, 288, 388) opposite the first end. The first end is coupled to one of the pivotable arms (76, 78; 176, 178; 276, 278). The second end is coupled to the front member 75 to adjust the lateral position of the opener or each rear member 73 with respect to its corresponding first front member 75. A position sensor (68, 168, 268, 368) is arranged to estimate a position side of the first opener or the first rear member with respect to the front member 75. For example, the position sensor can estimate the lateral position based on an angle between any pivotable arm and the front member 73 or the rear member 77.
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36/65 [0092] Figure 5Α through Figure 5D, inclusive, represent alternative illustrative examples of row units (493, 593, 693 or 793) that can be used to replace row units (93, 193, 293, 393) in any implement configurations 19. Any of the row units can be coupled to the rear member 77 of the implement, such as the first rear member 84, the second rear member 184, the third rear member 284 or the fourth rear member 384, by means of a fastener and mounting plate (47, 147) or other mounting mechanism. [0093] Figure 5A is a side view of a first configuration of a row unit 493 or the ground hitch assembly for mounting on any rear member 77 of implement 19. Row unit 493 comprises a frame member generally horizontal 505 with a first support 502 and a second support 506, connected to, or integral with, the frame member 505. The first support 502 and the second support 506 extend downwardly from the frame member 505. The opener 501 it is supported by, or from, the first support 502. In one embodiment, an opener 501 (for example, the disk-shaped opener or coulter) is rotatable with respect to the first support 502; the opener 501 can be mounted on the first support 402 by means of a radial bearing or shaft 504 on a hub of the opener 501. However, in an alternative embodiment, the opener 501 can be fixed or non-rotating with respect to the first support 502.
[0094] In one configuration, the opener 501 may comprise a front coulter, a nutrient knife 514 that trails or follows a path of the front coulter, and where the nutrient knife and the front coulter are laterally aligned. In one embodiment, a knife 514 or sharp pointed member can be connected to, or extend from, the first support 502. As illustrated, knife 514 has a pointed front edge 524 to form or notch a groove in the ground or floor 523 .
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37/65 [0095] In one embodiment, knife 514 may comprise a nutrient knife with a first pass, first conduit, or first tube 518, which ends at a first outlet 522 (eg, treatment opening) to direct nitrogen , ammonia or other nutrient into the soil that knife 514 can move after the opener. From tank 102, tube 33 is connected to first tube 518 to supply nutrients, nitrogen, fertilizer or other crop input from tank 102, a pump 27, collector (29, 31) or pressure regulator.
[0096] In one embodiment, knife 514 may have a second passage, conduit or tube 516 that ends at a second outlet 520 for the deposition of seed within soil 523 within, or spaced from, the groove by a vertical separation, or both a vertical and horizontal separation between the first exit 522 and the second exit 520. In other embodiments, the first exit 522 and the second exit 520 have one or more of the following separations: a lateral separation, a vertical separation and longitudinal separation, in which seed and nutrients can be applied simultaneously to the soil, in a manner consistent with the separations. For example, as illustrated, the first outlet 522 and the second outlet 520 have a substantially vertical separation, where the fertilizer, nitrogen or nutrient is placed below the planted seed. In any of the row units (493, 593, 693) of figure 5A, figure 5B and figure 5D, the first outlet 522 can be positioned on one side of the first opener 501 and the second outlet 520 is positioned on one side opposite of the first 501 opener, so that there is lateral separation between the planted seed and the applied nutrients. However, nothing prevents the use of vertical separation alone for the row units (493, 593) of figure 5A and figure 5B, with respect to the vertical separation between the first exit 522 and the second exit 520.
[0097] In some configurations, in which the simultaneous planting of
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38/65 seed and fertilization of soil strips are carried out, each row unit (493, 593, 693, 793) can comprise a sowing unit, where the sowing unit is arranged to drop, place or insert one or more seeds within an opening formed by one or more openers (for example, opener 501, opener 526, or both) and one or more nutrient knives 514; one or more rollers or fastening wheels 508 follow the sowing unit to close or cover a seed or more seeds with the soil. For example, a seed hopper 510 for row unit 493 is capable of delivering seed (for example, by gravity) to an inlet hole 570 of the seed metering device 571 between the seed hopper 510 and the second outlet 520 The seed metering device 571 receives seeds by volume in the inlet orifice 570 and delivers seed in the outlet 572 at a controlled rate of one seed per unit time based on the speed of travel of the implement 19 through the field during planting. The outlet orifice 572 of the seed dosing device 571 is connected to the second tube 516, which ends at the second outlet 520 for the seed. In one embodiment, the seed metering device 571 may comprise a rotating metering disk with radially spaced seed cavities that are loaded with seed from the hopper 510 by gravity or pneumatic pressure, where the seed metering device 571 measures or releases seed in a controlled manner at a given rate (for example, or target seed density based on the speed of rotation of the dosing disc that is proportional to the speed of the implement 19) from the outlet orifice 572 when the dosage is rotated by an actuator or coupled to a coupling wheel on the ground or to the 501 opener.
[0098] In one embodiment, a fastening wheel 508 or closing is rotatable with respect to the second support 506; the fastening wheel 508 can be mounted on the second support 506 by means of a radial bearing
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39/65 or 504 axis in its hub. The firming wheel 508 closes, compresses or compacts the soil 523 after being broken by the opener 502 and knife 514 to capture or confine the nitrogen, ammonia or applied nutrient and to cover the seed planted by the soil 523. For example, the covered soil 523 can prevent ammonia from escaping to, or evaporating into, ambient air. The thrust wheel or clamping wheel 508 may comprise one or more wheels with annular cross sections that are substantially concave at the wheel-ground interface, convex at the wheel-ground interface, or cylindrical at the wheel-ground interface, or straight at the interface between ground wheel. The row unit 493 or the ground hitch assembly of figure 5A can be mounted on the implement 19 shown in figure 4, for example. The direction of travel of row unit 493 is indicated by arrow 521.
[0099] Figure 5B is a side view of a first configuration of another type of coupling assembly on the floor of row unit 593 for mounting on implement 19. The same reference numbers in figure 5A and figure 5B indicate the same elements . The row unit 593 or the ground hitch assembly of figure 5B is similar to the row unit 493 of figure 5A, except that the row unit 593 of figure 5B additionally comprises a front opener 526 or coulter in front of the opener 501. The front opener 526 is spaced from the opener 501 in the direction of travel of the implement 19. A third support member 552 or supplementary support extends downwardly from the frame member 505. In one embodiment, the front opener 526 comprises a coulter (for example, disc-shaped opener) which is rotatable with respect to the third support 552; the front opener 526 can be mounted on the third support 552 via the radial bearing or axle 504 on a hub of the front opener 526. The front opener 526 can more efficiently cut through crop residue and open heavier clay or moist soil than the use the 501 opener only.
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40/65 [00100] In one embodiment, the front opener 526, the opener 501 and the nutrient knife 514 are laterally aligned, so that the nutrient knife tracks or follows a generally linear or curved path through the soil of the front opener 526 and opener 501.
[00101] In figure 5B, the first tube 518 has a first outlet 522 for nutrients, fertilizer or other harvest outputs, while the second tube 516 has a second outlet 520 for coated seed or seed, where the first outlet 522 and the second outlet 520 can be on the same or opposite side sides of opener 501, or where first outlet 522 and second outlet can be spaced vertically, laterally or both to avoid burning or damage to seed coated or uncoated by a fertilizer or ammonia. If the seed is coated with an anti-corrosion, fungicidal, polymeric, water-soluble buffer barrier or other coating that protects the coated seed from burning (for example, by corrosive salts or compounds associated with, or not with, fertilizer), the separation of closure of the first outlet 522 and the second outlet 420 is sustained.
[00102] For example, the first outlet 522 of the first tube 518 can be placed below the second outlet 520 of the second tube 516, so that the nutrient knife incorporates or traps the nutrient or ammonia in the soil under the planted seed. However, in some embodiments, the second outlet 520 and the second associated tube 516 of figure 5B are eliminated to allow simultaneous planting and fertilization of the seed to save fuel. Here, the control system 11 of figure 3, in conjunction with the separately adjustable side offset of each trapezoidal implement section 19, can be used to plant the rows of seed with fertilizer in a single efficient pass through the field, and in alignment with buried drip tape, buried or surface irrigation lines, or in alignment with reference lines,
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41/65 reference, or reference curves close to water courses, natural characteristics, slopes, obstacles, or others.
[00103] In one embodiment, the control system 11 can independently and separately adjust the lateral position of different row units on opposite sides of the longitudinal implement axis 25 to balance or equalize the pulling forces associated with the different row units of the implements on opposite sides of the longitudinal geometric axis of implement 25 to allow the implement 19 to cross through the field in true alignment with a desired target path. For example, the actuators (80, 180, 280, 380) on opposite sides of the implement longitudinal geometric axis 25 can be configured to apply equal and opposite forces to the row units, so that the row units can balance or equalize the pulling forces associated with the ground engaging elements, such as one or more of the front opener 526, opener 501, knife 514 or closing wheel 508 or closure.
[00104] Figure 5C is a side view of a first configuration of a floor hitch assembly or row unit 693 for mounting on implement 19. The same reference numbers in figure 5B and figure 5C indicate the same elements. Row unit 693 of figure 5C is similar to row unit 593 of figure 5B, except that seeding and fertilizer and / or opening are carried out by separate openers (501, 526) which are: (1) laterally spaced each other by a fixed side spacing 560 or an adjustable side spacing, which is manually adjustable by a series of mounting holes or by an actuator (for example, linear actuator or electro-hydraulic actuator); and (2) longitudinally spaced from each other by a fixed longitudinal spacing 550 or an adjustable longitudinal spacing that is manually adjustable or by an actuator (for example, linear actuator or electrohydraulic actuator), where the lateral spacing 560 is substantially perpendicular to the geometric axis longitudinal
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42/65 of implement 25 and where the longitudinal spacing 550 is substantially parallel to the longitudinal geometric axis of implement 25.
[00105] In figure 5C, the first exit 522 is associated with the first opener 526 or front opener; second opener 501 or the rear opener is associated with the second outlet 520 with the longitudinal separation between the first outlet 522 and the second outlet 520 to obtain a target lateral separation and target longitudinal separation between a strip of applied nutrient and planted seed.
[00106] In one embodiment, the lateral spacing or separation between the first outlet and the second outlet can be manually adjusted by a series of holes that extend vertically through a transverse support member 559 to receive a fastener 557 to extend through a corresponding hole in the frame member 505 affixing the alignment of the transverse support member 559 and the frame member 505; thus, adjusting the 560 side spacing between the applied crop input (eg nitrogen) and planted seed. Similarly, in one embodiment, the longitudinal spacing or separation between the first outlet and the second outlet can be adjusted manually by a series of mounting holes 555 and a fastener 557 inserted through one of the mounting holes 555; thus, adjusting the 550 longitudinal spacing between the crop input (eg nitrogen) and planted seed. [00107] If the front opener 526 is associated with the dispensing of nitrogen harvest inputs or chemical harvest inputs, the rear opener 501 is associated with the seed dispensing, and vice versa. A large 508 fastening wheel or set of fastening wheels tracks behind the openers (501, 526). The front opener 526, the rear opener 501 and the fastening wheel 508 are rotatably mounted on the frame member 505 with respect to the respective supports (502, 552), or adjustable supports, which extend downwardly from the frame member 505.
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43/65
An optional nutrient knife can be associated with one or both of the openers that dispense with harvesting or seed entry into the soil 523.
[00108] If the side spacing 560 or separation between the openers in figure 5C is fixed, the control system 11 in figure 3 in conjunction with the lateral displacement can be used to plant the seed rows in alignment with buried drip tape, buried or surface irrigation lines, or in alignment with reference lines, reference contours, or reference curves close to water courses, natural features, slopes, obstacles or others.
[00109] If the lateral spacing 560 or separation between the openers of figure 5C, or instead of the lateral separation between the first exit 522 and the second exit 520, is adjustable, the lateral separation can be changed with the density of seeds planted, change in crop variety, or change in soil characteristics versus field position, for example. Figure 5C supports fuel savings through the simultaneous application of seeds and fertilizer.
[00110] Figure 5D is a side view of a first configuration of a row unit 793 or the ground hitch assembly for mounting on implement 19. The same elements in figure 5A through figure 5D indicate the same elements.
[00111] Figure 5D shows that a single opener 501 is used with one or more knives 514, such as a nutrient knife or blade on each side of the single opener 501. Also, the first exit 522 for seed and the second exit 522 for nutrients are on the opposite side sides of opener 501. The configuration in figure 5D can provide some lateral separation between the seed and the fertilizer, so that the additional vertical separation between the first exit 520 for seed and the second exit 522 for fertilizer it is used to prevent burning or damage to the seed, rather than reducing the concentration of fertilizer.
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44/65 [00112] A rear closure 608 may comprise a single closing wheel or double closing wheels, with or without notches in its circumference, for following the planted seed to compact and close the soil over the seed and the fertilizer.
[00113] Row unit 793 shows link members 562 that are connected to the stationary hub structure at one end and support 566 at an opposite end, which is connected to rear member 77. Link member 562 is associated with a spring suspension 561 which places a downward force on knife 514 and opener 501, but which allows upward displacement for forces exceeding a limit level proportional to the spring constant of suspension spring 561.
[00114] Figure 5E is a side view of a fourth configuration of a row unit or the ground hitch assembly for mounting on the implement. The row unit of figure 5E is similar to the row unit of figure 5C, except that the mounting holes 555 and the fastener 557 are omitted and the row frame 551 is attached to the rear member 77 by means of one or more fasteners 47 to support a laterally adjustable row assembly 475, as shown in figure 5F.
[00115] Figure 5F shows the fourth configuration of the row unit or hitch assembly on the ground along the reference line 5F-5F of figure 5E, where the row unit has a laterally adjustable row set 475 to adjust the 560 relative lateral spacing between seed and nutrient application on a dynamic or variable basis when the implement crosses a field. As shown in figure 5E and figure 5F, row frame 551 is attached or connected to a corresponding rear member 77. For example, row frame 551 is connected to the corresponding rear member 77 via one or more fasteners 47, where the row frame member 551 is generally U-shaped or has two orthogonally extending portions when viewed from
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45/65 above.
[00116] In one embodiment, a mobile support 605 has an adjustable lateral position 471 which is adjustable along a lateral adjustment range 472 associated with an opening in a row frame member 551. Support 605 is supported by a member drive 473 and a guide 474, where support 605 engages drive member 473 and guide 474 to support lateral movement of support 605 along drive member 473 and guide 474. For example, drive member 473 it may comprise a threaded rod or a rack that is driven by a 480 tier side position actuator, such as a linear motor or electric motor. In one configuration, the support 605 has internal threads for the interface with the threaded rod, while in an alternative configuration of the support it has a fixed pinion gear for the interface with the respective rack. The guide 474 can comprise a rod or bar that has an interface with radial bearings in the support 605 to provide stability for the support 605 and associated structure of engagement in the ground (for example, the opener 526) that are mounted in the support 605, or extending downwardly from the support by support 552. As illustrated, support 605 has a hollow core 507.
[00117] The row side position actuator 480 is responsive to control signals from an implement guidance module 18, implement data processor 50, or vehicle data processor 12 to control the lateral position 471 of the first output 522 of the first tube 518 or associated nutrient knife for nutrient application or placement or other crop entry with a defined lateral spacing 560 (for example, dynamically adjustable) with respect to the corresponding seed in the row or planted in an adjacent row. In one example, the side row actuator 480 can dynamically adjust the side spacing 560 when the implement progresses or crosses a field or zone
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46/65 within the field based on the position of the implement provided by an implement location determination receiver 66, or a vehicle location determination receiver 34.
[00118] In one embodiment, a row side position sensor 468 provides an observed or measured side position of the support 605 or its engagement element on the ground (for example, the opener 526) with respect to a referenced fixed point point on the implement, such as a reference point on the rear limb 77. As illustrated, the side position sensor 468 can comprise a magnetic field sensor 470 to detect a magnetic field associated with a magnet 470 mounted inside or on the holder 605 to estimate the side position of support 605. In an alternative embodiment, the row side position sensor 468 may comprise a position encoder or rotor position encoder that is integral with or associated with the side row position actuator 480. Although the figure 8 show a single side position sensor 468 and a corresponding side position actuator 480 for a row unit, in practice, a variation of figure 8 can include multiple sensors row position 466 and corresponding side position sensors 468 coupled to data ports 56, where there is a side row position sensor 468 and a corresponding side position sensor 468 for each row unit, which is independently or separately laterally adjustable.
[00119] In one embodiment, the side position actuators 480 of the 475 laterally adjustable row set are used, alone or cumulatively, in conjunction with the combined multiple row side adjustment via the position actuators (80, 180, 280, 380), where any individual lateral adjustments, separate or cumulative, can consider the lateral spacing between the applied nutrient band and the corresponding seeds (or seed density) of each row, and / or traction compensation to obtain target guidance lines or contours
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47/65 targets (for example, even when planting at the highest speed, as greater than approximately 5 to 7 miles per hour).
[00120] In an alternative embodiment, a set of sets of laterally adjustable rows 475 can be connected to a rear member 77, where the rear member 77 is directly connected to a coupling 61; the front member 75 is deleted, pivotable pairs of arms (76, 78, 176, 178, 276, 278, 376, 378) are deleted, and the position actuators (80, 180, 280, 380) are deleted so that only the side row adjustment is provided by a side position actuator 480 of the 475 side row adjustable row set.
[00121] Figure 5G is a side view of a fifth configuration of a row unit or coupling assembly on the ground for mounting on the implement. The row unit in figure 5G is similar to the row unit in figure 5D, except that the row unit in figure 5G additionally includes a downforce actuator 604 and laterally adjustable row unit 575. Figure 5H is a side view of a fifth configuration of a row unit or hitch assembly on the ground, when viewed along the reference line 5H-5H of figure 5G.
[00122] Figure 5G and Figure 5H collectively illustrate a laterally adjustable row set 575 to adjust (for example, dynamically adjust) the relative side spacing between adjacent rows with fixed side spacing between rows and application of nutrient when the implement crosses a field. The laterally adjustable row assembly 575 has a fixed row spacing between the first outlet 522 (for nutrient) and the second outlet 520 (for seed), although the associated opener 501 and nutrient knife 514 or cutter can sustain separation vertical (for example, fixed or variable) between the applied nutrient and the dispensed seed.
[00123] If the implement has at least two sets of rows
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Adjustable 48/65 575 for adjacent rows, the spatial separation of seeds between adjacent rows can be changed, the spatial separation of nutrients between adjacent rows can be changed, or both (for example, to support variable seed density or different treatment zones of nutrient within a field, where the nutrient spacing for the seed can be varied according to soil properties, elevation of the local soil or soil slope, growing environment, or others). Row frame 564 is attached or connected to a corresponding rear member 77. For example, row frame 564 is connected to the corresponding rear member 77 via one or more fasteners 47, where row frame member 564 is generally U-shaped or has two portions that extend orthogonally when viewed from above.
[00124] In one embodiment, a movable support 566 has an adjustable lateral position 471 which is adjustable along a lateral adjustment range 472 associated with an opening in the row frame member 564. Support 566 is supported by a member of drive 473 and a guide 474, where support 566 engages drive member 473 and guide 474 to support lateral movement of support 566 along drive member 473 and guide 474. For example, drive member 473 can comprise a threaded rod or a rack that is driven by a 480-row side position actuator, such as linear motor or electric motor. In one configuration, the support 566 has internal threads for the interface with the threaded rod, while in an alternative configuration the support has a fixed pinion gear for the interface with the respective rack. The guide 474 can comprise a rod or a bar that has an interface with radial bearings in the support 566 to provide stability for the support 566 and associated coupling structure on the ground (for example, the opener 526), which are mounted to the support 566, or extending downward from the support by support 552. In one embodiment, support 566
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49/65 has a hollow core.
[00125] The side row actuator 480 is responsive to control signals from an implement guidance module 18, implement data processor 50, or vehicle data processor 12 to control the side position 471 of a first row with in relation to a second row, where the first row and the second row are adjacent to each other and where within each row, the seed dispensed and the applied nutrient or crop input have a fixed lateral separation, or the combination of a lateral separation fixed and vertical fixed separation. In one example, the row side position actuator 480 can dynamically adjust the lateral separation between adjacent rows when the implement progresses or crosses a field or zone within the field based on the position of the implement provided by an implement location determining receiver. 66, or a vehicle location determination receiver 34. [00126] In one embodiment, a 468 row side position sensor provides an observed or measured side position of the support 566 or its engagement element on the ground (for example, the opener 526) with respect to a reference point of fixed point on the implement, as a reference point on the rear member 77. As illustrated, the lateral position sensor 468 can comprise a magnetic field sensor to detect a magnetic field associated with a magnet 470 mounted inside or in the holder 566 to estimate the lateral position of the holder 566. In an alternative embodiment, the row side position sensor 468 can comprise a position encoder or rotor position encoder that is integral with, or associated with, the row side position actuator 480.
[00127] As illustrated in figure 5G, the downforce actuator 604 can be coaxially mounted within a helical spring 561 between the link member 562 and the horizontal support 563. To increase the downforce on the row unit engaging the ground , to increase
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50/65 the vertical depth of the coupling element in the soil (for example, opener) in relation to the ground or soil level, to increase the depth of planting of the seeds, to increase the depth of nutrient of the nutrient or other harvest input, the downforce actuator 604 spans the length of its axis. Conversely, to decrease the downward force, to decrease the vertical depth of the coupling element in the soil relative to the ground or soil level, to decrease the depth of planting of the seeds, and to decrease the depth of nutrient of the nutrient or other harvest input, the 561 down force actuator contracts or reduces the extended length of its axis. In one embodiment, the downforce actuator 561 comprises a linear actuator, a hydraulic cylinder, a pneumatic cylinder, or an electric motor with an associated screw gear assembly. Vehicle data processor 12, implement data processor 50, or both, can provide control signals to the downforce actuator to dynamically adjust the downforce or vertical position of the ground engaging elements of one or more units row based on any of the following: (1) an implement implement position estimated by an implement location determination receiver 66, (2) an implement position estimated by a vehicle position of an implement location determination receiver vehicle 34 and a model (for example, kinematic model) of possible movement and implement location, estimated by a data processor (12, 50), (3), sensor data from traction force sensors 45, sensor coupling angle 602, or similar. Figure 6 is a plan view of an embodiment of a hitch attachment on the ground 19 with lateral position adjustment. The implement 19 of figure 6 is similar to the implement 19 of figure 4. The same reference numbers in figure 4 and figure 6 indicate the same elements or characteristics. In any modality described in this document, implement 19 can have a different number of units of
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51/65 row or coupling assemblies on the ground per implement section 19, or it can support a wider width of implement 19 than that illustrated in any of the drawings; such variations in the number of row units or width must fall within the scope of the appended claims.
[00128] Figure 7 is a modality of a block diagram of the control system (for example, electronic components and vehicle software) associated with a hitch implement on the ground with adjustment of the traction position (for example, vertical downward force) on a row-by-row basis and / or lateral position adjustment).
[00129] The control system of figure 7 is similar to a control system of figure 3, except that the system of figure 7 additionally comprises an angle sensor or magnetic field sensor 602 and one or more downforce actuators 604 associated with a or more corresponding row units (for example, in figure 5G). Also, in figure 7, the force sensors 45 are shown in dashed lines to indicate that the force sensors are optional.
[00130] In one embodiment, the implement guidance module 18, the implement data processor 50, the vehicle data processor 12, or any combination of the previous modules and data processors, determine whether the pulling force on the implement it is laterally unbalanced or is misaligning an implement path from a target implement course that is required to obtain target or planned row spacing of plants for seeds, crop inputs or both. In one embodiment, the magnetic field sensor 602 (in figure 1 and figure 7), one or more force sensors 45, or both, measure the observed implement angle. In another modality, the implement location receiver can estimate the observed implement angle and the respective implement position, so that a target implement course can be retrieved from a lookup table or from
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52/65 another data structure in the data storage device (14, 52). [00131] Vehicle electronic components 10, implement electronic components 48, or both, determine whether the observed implement angle is greater than a limit deviation from a target implement course, which is generally correlated to the course of the implement. vehicle for a given sampling interval. In other words, vehicle electronic components 10, implement electronic components 48, or both, first, determine an error that is a difference between the observed implement angle and the target implement course, and, secondly , determines whether the error exceeds the limit deviation indicative of an unbalanced pulling force on the implement.
[00132] In one embodiment, the target implement heading is determined by a vehicle path plan to obtain an appropriate seed bed, as planted, from seed rows, which is planted according to the standard or plan, which can be determined by any of the following: (1) a topographic survey or map of the field, its boundaries, headlands, water characteristics, hazards, and exclusion zones, (2) an area coverage plan so that the implement covers a field with adjacent parallel paths or widths in substantially linear rows, curved rows, contoured rows and / or spiral rows, (3) user input from the operator or an agronomist. Vehicle location receiver 34 and implement location receiver 66 determine vehicle position, implement position, or both (for example, in two or three dimensional coordinates) to track the target implement heading and the route plan stored in the data storage device (14, 52). The data storage device (14, 52) can store a target implement heading, a vehicle target heading, or both, to one or more corresponding points (for example, positions or coordinates) along the
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53/65 route plan. In one embodiment, an implement data processor 50 is adapted to retrieve the target implement heading from an implement data storage device 52, associated with the respective position.
[00133] If the observed implement angle is greater than the limit deviation, the vehicle data processor 12, the implement data processor 50, the implement guidance module 18, or a traction compensation system can direct the rear of the implement in the direction to a target course of the implement by one or more of the following: (1) actuation of one or more actuators (80, 180, 280, 380) on a side side (for example, left side or right side ) of the implement differently (for example, the relative movement or displacement between the actuators on opposite sides) than the other side to reduce or minimize the error (for example, difference between the observed implement angle and the target implement course), and / or (2) reduction of a downward force or downward pressure (normal to soil or Earth) in one or more row units or their associated hitch elements (for example, disc, coulter, nutrient opener or knife) on one side of the implement with respect to to the other ground engaging elements (for example, opposite ground engaging elements) on the opposite side of the implement, such as by detecting a signal to the downforce actuator 604 in figure 5G, to reduce or minimize the error (for example, example, difference between the observed implement angle and the target implement course). In one example, if an actuator (80, 180, 280, 380) moves an engagement element on the ground laterally outward (for example, to the right on the right side of the implement implement facing in a direction of implement detachment forward ) on one side of the implement, the implement is driven with lateral traction compensation to rotate one front of the implement (for example, to the left) towards the opposite side of the implement; vicePetition 870180039383, of 11/05/2018, p. 61/98
54/65 versa. In another example, the downforce actuator 604 places differential pressure on the row units on one side of the implement with respect to the row units on the opposite side of the implement, where the row units with the highest downforce pressure on solo result in the implement decelerating on the side with the highest downward pressure to pull the front of the implement towards the side with the highest downward pressure; and vice versa.
[00134] Consequently, the implement guidance module 18, the vehicle data processor 12 and the implement data processor 50, separately or collectively, can control the actuators (80, 180, 280, 380) and the actuators downward force (604) associated with different row units to substantially equalize the pulling force on opposite sides of the implement and to maintain a target implement guidance path (for example, with straight straight rows, curved rows, spiral rows , parallel rows, parallel implement widths, or otherwise). However, increasing the downforce by downforce actuators (604) may temporarily increase the seed depth of the planted seeds or the nutrient depth of the nutrient placed during a time interval in which the tensile correction is applied, or one or more rows can be moved laterally during the time interval in which traction correction is applied, so that the vehicle guide module 15, vehicle data processor 12 or implement data processor 50 can place limits ( for example, standard settings that can be defined by user or factory) on traction compensation, maximum downward force or maximum lateral displacement of one or more rows for traction compensation (for example, so that the planted seeds germinate and grow appropriately for reliable target production and the resulting plants can be harvested with a combine or harvesterPetition 870180039383, of 1 5/1/2018, p. 62/98
55/65 conventional harvester with certain row spacing).
[00135] Figure 8 is a modality of a block diagram of the control system (for example, electronic components and vehicle software) associated with a hitch implement on the ground with position adjustment of one or more side rows. The control system in figure 8 is similar to the control system in figure 3, except that the control system in figure 8 additionally includes a row side position sensor and a row side actuator, consistent with the row units illustrated in figure 5E and figure 5F, collectively, and figure 5G.
[00136] Referring now to figures 11-15, an implement system 700, a hitch attachment to the ground 710, and / or a row unit 712 is / are illustrated in accordance with another embodiment of the present invention. Figure 11 illustrates an implement system 700 having a frame member 714 supporting an opener 716 and a first outlet 718. System 700 of one embodiment additionally includes a second outlet 720 that provides seed or any other applicable material described in one or more embodiments of the present invention. First outlet 718 provides one or more nutrients, including any fertilizer, nutrient, or other applicable material described in any embodiment of the present invention. Similarly, opener 716 includes a structure and / or a function described in any embodiment of the present invention. The first outlet 718 and the second outlet 720 are laterally separated, as when system 700 simultaneously provides seed and nutrients to the soil in a non-limiting example.
[00137] As illustrated in figure 12, with continued reference to figure 11, a support adjustment set 722 and a laterally adjustable support 724 are provided. It will be recognized that any (any) portion (s) or all of the set 722 shown in figures 12 to 15 can be combined or replaced by any (any) or all (s) of the (s)
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56/65 mobile support (s) 566, 605 described above. Although set 722 of the illustrated modality is used for nutrient application, set 722 and / or system 700 is / are used for sowing, row cleaning, and / or any other application capable of being carried out by an implement. Assembly 722 is coupled to frame member 714 of implement 710 or implement system 700. Support 724 is coupled to opener 716 and the first outlet 718. Support 724 has or is configured to be positioned in a finite plurality of positions of adjust so that the lateral adjustment of the support 724 results in a lateral adjustment of the first outlet 718 and the opener 716. Such adjustment results in lateral separation between one or more seed row (s), as described in more detail below with respect to figures 9 and 10, provided by the second outlet 720 and a row or strip of nutrient, as described in more detail below with respect to figures 9 and 10, provided by the first outlet 718. In additional modes not illustrated, two or more sets 722 or 700 systems to perform cooperatively and / or independently tasks and / or apply nutrient, seed, or other material. [00138] As illustrated in figures 13 to 15, the support adjustment set 722 includes a plurality of side spacers 726 positioned adjacent to the support 724. The side spacers of the plurality of side spacers 726 cooperate with each other to adjust the support 724 laterally. In the embodiment illustrated in figures 12 to 16, each of the plurality of side spacers 726 is movable or removable. Each spacer 726 can be initially positioned on a first side 728 of the support 724 or a second side 730 of the support 724 which is opposite the first side 728. To adjust the lateral position of the support 724, one or more of the spacers 726 are removed from from a starting position, the support 724 is moved towards the previous position of the removed spacers 726, and the removed spacers 726 are replaced on the side of the support 724 opposite the side of the starting position.
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57/65 [00139] In one embodiment, the set 722 includes a frame fixing member 736 by coupling the set 722 to the frame member 714. Such coupling is used with one or more fasteners 738 in the illustrated embodiment, but can be done by welding, interference fit, integral formation, and / or any other coupling structure or method understood by a person having common knowledge in the art. [00140] As illustrated in figure 13, the set 722 of an embodiment includes a first end member 732 to be positioned on the first side 728 of the support 724 and a second end member 734 to be positioned on the second side 730 of the support 724 In the illustrated embodiment, the first and second end members 732, 734 are attached or otherwise coupled to the frame display member 736. Spacers 726 and support 724 are positioned between the first and second end members 732, 734 , and the first and second end members 732, 734 limit the movement or positioning of the plurality of side spacers 726 and / or the support 724.
[00141] As shown in figures 13 to 15, the support adjustment set 722 of an embodiment additionally includes one or more elongated support member (s) of the support 742, which extend laterally and support the support 724. In the illustrated embodiment , each of a support upper support member 744 and a support lower support member 746 support the support 724 and allow support 724 to slide or otherwise move laterally along the support upper support member 744 and of the lower support member 746. The support member (s) 742 and a positioning of the spacers 726 allow the support 724 to be positioned along a finite plurality of adjustment positions.
[00142] As shown in figures 14 and 15, each of the plurality of
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58/65 side spacers 726 is a general L-shaped plate with a concave or convex portion 752, facing a frame display member 736. The side spacers 726 of the illustrated embodiment are each shaped so that each one has an upper portion 748 and a lower portion 750 extending in a direction substantially perpendicular to the upper portion 748. Substantially perpendicular is between 70 and 110 degrees, in one embodiment, between 80 and 100 degrees in one embodiment, and between 85 and 95 degrees in one mode.
[00143] Figures 13 and 14 illustrate the support adjustment set 722 of one embodiment additionally including one or more elongated gripping member (s) 740 maintaining the position of the plurality of side spacers 726. In the illustrated embodiment, a a single gripping member 740 is positioned between, and extends through, the first end member 732 and the second end member 734 and extends through the support 724. In the illustrated embodiment, the spacers of the plurality of side spacers 726 are removable in removing the single grip member 740. Spacers of the plurality of side spacers 726 contact one or more primary grip surface portion (s) 760 of grip member 740. Once when grip member 740 is removed , the lower portion 750 of one or more of the side spacers 726 can be moved horizontally away from the frame member 714 to allow the spacer (s) 726 to be lowered and removed. it is then reversed to replace spacer (s) 726 on an opposite side of support 724 after movement of support 724.
[00144] In the illustrated embodiment, the supporting support member (s) 742 at least partially supports (s) the plurality of lateral spacers 726 on one or more support surface (s) of the outer spacer (s) 754 As shown in figure 15, the upper portion 748 is horizontally supported by the upper supporting support member
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744 on one or more secondary grip surface portion (s) 758 of the upper support member 744 and the lower portion 750 is vertically supported by the lower support member 746 on the one or more portion (s) secondary grip surface (s) 758 of the lower support member 746. The plurality of side spacers 726 additionally includes one or more internal spacer support surface (s) 756. The internal spacer support surfaces 756 contact a frame display member 736, in the embodiment illustrated above and below the concave portion 752.
[00145] The side spacers 726 allow the positioning of the support 724 in a plurality of adjustment positions. In the illustrated mode, the increments to adjust and the number of finite or discrete adjustment positions depend on the thickness of the spacers 726. Each of the spacers 726, in the illustrated mode, has a thickness of 1.27 cm ('/ 2 ”) for allow adjustment increments of 1.27 cm ('/ 2 ”). However, in additional embodiments, any other thickness of the spacer (s) 726, and therefore an increment of fit, is included in the present invention. In addition, the plurality of spacers 726 can include different thicknesses so that relatively larger and smaller incremental adjustments can occur with the same set 722 depending on the spacer (s) 726 selected or replaced in the set 722. The plurality of spacers 726 supports a set of discrete side adjustments for each row unit, which can be independently varied from other row units or coordinated with other row units. If each of the plurality of spacers 726 has a uniform thickness, lateral adjustment is achieved by replacing spacers with a uniform thickness. If the plurality of spacers 726 includes spacers 726 having different thicknesses, such as one or more spacer (s) 726 having a fractional thickness of other spacers 726, the lateral adjustment can be finely tuned by
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60/65 replacement or replacement of one or more spacer (s) 726 having a fractional thickness and / or replacement of one or more spacer (s) of standard thickness 726 with one or more spacer (s) of fractional thickness 726.
[00146] Figure 9A shows a plan view of a row of 907 seeds of seeds planted in the soil in a generally linear row, spaced from a 903 nutrient strip (eg fertilizer, nitrogen or anhydrous ammonia) in the soil by a substantially uniform distance or lateral separation 901. As illustrated, the seeds within the seed row 907 are planted with uniform seed spacing to seed 902, lateral slope or density. The nutrient strip 903 can be placed in the lateral separation strip 906 between a minimum lateral separation 905, as indicated by the dashed line, and a minimum lateral separation 904, as indicated by linear or curved segments, composed of double points and alternating long strokes. . As illustrated, the nutrient strip 903 is, in an intermediate or medium lateral separation, within the lateral separation strip 906. Although a row of seeds 907 and a corresponding nutrient strip 903 are illustrated in figure 9A, in practice, any number rows of seeds and corresponding nutrient bands can be arranged in a substantially parallel manner in linear, curved, contoured or spiral arrangements, among others. Any of the modalities of the implement systems, soil hitch implements, and / or row units for the implements described in the present invention are used to plant the seeds and / or apply the nutrients according to the pattern of figure 9A. For example, the row units in figure 5A through figure 5H can be used to plant the seeds and apply the nutrient with uniform lateral spacing between the rows of planted seeds and the applied nutrient band.
[00147] Figure 9B shows a plan view of a row of seeds
Petition 870180039383, of 11/05/2018, p. 68/98
61/65 planted in a generally linear row with variable seed density and spaced from the fertilizer or nutrient in the soil by a variable distance or separation. The pattern of planted seed and the applied nutrient is similar to figure 9A and figure 9B, except: (1) seed-to-seed spacing (910, 912), side seed pitch or seed density is variable in figure 9B and (2) the lateral separation (908, 909) between seed row 917 and nutrient range 913 is variable. For example, the lateral separation (908, 909) between seed row 917 and nutrient strip 913 varies proportionally to seed density or changes in seed density, so that: (1) nutrient strip 913 has a first lateral separation 908 (for example, lateral separation the closest or closest) adjacent to a maximum or greater seed density 910 in the seed row 917; (2) the nutrient strip 913 has a second lateral separation 909 (for example, furthest lateral separation 909) adjacent to the minor, minimum or average seed density 912 in the seed row 917. Although a seed row 917 and a corresponding nutrient range 913 are illustrated in figure 9B, in practice, any number of seed rows and corresponding nutrient range can be arranged substantially parallel in linear, curved, contoured or spiral arrangements, among others.
[00148] The implement that is equipped with one or more row units shown in figure 5E and figure 5F, collectively, can obtain the pattern of the row of planted seeds and nutrient range illustrated in figure 9B. Advantageously, the lateral separation (908, 909) can be varied within the lateral separation range 906 on a dynamic basis when the implement passes through the field, where the seed density is tracked via the seed metering device, a receiver implement location determination 66, and or a vehicle location determination receiver 34.
Petition 870180039383, of 11/05/2018, p. 69/98
62/65 [00149] Figure 9C shows a plan view of two adjacent rows of seeds (917, 927), planted in generally linear rows with variable seed density and spaced from the fertilizer or nutrient range (913, 923) in the soil for a variable distance or separation, where the seed density (910, 912) and variable lateral separation (908, 909) can be independent of each other in the adjacent rows. The pattern of planted seed and the applied nutrient is similar to figure 9B and figure 9C, except: (1) a seed spacing from seed 912, lateral seed pitch or seed density is variable in two adjacent rows, and a spacing from seed to seed 912 of the two adjacent rows can be varied independently with respect to each other or in some other relationship between the two adjacent rows; (2) the first lateral separation (908, 909) between the seed row 917 and the corresponding nutrient range 913 is variable; (3) the second lateral separation (908, 909) between the row of seeds 927 and the corresponding range of nutrient 923 is variable. For example, the lateral separation (908, 909) between seed row 917 and nutrient strip 913 varies proportionally to seed density or changes in seed density of adjacent seed row 917, so that: (1) the strip of nutrient 913 has a primary lateral separation 908 (for example, closing, lateral separation the closest or minimum) adjacent to the largest or maximum seed density 910 in the seed row 917; (2) nutrient strip 913 has a secondary side separation 909 (for example, side separation further away) adjacent to the minor, minimum or average seed density 912 in the seed row 917. Although two seed rows (917, 927) and corresponding range of nutrients (913. 923) are illustrated in figure 9C, in practice, any number of rows of seeds and corresponding range of nutrients can be arranged in a substantially parallel way in linear, curved, contoured or spiral arrangements, among others.
Petition 870180039383, of 11/05/2018, p. 70/98
63/65 [00150] The implement that is equipped with one or more row units shown in figure 5E and figure 5F, collectively, can obtain the pattern of the row of planted seeds and nutrient range illustrated in figure 9B. Advantageously, the lateral separation (908, 909) can be varied within the lateral separation range 906 on a dynamic basis when the implement passes through the field, where the seed density is tracked via the seed metering device, a receiver implement location determination 66, and or a vehicle location determination receiver 34.
[00151] Figure 10 shows a plan view of two adjacent seed rows (907, 917) of seed, where the lateral separation 952 between seed row 907 and a respective nutrient band 903 within a given aggregate row is fixed, where the lateral separation 954 between rows of seeds 917 and a respective nutrient strip 913 is fixed, and where the lateral separation 951 between adjacent rows of seeds (907, 917) is variable. When used here, an aggregate row includes the seed row (907 or 917) and the respective nutrient range (903 or 913).
[00152] The implement that is equipped with one or more row units shown in figure 5G and in figure 5H, collectively, can obtain the pattern of the row of planted seeds and nutrient strip illustrated in figure 9B in a row unit pass that simultaneously plants seed and applies a corresponding range of nutrient. Advantageously, the lateral separation 951 can be varied within the lateral separation range on a dynamic basis when the implement traverses through the field, where the seed density is tracked by means of the seed metering device, a location determination receiver. implement 66, and or a vehicle location determination receiver 34.
[00153] In one example, the implement data processor 52 varies the lateral separation between a first row of seed seeds
Petition 870180039383, of 11/05/2018, p. 71/98
64/65 planted and a second row of seeds based on the seed density of the first row of seeds from the observed seed density or the observed seed spacing. In another example, the implement data processor 52 can decrease the lateral separation between the first row of planted seed seeds and the second row of seeds for increased seed density or maximum seed density, associated with a respective particular position. , zone or region in the first row of seeds and in the second row of seed, collectively. Conversely, the implement data processor 52 can increase the lateral separation between the first row of planted seed seeds and the second row of seeds for decreased seed density or minimum seed density, associated with a particular position , zone or region of the first row of seeds and the second row of seed, collectively.
[00154] In one embodiment, the implement data processor 52 limits the lateral separation between a first row of planted seed seeds and a second row of seeds based on a row spacing limit, associated with a combine or harvester -reaper to harvest the harvest that results from the rows of planted seeds.
[00155] Although the invention has been illustrated and described in detail in the drawings and in the preceding description, such illustration and description should be considered as exemplary and not restrictive, being understood that illustrative modalities were shown and described and that all of the alterations and modifications that fall within the spirit of the invention are desired to be protected. It will be appreciated that alternative embodiments of the present invention may not include all of the features described, but still benefit from at least some of the advantages of such features. Those of ordinary knowledge in the art can easily
Petition 870180039383, of 11/05/2018, p. 72/98
65/65 to design their own implementations that incorporate one or more of the features of the present invention and fall within the spirit and scope of the present invention as defined by the appended claims.
[00156] Although the above describes exemplary embodiments of the present invention, these descriptions should not be viewed in a limiting sense. On the contrary, other variations and modifications can be made without departing from the scope and spirit of the present invention as defined in the appended claims.
Petition 870180039383, of 11/05/2018, p. 73/98 / 4

权利要求:
Claims (20)
[1]
1. Implement system, characterized by the fact that it comprises:
a first outlet configured to provide at least one nutrient;
a second outlet configured to provide seed, wherein the first outlet and the second outlet are laterally separated during the simultaneous provision of seed and nutrients;
an opener configured to open the soil;
a frame member configured to support the opener and the first exit; and a laterally adjustable support, coupled to the opener and the first outlet and having a plurality of adjustment positions so that the lateral adjustment of the support results in a lateral adjustment of the first outlet and an adjustment of a lateral separation between a row of seeds provided the second outlet and a row of nutrients provided by the first outlet.
[2]
System according to claim 1, characterized in that it additionally comprises a support adjustment set coupled to the frame member, wherein the support adjustment set facilitates lateral adjustment of the support by removing at least one spacer side held captively that adjusts the lateral adjustment.
[3]
System according to claim 2, characterized in that the support adjustment set further comprises a plurality of side spacers which are positioned adjacent to the support to adjust the support laterally.
[4]
System according to claim 3, characterized in that the support adjustment set additionally comprises at least one gripping member configured to hold a position of the plurality of lateral spacers.
Petition 870180039383, of 11/05/2018, p. 74/98
2/4
[5]
System according to claim 4, characterized in that the at least one gripping member comprises a single gripping member at least partially supporting the plurality of side spacers on a portion of the primary gripping surface so that the hair least one side spacer is removable when removing the single gripping member.
[6]
System according to claim 3, characterized in that the support adjustment set further comprises a first end member and a second end member configured to limit the movement of at least one of the support and the plurality of spacers side.
[7]
System according to claim 3, characterized in that the support adjustment set additionally comprises at least one support support member that extends laterally and supports the support along the finite plurality of adjustment positions.
[8]
A system according to claim 7, characterized in that the at least one supporting support member at least partially supports the plurality of lateral spacers in a secondary grip surface portion.
[9]
System according to claim 7, characterized in that the at least one supporting support member comprises a plurality of supporting support members.
[10]
System according to claim 9, characterized in that each of the plurality of supporting support members at least partially supports each of the plurality of lateral spacers.
[11]
11. System according to claim 3, characterized by the fact that each of the plurality of lateral spacers comprises:
an upper portion; and
Petition 870180039383, of 11/05/2018, p. 75/98
3/4 a lower portion that extends in a direction substantially perpendicular to the upper portion.
[12]
System according to claim 1, characterized in that the laterally adjustable support includes a discrete plurality of adjustment positions, and the lateral adjustment of the support results in a lateral adjustment of the first outlet and the opener.
[13]
13. Support adjustment set for coupling to an implement frame member, the set characterized by the fact that it comprises:
a laterally adjustable support configured to be coupled to an opener and a first outlet that provides at least one nutrient; and a plurality of side spacers positioned adjacent to the support to laterally adjust the support and provide a plurality of adjustment positions, the support adjustment set facilitating the lateral adjustment of the support by removing at least one captive maintained side spacer that adjusts the adjustment lateral support, a lateral adjustment of the first outlet, and an adjustment of a lateral separation between a row of seeds provided by a second outlet and a row of nutrients provided by the first outlet.
[14]
Assembly according to claim 13, characterized in that it additionally comprises at least one gripping member configured to hold a position of the plurality of lateral spacers.
[15]
15. Assembly according to claim 14, characterized in that the at least one gripping member comprises a single gripping member so that at least one of the plurality of lateral spacers is removable when removing the single gripping member.
Petition 870180039383, of 11/05/2018, p. 76/98
4/4
[16]
16. Assembly according to claim 13, characterized in that it additionally comprises a first end member and a second end member configured to limit the movement of at least one of the support and the plurality of side spacers.
[17]
17. Assembly according to claim 13, characterized in that it additionally comprises at least one supporting support member that extends laterally and supports the support along the finite plurality of adjustment positions.
[18]
18. Assembly according to claim 17, characterized in that the at least one supporting support member at least partially supports the plurality of lateral spacers.
[19]
19. Assembly according to claim 17, characterized in that the at least one support support member comprises a plurality of support support members, each of the plurality of support support members at least partially supporting each one. the plurality of side spacers.
[20]
20. Assembly according to claim 13, characterized in that the plurality of side spacers provides a discrete plurality of adjustment positions, thus adjusting the first outlet and the opener laterally.
Petition 870180039383, of 11/05/2018, p. 77/98
1/20

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法律状态:
2018-12-04| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|

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