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    • 专利摘要:
    Sowing control system and method The present invention relates to a sowing control system and method for improving production by minimizing over-planting and under-planting during planting operations. As the seeder crosses the field, an accurate seed positioning map is created by associating the time of each seed pulse generated by the seed sensors with the location of a GPS unit. Based on the generated seed positioning map, a planting stop boundary is defined by the previously planted seed or another field boundary, so that when a seed drill cutter crosses the planting stop border, the row cutter detach the triggers from the corresponding seed meters, to avoid planting seeds. The row cutter controllers cause the triggers to reseat to allow planting to resume when the affected row counters move past the planting stop border.
    公开号:BR112013002104B1
    申请号:R112013002104-7
    申请日:2011-07-27
    公开日:2020-10-27
    发明作者:Phil Baurer；Keith Beyer；Ben Schlipf；Justin Koch
    申请人:Precision Planting Llc；
    IPC主号:
    专利说明:

    [001] The present invention relates to a sowing control system and method. CROSS REFERENCE TO RELATED ORDER
    [002] This application claims the benefit of U.S. provisional application No. 61 / 368,117, filed on July 27, 2010. BACKGROUND
    [003] Sowing machines with variable rate sowing control systems ("VRS"), which allow the sowing rate to be varied while being carried out based on the type of soil and soil conditions are well known in the art. Likewise, it is also well known in the sowing technique to provide "row cutter control" systems to start and stop planting seeds in individual rows or sets of rows, while in progress, to minimize over-planting in punctual rows or insufficient planting while entering or leaving promontories around waterways and field boundaries.
    [004] The currently available VRS and career cutter control systems cooperate with global positioning systems ("GPS") and field coverage maps for controlling the seed meter by engaging and disengaging drive clutches, in order to control the rotation and / or the speed of rotation of the seed disk by vacuum meters or the rotation of the claws for meters with claw capture. However, these systems are based on the location of the seeder at the time commands are sent to the VRS control and row cutter systems, rather than accurately determining when the seed is actually physically positioned in the field. As a result, over-planting, under-planting or other inaccuracies can still occur with seeders equipped with VRS control systems and row cutters, which are based solely on GPS and coverage maps. For example, if a farmer starts planting, but one or more row units are not distributing seeds due to a malfunction, the field coverage map will show that the area has been planted, although no seed has actually been distributed. So, it would be difficult to truly plant that area, once the farmer realized the error.
    [005] Therefore, there is a need for an improved sowing control system that provides the advantages of VRS control and row cutter, but which is based on an accurate seed positioning mapping, as opposed to a mapping GPS-based coverage to minimize over-planting and under-planting fields. BRIEF DESCRIPTION OF THE DRAWINGS
    [006] Figure 1 shows an eight-row seeder without row cutter control illustrating insufficient planting of a promontory.
    [007] Figure 2 shows an eight-row seeder without row cutter control illustrating excessive planting of a promontory.
    [008] Figure 3 shows an eight-row seeder without row cutter control illustrating insufficient planting - excessive planting at 50/50 of a promontory.
    [009] Figure 4 shows an eight-row seeder with 1-row row cutter control illustrating ideal planting without over-planting or under-planting a promontory.
    [0010] Figure 5A shows an eight-row seeder illustrating insufficient planting with a 2-row row cutter control system.
    [0011] Figure 5B shows an eight-row seeder illustrating excessive planting with a 2-row row cutter control system.
    [0012] Figure 5C shows an eight-row seeder illustrating excessive planting - insufficient planting at 50/50 with a 2-row row cutter control system.
    [0013] Figure 6 shows a field with an internal border illustrating different seed populations planted using a VRS with a 1 row row cutter control.
    [0014] Figure 7 is a schematic illustration of a modality of seeding control system.
    [0015] Figure 8 illustrates a modality of a monitor screen for entering GPS deviations with respect to a tractor.
    [0016] Figure 9 illustrates a modality of a monitor screen for entering deviations with respect to a geometric axis of a seed drill's pivot.
    [0017] Figure 10A illustrates a modality of a monitor screen for starting a GPS deviation verification routine.
    [0018] Figure 10B illustrates a modality of a monitor screen for the continuation of the GPS deviation verification routine.
    [0019] Figure 10C illustrates a modality of a monitor screen for completing a GPS deviation verification routine.
    [0020] Figure 10D illustrates a modality of a monitor screen for displaying GPS deviations measured and entered by operator.
    [0021] Figure 11 illustrates a modality of a monitor screen for configuring row cutter controllers by selecting a coverage pattern.
    [0022] Figure 12 is a schematic illustration of a modality of a method for determining a variable rate drive stop delay.
    [0023] Figure 13A is a schematic illustration of a modality of a method for determining a variable rate drive start delay.
    [0024] Figure 13B is a schematic illustration of the modality of a method of stopping a variable rate drive based on a delay delay of a variable rate drive.
    [0025] Figure 13C is a schematic illustration of a modality of a variable rate drive starting method based on a variable rate drive stop delay.
    [0026] Figure 14 is a schematic illustration of a modality of a method for determining a drive relationship between a seed meter and a variable rate drive.
    [0027] Figure 15A is a schematic illustration of a modality of a method for determining a start delay and a stop delay for a row cutter controller.
    [0028] Figure 15B is a schematic illustration of a modality of a career cutter controller disengagement method based on a career cutter control stop delay.
    [0029] Figure 15C is a schematic illustration of a modality of a method for engaging a career cutter controller based on a career cutter control start delay.
    [0030] Figure 16A is a graph of empirical data illustrating various delays associated with a career cutter controller.
    [0031] Figure 16B is a schematic illustration of a modality of a method for determining components of a career cutter control stop delay.
    [0032] Figure 17A is a schematic illustration of the modality of a method for selecting a speed input.
    [0033] Figure 17B is a schematic illustration of the modality of a method of stopping and starting a variable rate motor based on acceleration.
    [0034] Figure 18 is a schematic illustration of a modality of a user interface screen used for the selection of planting stop conditions.
    [0035] Figure 19A is a schematic illustration of a modality of a method for identifying an operational problem with a seeding control system.
    [0036] Figure 19B illustrates a modality of a monitor screen for displaying an operational summary of a seeding control system.
    [0037] Figure 19C is a schematic illustration of another modality of a method of identifying an operational problem with a seeding control system. DESCRIPTION
    [0038] Referring now to the drawings, where equal reference numbers designate identical or corresponding parts across all the various views, figures 1 to 5 show a seeder 10 planting seeds 11 in a field 13 in which headland 15 was previously planted. Figures 1 to 5 are intended to illustrate, for comparison purposes, planting techniques with "over-planting" and "under-planting" using an eight-row seeder without row cutter control (Figures 1 to 3) and then , row cutter control (figures 4 to 5).
    [0039] Figure 1 shows an eight-row seed drill without row cutter control with excessive planting of promontory 15 (that is, planting continues through all rows, until the last row is on promontory 15). Figure 2 illustrates an eight-row seeder without row cutter control with insufficient planting on promontory 15 (ie, where planting stops through all rows as soon as the first row enters promontory 15). Figure 3 shows an eight-row seeder with no row cutter control illustrating insufficient planting - excessive planting 50/50 of promontory 15 (ie, where planting continues through all rows until half the rows have entered the promontory) 15). It should be understood that the opposite occurs when leaving a promontory. That is, when you leave a promontory using the over-planting technique, planting begins through all the rows as soon as the first row of the sower leaves the promontory. Likewise, when you leave a promontory using the insufficient planting technique, planting does not begin through all the rows, until the last row leaves the promontory. With the 50/50 technique, planting begins through all the rows when half of the rows leave the promontory.
    [0040] Figure 4 shows an eight-row seeder with row cutter control in every row of the seeder (from this point on, a "1-row row cutter control"). Figures 5A to 5C illustrate an eight-row seeder with row cutter control for every two rows of the seeder (from this point on, a "2-row row cutter control"). It should be appreciated that the row cutter control can include any desired number of rows. Comparing figures 1 to 3 with figure 4, it can be clearly seen that a 1-row row cutter control system will ideally plant a field with little or no over-planting or under-planting, thereby minimizing the lost seeds and non-planted areas, resulting in improved yield, all other factors being equal. Similarly, by comparing figures 1 to 3 with figures 5A, 5B and 5C, it can be clearly seen that a 2-row row cutter control system will ideally plant a field with just over-planting or planting insufficient minimum, when compared with conventional seeders without row cutter control.
    [0041] Figure 6 shows a field 13 having two different types of soil 15, 17 designated by different hatch patterns, separated by an internal border 19. The different types of soil are shown planted with different seed populations (note the different spacing of seeds 11 between different types of soil 15, 17) using a seeder with VRS and 1 row row cutter control, where, as each row unit crossed the internal border 19, VRS was engaged to change the seed population with the different type of soil.
    [0042] It should be appreciated, however, that even if the seeder is equipped with a row cutter control system, unless precise seed placement is known and unless the row cutter control system is light taking into account certain factors, significant over-planting and under-planting may still occur if these factors are not taken into account. These factors include sowing speed, timing delays and starting and stopping the seed meter, and timing delays between the seed being discharged from the seed meter, until the seed passes through the seed tube and into the groove, and other factors, as discussed later. It should also be appreciated that excessive planting and insufficient row planting can occur when entering or leaving different types of soil, with different desired seed populations, if these same factors are not taken into account. Overview
    [0043] Figure 7 illustrates a seeding control system 1005 that cooperates with row 12 units of a seeder 10 to improve production by taking into account the factors identified above and other factors, for an accurate mapping of seed positioning in the field.
    [0044] In figure 7, row unit 12 is illustrated as a row unit for a centrally filled seeder, as set out in US Patent No. 7,438,006, incorporated here in its entirety as a reference, but it should be appreciated that the sowing control system 1005 can be used with more conventional row units, as set out in US Patent No. 4,009,668, also incorporated here as a reference in its entirety, or any other type of row unit for any manufacturer or model of a seeder. The row units 12 are spaced along a tool bar 14 of the main seeder frame. The main seeder frame is attached to a tractor (not shown) in a conventional manner, such as by a drawbar or a three-point loop arrangement, as is well known in the art. Land roller assemblies (not shown) support the main frame above the surface of the land and are movable in relation to the main frame through an actuation of the seeder hydraulic system (not shown) coupled to the tractor hydraulics for raising and lowering the frame main seeder between a transport position and a planting position, respectively.
    [0045] Each row unit 12 is preferably supported from the tool bar 14 by a parallel connection 16, which allows each row unit 12 to move vertically independently of the tool bar 14 and the other row units spaced to accommodate changes in terrain and / or when the row unit encounters a rock or other obstruction, as the seeder is passed through the field. Each row unit 12 includes a seed meter 30, a seed tube or other seed path 32, a groove opening assembly 34 and a groove closing assembly 36. The groove opening assembly cuts a groove 38 in the soil surface, as seeder 10 is passed through the field. A constant supply of seed 11 is communicated to the seed meter 30. The seed meter 30 discharges individual seeds 11 into the seed tube 32 at spaced intervals based on the desired seed population and the speed at which the seeder is passed through from Camp. The seed 11 falls from the end of the seed tube 32 into the groove 38 formed by the groove opening assembly 34. The seeds 11 are then covered with soil by the groove closure assembly 36.
    [0046] In one operation, as each seed 11 passes through the seed tube 32, the seed sensor 200 sends a seed pulse to the seeder monitor 1000. The seeder monitor 1000 associates the seed pulse time with a location of the GPS 100 unit for determining the precise location of the seed planted in the field when taking into account the sowing speed, the seed population, the deviation distances, etc., all previously determined and calibrated during the configuration phases and calibration (discussed later) to generate an accurate seed positioning map. Based on the generated seed positioning map, the seeder monitor 1000 will determine whether a "planting stop" condition exists when a row unit or row cutter (that is, one or more row units controlled by a controller row cutter 1500) of the seeder 10 pass through a previously planted seed or when a row unit or row cutter travels across a promontory, an external border or an internal field border. If a planting stop condition exists for a particular row unit or row cutter, a signal will be generated to disengage the clutch, taking into account various factors, such as seeder speed, changes in acceleration, delays in clutch, seed drop delays, etc., all previously determined and calibrated during the configuration and calibration phases (discussed later), so that seed meters cease seed distribution at the appropriate time and resume seed distribution at the appropriate time, after the "planting stop" condition has passed, in order to guarantee excessive planting or minimal insufficient planting of the field. Preferred Seeding Control System Components
    [0047] The seeding control system 1005 preferably includes a GPS unit (global positioning system) 100, seed sensors 200, a control unit 350 and height sensors 705, a seeder monitor 1000, a cabin module 1105 and a radar system 1205, which cooperate to control variable rate drives 1600 and row cutter controllers 1500 from seeder 10, to minimize excessive planting or insufficient planting of fields.
    [0048] The seeder monitor 1000 is typically mounted on the tractor cab, so that it can be easily seen and has an interface with the operator during planting. A preferred seeder monitor 1000 is the 20/20 SeedSense® by Precision Planting, Inc., 23207 Townline Road, Tremont, IL 61568, and as discussed in US patent publication No. US 2010/0010667, incorporated herein by reference in its wholeness. The seeder monitor preferably uses a graphical user interface (GUI) with a touch screen and includes a microprocessor, memory and other applicable hardware and software for receiving, storing, processing, communicating, displaying and executing of the various resources and functionalities, as described hereinafter (from this point, collectively, the "processing circuit"), as readily understood by those skilled in the art. The seeder monitor 1000 is preferably configured to communicate with a data transfer device, such as a USB flash drive, an Internet connection or any other means of data transfer, for the entry and retrieval of population rates from seed, field mapping information, etc. In addition, the seeder monitor 1000 is in electrical communication (via wires or wirelessly) to receive input signals from the seed sensors 200, a GPS unit 100 and the cabin module 1105.
    [0049] Seed sensors 200 are mounted on seed tubes 32 of row units 12 for detecting the passage of a seed through there. A common seed sensor 200 is a photoelectric sensor, such as manufactured by Dickey-John Corporation, 5200 Dickey-John Road, Auburn, III. 62615. A typical photoelectric sensor usually includes a light source element and a light receiving element arranged over openings in the front and rear walls of the seed tube. In an operation, whenever a seed passes between the light source and the light receiver, the passing seed interrupts the light beam, causing the sensor 200 to generate a seed pulse or an electrical signal indicating the detection of the passage of a seed. It should be appreciated that any type of seed sensor capable of producing an electrical signal to designate the passage of a seed can be used.
    [0050] The GPS unit 100 is configured to receive a GPS signal, it comprises a series of GPS data strings from a satellite (not shown). The GPS signal is communicated to the seeder monitor 1000. A preferred GPS unit 100 is the Deluo PMB-288, available from Deluo LLC, 10084 NW 53rd Street, Sunrise, FL 33351, or other suitable device. The GPS 100 unit is used to monitor the speed and distances covered by the seeder 10. As will be discussed in greater detail later, preferably, the output of the GPS 100 unit, including the seeder speed and the distances traveled by the seeder , is communicated to the seeder monitor 1000 for display to the seeder operator and / or for use in various algorithms for deriving relevant data used with the preferred system and method of the present invention. In alternative modes, the GPS 100 unit comprises a positioning system configured for use with signals from other satellite systems, such as GLONASS or Galileo. In still other modalities, the GPS unit 100 can comprise any other positioning system configured to determine the latitude and longitude position of the seeder 10.
    [0051] In addition to a GPS unit, the seeding control system 1005 preferably includes a radar system 1205 for determining a seeder speed 10 because empirical data has shown that data from the GPS unit 100 is delayed and unreliable at speeds lower than approximately 1 mile per hour (1 mph) (1.6 km / h). The empirical data also showed that the GPS unit 100 will indicate speeds of 0.1 or 0.2 mph (0.16 or 0.32 km / h), when seeder 10 is actually stopped. For these reasons, the speed inputs provided by GPS systems alone are not ideal for an accurate determination of when a seeder 10 has stopped or to predict when the seeder will stop (for reasons discussed later), or when it is determined that seeder 10 has resumed its course. The 1205 radar system is positioned at a fixed location and sends a radar signal to the 1105 cabin module, which in turn communicates the radar signal to the 1000 seeder monitor for speed display the seeder.
    [0052] The cabin module 1105 is preferably mounted on the tractor cabin, so that it can also be seen easily and has an interface with the operator during planting. Cabin module 1105 preferably includes switches configured to allow the operator to turn 1600 variable rate drives on and off and selectively engage or disengage 1500 row cutter controllers during pre-planting calibration routines (discussed later). Cabin module 1105 is also in communication with the 1205 radar system and includes a processing circuit configured to determine if the speed reported by radar is stable, for the reasons discussed later.
    [0053] 705 height sensors may comprise a contact switch configured to close or open a circuit when the gauge wheel arms of the groove opening assembly 34 are no longer in contact with the gauge wheel arm stop indicating that the seeder is in a transport position or otherwise elevated above the ground. In other embodiments, the height sensor 705 may also comprise any sensor mounted at a location on the seeder 10 that determines the height of said location in relation to the ground surface 40 for the purpose of indicating that the row unit is in a transport position or otherwise raised above the ground.
    [0054] The control unit 350 preferably includes an inclinometer 600, a vertical accelerometer 500, a horizontal accelerometer 400 and an appropriate processing circuit, all physically integrated into a single unit that is preferably mounted on the tool bar 14 of seeder 10, but which can be mounted in another suitable location and in any appropriate orientation for the measurement of horizontal acceleration, vertical acceleration and inclination of the tractor and / or tool bar 14. The control unit 350 is in electrical communication (wired or wireless) with the row cutter controller 1500, variable rate drives 1600, height sensors 705 and cabin module 1105. More than one control unit 350 can be used . Configuration
    [0055] In a configuration phase, the operator is preferably able to select the tractor manufacturer and model of the tractor and the manufacturer and model of the seeder, preferably through drop-down selection menus. The geometry of various manufacturers and tractor and seeder models is preferably stored in a memory to make the setup phase faster and easier, so that the operator does not have to physically measure each of the various distances discussed below to modeling seeder geometry and drift distances for GPS unit 100. The seeding control system 1005 uses these distances to determine the location of each seed sensor 200, based on a location on the GPS unit 100 The following method and illustrations assume that the GPS unit 100 is mounted in the tractor cab, although it should be appreciated that other mounting locations (such as seeder 10 itself) are possible.
    [0056] Figure 8 illustrates a modality of a configuration screen 1200 displayed by the seeder monitor 1000 for the entry of GPS deviations with respect to the tractor. As shown on screen 1200, deviation distances include distance 1202 from the GPS unit 100 to the center line of the tractor's rear wheels, a distance 1206 to the center line of the tractor, a distance 1210 from from the center line of the tractor's rear wheels to the tractor pivot, and a distance of 1214 to the ground. It should be appreciated that, although the other distances introduced in the configuration phase, as described here, are used to establish the location of the seed tube outlet, the distance 1202 to the center line of the tractor's rear wheels is used for modeling the location of the seeder 10, while elevated in a transport position behind the tractor.
    [0057] Figure 9 illustrates a modality of another 1300 configuration screen displayed by the seeder monitor 1000 for the entry of seeder locations 10 with respect to the seeder pivot point. In addition to the manufacturer and model selection, the operator can be prompted to select the type of seeder frame and / or the loop style, such as retracted, 2 pivot points, and 3 points. The seeder monitor 1000 preferably displays an image 1306 representing the geometry of the seeder frame type selected and / or the loop style, and alerts the operator to enter the distances necessary for modeling the seeder geometry. In the illustrative example in figure 9, the seeder monitor 1000 requires the operator to enter the distance 1308 between the pivot and the centerline of the gauge wheels 48, as well as the distance 1312 between the pivot and the seed outlet. Other frame types and loop styles will require the operator to measure and introduce additional or different distances. The seeder monitor 1000 preferably assumes transverse distances from the seed outlets of each row unit to the tractor center line, based on the manufacturer and seeder model previously introduced by the operator. Alternatively, the operator selects a custom table configuration window 1316 and enters the cross distances 1318 from each seed exit to the center line of the seeder 10.
    [0058] As part of the initial configuration, the operator is preferably prompted to perform a verification routine to check the GPS deviations introduced in the previous configuration screens 1200 and 1300. Figure 10A illustrates another modality of a configuration screen 1400 alerting the operator to place flags 1405 near the meter wheels 48 of the rightmost and leftmost rows of seeder 10. When the operator indicates that seeder 10 is in place, seeder monitor 1000 records a first test location of GPS unit 100. Figures 10B and 10C illustrate modalities of subsequent configuration screens 1410 and 1420 warning the user to turn seeder 10 so that flags 1405 are adjacent to meter wheels 48 on opposite sides of seeder 10. When the operator indicates that seeder 10 is in place, the seeder monitor monitors a second test location of the GPS unit 100.
    [0059] In yet another modality of a configuration screen 1430, as shown in figure 10D, the sum 1432 of the distances 1202, 1210 and 1308 previously entered by the operator is calculated. The measured distance 1435 from the GPS unit 100 to the seeder meter wheels is also determined by dividing the distance along the bear direction between the first test location and the second test location by two. The operator is prompted to re-measure previously entered GPS deviations if the measured distance 1435 is different from the sum 1432. Likewise, the distance 1206 previously entered by the operator is displayed. The measured distance 1445 corresponding to distance 1206 is determined by dividing the transverse distance between the second test location and the second test location by two. The operator is prompted to re-measure previously entered GPS deviations if the measured distance is different from the 1206 distance previously entered by the operator.
    [0060] As illustrated on an additional 1502 configuration screen, the operator configures the seeder row cutter control. The operator enters the number of row cutter controllers 1500 and the number of row units controlled through each row cutter controller. The operator is preferably able to choose a coverage pattern. In the illustrative embodiment of figure 11, the illustrated seeder 10 has four row cutter controllers 1500, each controlling two row units. The operator selects window 1510a, 1510b or 1510c to choose whether row cutter controllers 1500 find a planting stop border 1505 in the previously planted seed, in a half-row deviation from the previously planted seed, or a full row deviation from the previously planted seed, respectively. In the illustrative example in figure 11, the operator selected a full row offset (1510c). The operator selects window 1520a, 1520b or 1520c to choose whether row cutter controllers are for stopping planting when any row of row cutter controller crosses the planting stop border 1505 ("Planting Insufficient"), when any row along cross line 1515 of the seedbed crosses the planting stop border 1505 ("50% -50%"), or when the entire row controlled by the mower controller has crossed the planting stop 1505 ("Excessive Planting"), respectively. In the illustrative example in figure 11, the operator selected 50% -50% (1520b).
    [0061] In an additional configuration phase, the operator configures the variable rate drives 1600. The operator indicates which rows are triggered through each variable rate drive 1600. The operator enters the number of encoder pulses per revolution (discussed later) and the encoder pulse signal frequency (discussed later) for each variable rate drive 1600. Alternatively, the operator selects a manufacturer or type of variable rate drive 1600 which is associated with the same pulse characteristics and frequency.
    [0062] Continuing with the configuration phase, the operator is additionally prompted to enter the number of seeds per disk in the 30 seed meters activated through each variable rate drive 1600. The operator still initiates a routine of calibration (discussed later), in which the seeding control system 1005 drives seed gauges 30 and determines a drive relationship between variable rate drives 1600 and seed gauges 30. Alternatively, the operator introduces a drive relation. In addition, the operator prescribes a standard seed population rate to be used by the variable rate drive 1600, if the seeding control system 1005 loses signal from the GPS unit 100.
    [0063] The operator still configures the 1205 radar system in a test run. The operator drives the tractor and the seeder monitor 1000 receives radar pulses from the 1205 radar system. The seeder monitor 1000 determines how far the tractor has traveled using the signal from the GPS unit 100. The seed monitor seeder 1000 then determines how many radar pulses are received per unit distance covered. The operator also selects whether the GPS 100 unit or the 1205 radar system is the primary or most reliable source of speed used by the seed monitor 1000. As described later under "Operation", the seeder monitor 1000 will determine if it is to suppress the choice of the primary speed source operator based on the acceleration of the seeder.
    [0064] Turning to figure 19A, in an additional configuration phase, the seeding control system 1005 is preferably configured to run a 1610 process to identify an operational problem with the 1600 variable rate drives or the cutter controllers row 1500. When the process is initiated by the operator at block 1611, the control unit 350 preferably starts one or more variable rate drives 1600 and engages one or more cutter controllers 1500 to drive the seed meters . After the predetermined period of time (for example, 5 seconds) has passed in block 1612, the control unit 350 stores the subset of rows 12 in which the seed pulses are not observed. Preferably, control unit 350 then disengages one or more row cutter controllers 1500 in block 1613 and stores the subset of rows 12 in which seed pulses are observed, after a predetermined time, in block 1614. In block 1615, the control unit 350 compares the expected presence with the actual seed for each tested configuration and assigns an operational descriptor (for example, "Good" or "Failed") to each row cutter controller 1500 and variable rate drive 1600 In block 1616, the seeder monitor 1000 preferably displays an operational summary indicating whether the components (eg 1500 cutter controllers 1500 or variable rate drives 1600) are functioning properly. Turning to figure 19B, the operational summary may comprise a screen 1620 including a summary of result 1622 of the expected and actual observation of seed pulses for each component tested, and, preferably, includes an alarm indicator 1624 alerting the operator that a component associated with the indicator has failed.
    [0065] In other modalities, the control unit 350 can be configured to engage or disengage each variable rate drive and row cutter controller in series (for example, from right to left) during a configuration phase, allowing the operator to determine visually or by a sound whether each component is operating properly. Calibration
    [0066] The seeding control system 1005 is preferably configured to use the seed pulses generated by the seed sensors 200 for the calibration of the row cutter controllers 1500 and the variable rate drives 1600. The calibration routines described here measure a delay between a control signal and an operational change detected by the seed sensors 200. The operational change may include the seed delivery rate, stopping the seed delivery or starting the seed delivery. It should be appreciated, however, that a delay associated with any operational change involving seed delivery could be measured according to the calibration routines described here. Stop Delay Calibration of a Variable Rate Trigger
    [0067] Figure 12 illustrates a modality of a 2000 process for the calibration of variable rate drives 1600. In block 2100, the control unit 350 instructs the variable rate drive 1600 to function. In block 2200, if control unit 350 does not receive a seed pulse in any pre-defined time interval, then, in block 2250, seeder monitor 1000 will alert the operator to check the seed hopper 11 or, otherwise, correct the operation of the seeder 10, so that the seeds 11 start to be discharged by the seed meter 30 through the seed tube 32. If the control unit 350 receives a seed pulse, then in block 2300 , after a pre-defined time, the control unit 350 will instruct the variable rate drive 1600 to stop the seed meter 30 drive at a time. The time to is stored by the control unit 350. The control unit 350 then receives the seed pulses in block 2400, until no seed pulse is received for a predetermined time (for example, 5 seconds). In block 2450, the control unit then records the time of the last seed pulse (tstop). The difference between tstoP and to represents a stop delay associated with the variable rate drive 1600, whose stop delay is calculated and stored by the control unit 350 in block 2455. Starting Delay Calibration of a Variable Rate Drive
    [0068] Figure 13A illustrates a modality of a 2500 process for calibrating the variable rate drives 1600. In block 2510, the control unit 350 instructs the variable rate drive 1600 to stop. In block 2520, after a predetermined time, the control unit 350 instructs the variable rate drive 1600 to start the drive of the seed meter 30 at time to. The time to is stored by the control unit 350. If a seed pulse is received by the control unit 350 in block 2530, then the control unit will record the time of the first seed pulse (tstart) in block 2540. The difference between tstart and to represents a start delay associated with the variable rate drive 1600, whose start delay is calculated and stored by the control unit 350 in block 2545.
    [0069] With the start delay and stop delay calibrated, the control unit 350 preferably uses the start delay and stop delay to adjust the time at which the control unit 350 sends control signals to the actuators. variable rate 1600, so that the seed starts to be distributed or stops being distributed in the desired position in the field.
    [0070] According to a preferred process 2550 illustrated in figure 13B, the control unit 350 estimates the time until the next planting stop boundary in block 2552 (preferably, using the current speed of the seeder and the distance to the border) and compares that time with the engine stop delay at block 2554. If the time until the next planting stop frontier is equal to the engine stop delay, then control unit 350 will preferably stop the engine at block 2556 .
    [0071] According to a preferred process 2560 illustrated in figure 13C, the control unit 350 estimates the time until the next frontier of planting start in block 2562 (preferably, using the current seeder speed and the distance to the border) , and compares that time until the engine stop delay in block 2564. If the time until the next planting frontier is equal to the engine stop delay, then the control unit 350 will preferably start the engine in block 2566.
    [0072] Thus, the control unit 350 synchronizes the subsequent control signals based on the various measured delays as described here. The above calibration process can be carried out during an operation in the field, in order to determine the start delay and stop delay of variable rate drives under current or near current operating conditions. Calibration of the Drive Ratio between Seed Meter and Variable Rate Drive
    [0073] Figure 14 illustrates a process mode 3000 for determining a drive ratio between variable rate drive 1600 and seed meter 30. In block 3100, control unit 350 instructs variable rate drive 1600 to start seed meter 30. In block 3200, if control unit 350 does not receive a seed pulse, in block 3250, seeder monitor 1000 will alert the operator to check the seed hopper for seeds 11 or otherwise correct the operation of the seeder 10, so that the seeds 11 start to be discharged by the seed meter 30 through the seed tube 32. Once the control unit receives a seed pulse in block 3200, the control unit 350 stores the time of the first observed seed pulse (ti) in block 3300. Once the control unit 350 receives a predetermined number of seed pulses, for example, 30, in block 3400, the control unit control 350 to stores the time of the thirtieth seed pulse (tso) in block 3450. The difference between tso and ti divided by the number of seed pulses is equal to a time associated with a time between the release of seeds 11 by the seed meter 30 (tnominai ). The speed wm of the seed meter 30 is then determined according to the following equation:

    [0074] where: number of seeds per meter = total number of seed cavities, openings or other seed entrainment resources in each seed meter 30.
    [0075] The drive ratio R between the variable rate drive 1600 and the seed meter 30 is equal to the relationship between the number of encoder pulses that must be observed before the seed meter 30 has made a complete revolution and the number of encoder pulses per revolution of the variable rate drive 1600. The drive ratio R is preferably used by the control unit 350 to determine the rate at which to drive the variable rate drive 1600 in order to obtain a given seed meter speed Wm and thus a corresponding tnominal time between seed release 11. The tnominal, wm and R values are preferably calculated in step 3455 of process flow 3000. Start Delay and Stop Delay Calibration for a Career Cutter Controller
    [0076] Figure 15A illustrates a modality of a 3500 process for determining a clutch start delay and a clutch stop delay associated with a 1500 cutter controller. In block 3510, the control unit 350 instructs variable rate drive 1600 to function. In block 3525, if control unit 350 does not receive a seed pulse at a predetermined time in block 3520 (for example, 5 seconds), then seeder monitor 1000 will alert the operator to check the seed hopper when to the seeds 11 or otherwise correct the operation of the seeder 10, so that the seeds 11 begin to be discharged by the seed meter 30 through the seed tube 32. In block 3530, if the control unit 350 receives a seed pulse, then, after a predetermined time, the control unit 350 will instruct the row cutter controller 1500 to disengage in time to stop the seed meter 30 from being driven by the variable rate drive 1600 The time to is stored by the control unit 350. The control unit 350 then receives the seed pulses in block 3540 until no seed pulse is received for a predetermined time. In block 3550, the control unit then records the time of the last seed pulse (tstoP). The difference between tstoP and to represents a clutch stop delay associated with the row cutter controller 1500. The control unit 350 preferably calculates the clutch stop delay in block 3555. After a predetermined time, in block 3560, the unit control 350 then instructs the row cutter controller 1500 to engage time ti, so that seed meter 30 is again triggered by variable rate drive 1600. time ti is stored by control unit 350. In block 3580, if a seed pulse is received by the control unit 350 in block 3570, then the control unit will record the time of the first seed pulse (tstart). The difference between tstart and ti represents a clutch start delay associated with the row cutter controller 1500. The control unit 350 preferably calculates the clutch start delay in block 3585.
    [0077] The control unit 350 preferably uses the clutch start delay and the clutch stop delay to adjust the time at which the control unit 350 sends control signals to the career cutter controller 1500, so that the seed begins to be distributed or stops being distributed in the desired position in the field.
    [0078] According to a preferred method 3600 illustrated in figure 15B, the control unit 350 estimates the time until the next planting stop boundary in block 2652 (preferably using the current seeder speed and the distance to the border ) and compares that time until the clutch stop delay in block 3654. If the time until the next planting stop border is equal to the clutch stop delay, then the control unit 350 will preferably disengage the clutch in block 3656. According to a preferred process 3700 illustrated in figure 15C, control unit 350 estimates the time to the next planting frontier in block 3762 (preferably using the current speed of 1 and the distance to and compares that time with the engine stop delay at block 3764. If the time until the next planting start frontier is equal to the engine stop delay, then the 350 control unit preferably will start the engine at block 3766. The preceding process 3500 can be performed during a field operation, in order to determine the clutch start delay and clutch stop delay according to current or almost current operating conditions .
    [0079] Empirical data showed that, even under almost equivalent operating conditions, there is a variation in the clutch stop delay. Figure 16A shows a graph 4000 illustrating the delay components associated with 1500 cutter controllers. The x 4145 axis of graph 4000 represents the distance (in inches (1 in = 2.54 cm) traveled by the seeder 10 after the row cutter controller clutch 1500 is disengaged. Data sets 4150 and 4155 represent tests performed at varying rates of seed population 4140 of seed units per acre. Bars 4100 represent a physical delay (measured in inches (1 in = 2.54 cm) traveled) associated with the electronic and pneumatic components of the variable rate drive 1600. The 4110 bars represent a rotation delay (measured in inches (1 in = 2, 54 cm) traveled) resulting from the mechanical action of the clutch on the 1500 cutter controller. The 4120 bars represent a delay (measured in inches (1 in = 2.54 cm) traveled) associated with the time required for the last seed 11 be li seed meter 30 and pass seed 200. Each data set 4160 shows (from bottom to top) the total delay including the 4110 rotation delay, the total delay not including the 4110 rotation delay, and the last plant range 4130 representing the range between the total delay without the rotation delay 4110 and the rotation delay 4110.
    [0080] Continuing with reference to figure 16A, the rotation delay 4110 varies because, once the clutch is disengaged in a random rotation position of an axis rotating with the clutch, the clutch will have to rotate through varying degrees, before contacting a stop member. The range in the 4110 rotation delay will change, based on the seed population rate because the clutch will be rotating faster at higher seed population rates.
    [0081] Thus, a preferred modality of a 1005 seeding control system is configured to determine a range of delays between a control signal sent to the career cutter controller 1500 and an operational change in the career cutter controller 1500, specifically engaging or disengaging the clutch. The control unit 350 preferably performs this process multiple times to obtain a clutch stop delay distribution. The tenth percentage of the clutch stop delay distribution is approximately equal to the 4100 physical delay.
    [0082] In a preferred process 4500 illustrated in figure 16B, the control unit 350 determines and stores a total clutch stop delay (preferably as determined in blocks 3520 to 3555 in process 3500 in figure 6) in block 4510. This process is repeated (preferably at the same seed population rate) until the clutch stop delay has been determined a limit number of times (for example, five) in block 4520. In block 4530, control unit 350 preferably determines the delay 4100 fixed physical clutch stop (for example, when finding the tenth percentage of the total delay distribution). In block 4540, control unit 350 preferably determines the population-dependent rotary clutch stop delay 4110 (for example, by subtracting the tenth percentage of the total delay distribution from the ninetieth percentage of the total delay distribution).
    [0083] In an operation, when the control unit 350 is accessing the clutch stop delay (for example, in process step 3654 3600 illustrated in figure 15B), the control unit preferably modifies the rotation delay 4110 based in the relationship between the population rate at which the rotation delay 4110 was determined and the rate of active population. For example, if the 4110 rotation delay was determined for a population of 40,000 seeds per acre, then the rotation delay would be doubled for the population of 20,000 seeds per acre. Thus, the control unit 350 preferably adjusts a predicted component of the clutch stop delay, based on the active population rate.
    [0084] As shown in data set 4150 and data set 4155 of figure 16A, by adjusting the time in which the control signal is sent to the row cutter controller 1500 according to this method at each 4140 seed population rate, the last 4130 plant ranges become centered at a desired 4160 distance at each 4140 seed population rate.
    [0085] In addition, the seeder monitor 1000 preferably displays the physical delay 4100, the rotation delay 4110 and the fall delay 4120 for the operator. The seeder monitor also displays the sum of the 4120 drop delay and the 4100 physical delay to the operator. The seeder monitor 1000 preferably displays said sum as a "Fixed Delay" and the rotation delay 4110 as a "Variable Delay". The seeder monitor 1000 thus isolates a fixed portion of the clutch delay from a variable portion of the clutch delay associated with 1500 cutter control systems. With this information, the operator is able to see the benefit of making changes in location mounting clutch to reduce variable delay.
    [0086] It should be appreciated that each calibration routine described here could be performed before planting or in the field during planting. Before planting, a calibration routine can be initiated by the operator using a series of screens on the 1000 seeder monitor. The 1105 cab module preferably includes switches configured to allow the 1600 variable rate drives to function briefly, so loading seed meters 30 with seeds 11, before a pre-planting calibration routine. These switches can also be used to switch 1600 variable rate drives on and off during a pre-planting calibration routine. Switches can also be used to selectively engage and disengage 1500 row cutter controllers during a pre-planting calibration routine. During planting, as variable rate drives 1600 and row cutter controllers 1500 are actually used in the field, seed sensors 200 preferably continue to provide seed pulses to the control unit 350. Thus, the control unit 350 is preferably able to measure the delays associated with variable rate drives 1600 and row cutter controllers 1500, during planting. Operation
    [0087] As previously discussed, with reference to figure 7, the seed pulses from the seed sensors 200 in each row unit 12 of the seeder 10 are communicated to the seeder monitor 1000. The seeder monitor 1000 is in electrical communication with the GPS unit 100, the cabin module 1105, the radar system 1205 and the control unit 350. The control unit 350 is in electrical communication with the individual row cutter controllers 1500 and the variable rate drives 1600 and height sensor 705.
    [0088] The seeder monitor 1000 is preferably configured to allow an operator to enter commands and enter data including seed population rates and mapping information. The operator enters a desired seed population rate on the seeder monitor 1000. The operator then pulls seeder 10 across the field. The seeder monitor 1000 relays the desired seed population to the control unit 350 and determines the seeder speed 10 using signals from the GPS unit 100 and / or the radar system 1205. The seeder monitor 1000 displays the speed to the operator and transmits the speed to the control unit 350. The control unit 350 determines an appropriate speed of the seed meter 30 to obtain the desired seed population rate based on the speed of the seeder 10 and others criteria, including the size of the seed meter 30, the number of seed entrainment features in the seed meter 30 and other criteria affecting the seed delivery rate. The control unit 350 determines the actual current speed of the seed meter 30 based on the encoder pulse of the variable rate drive 1600 and sends an appropriate control signal to the variable rate drives 1600. Each variable rate drive 1600 is configured to individually drive a seed meter 30 in each row unit of the seeder 10 at a speed based on the control signal received from the control unit 350.
    [0089] Control unit 350 uses a signal from height sensor 705 to determine whether seeder 10 is raised in a transport position. If the control unit 350 determines that the seeder 10 is in a transport position, it will preferably direct the variable rate drives 1600 to stop the drive of the seed meters 30.
    [0090] The sowing control system 1005 also generates a seed positioning map. As each seed 11 passes through the seed tube 32, the seed sensor 200 sends a seed pulse to the control unit 350. The seeder monitor 1000 associates the seed pulse time with a GPS unit location. 100 and determines the location in the field where the seed 11 was distributed based on the GPS deviations introduced by the operator in the configuration phase, as previously described. The seeder monitor 1000 then adds seed position 11 to a seed positioning map that is preferably displayed to the operator and is used for determining "planting stop" conditions.
    [0091] The seeder monitor 1000 determines whether a planting stop condition exists for any row cutter (comprising a single row unit or a set of row units) of seeder 10, seeder monitor 1000 sends a planting stop signal to the control unit 350. The control unit 350 then sends a signal to actuate the row cutter controller 1500, so that the clutch is disengaged, so the seed gauges 30 on the cutter of career are not activated until the clutch is reengaged when the planting stop condition passes. The clutches can be any pneumatic or electric clutches, as is known in the art.
    [0092] The sowing control system 1005 can also be used to alert the operator to operational problems with variable rate drives 1600 and row cutter controllers 1500, using seed pulses during field operations . Referring to figure 19C, a preferred process 1630 for providing these alerts to the operator in the field is illustrated. In block 1631, the control unit determines whether the variable rate drive 1600 associated with row unit 12 is active. Once the variable rate drive is active, the control unit determines in block 1632 whether the row cutter controller 1500 associated with the row unit is engaged. If the associated row cutter controller is not engaged, then at block 1634 the control unit will determine whether seeds are being deposited in the row. If seeds are not being deposited, a successful operational descriptor will be stored in block 1635. If seeds are being deposited, a failed clutch operational descriptor will be stored in block 1638 and an alarm will preferably be displayed to the user. Returning to block 1632, if the associated row cutter controller 1500 is engaged, then, in block 1633, the control unit will determine whether seeds are being deposited. If seeds are being deposited, then a successful operational descriptor will be stored in block 1635. If seeds are not being deposited, then a failed engine operational descriptor will be stored in block 1637, and an alarm preferably will be displayed to the user.
    [0093] When an alarm is displayed as a result of the 1630 process, the seeding control system is also configured, preferably, to determine whether an electrical or hydraulic error has occurred. It should be appreciated that the sowing control system 1005 could also be used for the detection of other operational problems with seeder 10 that affect the sending of seeds.
    [0094] Figure 17A illustrates a preferred process 5000 used by the seeding control system 1005 for determining the speed of a seeder 10. In block 5100, the control unit 350 determines whether the seeder 10 acceleration is greater than than an upper limit (preferably 1.5 ft / s2 (0.4572 / s2)) based on the signal provided by the horizontal accelerometer 400 in block 5100. If the acceleration is greater than the upper limit, the control unit 350 will determine the speed of the seeder 10 using the highest stable value reported by the GPS unit 100 (the "speed reported by GPS") and the radar system 1205 (the "speed reported by radar") in block 5150. The monitor 1000 seeder determines whether the speed reported by GPS is stable using an algorithm or other method, as is known in the art. The cabin module also includes a processing circuit configured to determine whether the speed reported by radar is stable, using an algorithm or other method, as is known in the art. In block 5200, if the acceleration is less than the upper limit acceleration, then the control unit 350 will determine whether the acceleration of seeder 10 is less than a lower limit (preferably -1.5 ft / s2 (0, 4572 / s2)), based on the signal provided by the horizontal accelerometer 400. In block 5250, if the acceleration is less than the lower limit rate, the control unit 350 will determine the seed speed 10 using the stable value lowest reported by the GPS unit 100 (the "speed reported by GPS") and the radar system 1205 (the "speed reported by radar"). In block 5300, if the acceleration is greater than the lower limit rate, the control unit 350 will determine the speed of the seeder 10 using the entered speed previously selected by the operator. As discussed here under "Configuration", the seeder monitor 1000 will be configured to allow a user to select a preferred speed input.
    [0095] The control unit 350 will often need to stop the variable rate drive 1600 when seeder 10 is not moving. Likewise, control unit 350 will need to start variable rate drives 1600 when seeder 10 resumes movement. As previously discussed, the empirical data showed that data from the GPS 100 unit is delayed and unreliable at speeds less than approximately 1 mile per hour (1 mph) (1.6 km / h). Empirical data also showed that the GPS unit 100 will indicate speeds of 0.1 or 0.2 mph (0.16 or 0.32 km / h), when seeder 10 is actually stationary. For these reasons, the speed inputs provided by GPS systems alone are not ideal for an accurate determination of when a seeder 10 has stopped or to determine when the seeder will stop, or when it is determined that seeder 10 has resumed its course. Thus, in a preferred embodiment, the control unit 350 predicts a stop time for the seeder 10 using the signal from the horizontal accelerometer 400 and sends a properly synchronized control signal to stop the variable rate drive 1600.
    [0096] A preferred process 5500 for carrying out this method is illustrated in figure 17B. When seeder 10 decelerates to a speed less than a threshold speed (preferably 4 ft / s (1.22 m / s) in block 5510, control unit 350 determines an estimated downtime based on speed input currently used and the deceleration rates indicated by the horizontal accelerometer 400 in block 5520. When the stop time is approximately equal to the stop delay associated with the variable rate drive (preferably determined as described above) in the block 5530, the control unit 350 preferably instructs variable rate drives 1600 to stop the actuation of seed meters 30 in block 5540.
    [0097] Continuing with reference to figure 17B, after the seeder 10 has stopped, the control unit 350 preferably determines that the seeder 10 has resumed its course by integrating the signal provided by the horizontal accelerometer 400 in block 1550. When the speed determined after this method reaches a limit value in block 5560, the control unit 350 preferably instructs variable rate drives 1600 to resume the activation of seed meters 30 in block 5570.
    [0098] It should be appreciated that the methods described here can be used to automatically switch between other speed inputs, as is known in the art. Thus, the method described here can be applied whenever a speed input is preferred over another in a certain range of any kinetic criteria, including an accelerator or a seeder vehicle 10.
    [0099] The seeder monitor 1000 determines that a planting stop condition exists when a section of seeder 10 is passing through a previously planted seed based on the seed positioning map described above. The seeder monitor 1000 also determines that a planting stop condition exists when a section of seeder 10 travels through an operator-regulated border 1505. The border 1505 can comprise an external border of the field to be planted or an internal border in the said field involving a watercourse or an obstacle in which the operator does not wish to distribute seeds. Border 1505 may also involve a promontory on which the operator intends to plant seeds later. The operator can import these borders into the 1000 seeder monitor using any suitable data storage device, including a USB flash drive, an Internet connection, etc. The seeder monitor 1000 can also record these borders by storing the location of the GPS unit 100, while the operator drives around the border. The seeder monitor 1000 is preferably configured to allow the operator to instruct the row cutter controllers 1500 to stop the seed meters 30 for one, all or any subset of the planting stop conditions described here.
    [00100] Figure 18 illustrates a 6000 user interface screen displayed on the seeder monitor 1000 and configured to allow a user to select planting stop conditions, as described above. The operator can press or select the 6100, 6200, 6300 or 6400 window to activate or deactivate a planting stop condition. When a planting stop condition is deactivated, the associated window preferably displays it using a crossed line or another indicator, as shown in window 6300. The operator presses or selects window 6600 to save the set of plant stop conditions planting activities. Window 6500 indicates whether row cutter controllers 1500 are enabled for any planting stop condition.
    [00101] It should be appreciated that, in addition to the planting stop conditions described here, other planting stop conditions based on the location, speed, orientation or configuration of seeder 10 could be incorporated into the seeder monitor 1000 or designated by the operator.
    [00102] It should be appreciated that the processing functions performed by the control unit 350, as recited here, could also be performed by the seeder monitor 1000. In addition, the processing functions performed by the seeder monitor 1000, as recited here they could also be performed by the control unit 350.
    [00103] The foregoing description is presented to allow someone of ordinary skill in the art to make and use the invention, and is provided in the context of a patent application and its requirements. Various modifications to the preferred mode of the device and to the general principles and features of the system and methods described here will be readily apparent to those skilled in the art. Thus, the present invention is not to be limited to the modalities of apparatus, system and methods described above and illustrated in the drawing figures, but is to be in accordance with the broader scope consistent with the spirit and scope of the appended claims. MS
    权利要求:
    Claims (15)
    [0001]
    1. Method of generating a seed positioning map for a field (13) and controlling a seeder (10), the referred method comprising: a) detecting each seed pulse generated by a seed sensor (200) according to a seed (11) pass through a seed path of a row unit (12) of the seeder (10), as it crosses a field (13) during planting operations; b) determining a positioning position of each seed (11) in said field (13) by associating a time of each seed pulse generated with a location of a GPS unit (100); c) store in memory of each seed placement location in that field; characterized by the fact that it still comprises: d) storing in memory a delay in a time measured between a time associated with a seed delivery control signal and the said time associated with one of the said seed pulses generated.
    [0002]
    Method according to claim 1, characterized in that said seeder (10) comprises a plurality of row cutters, each row cutter comprising at least one of said row units (12).
    [0003]
    3. Method according to claim 2, characterized by the fact that each row cutter includes a drive (1600) that controls the distribution of seeds (11) from said row cutter.
    [0004]
    4. Method, according to claim 3, characterized by the fact that each row cutter includes a row cutter controller (1500) that, upon actuation, operationally disengages said drive (1600) to make the sequences minds (11) stop being distributed by said career cutter.
    [0005]
    5. Method, according to claim 4, characterized by the fact that, according to the seeder (10) through said field (13) during planting operations, said row cutter controllers (1500 ) are actuated to operationally disengage said drives (1600) to interrupt the seed distribution (11) by said row cutters while said corresponding row cutters pass over any previously stored seed positioning locations.
    [0006]
    6. Method, according to claim 5, characterized by the fact that a planting stop border (1505) is defined by one of a group comprising: any previously stored seed positioning locations; an ex-ternal field boundary (1505); and an internal field boundary (19, 1505).
    [0007]
    7. Method, according to claim 6, characterized by the fact that it also includes the selection of a desired coverage pattern from a group that comprises: insufficient planting; excessive planting; and excessive planting / insufficient planting at 50/50 of the planting stop frontier (1505).
    [0008]
    8. Method, according to claim 3, characterized by the fact that said control signal is sent to said drive (1600), and in which said delay corresponds to a time between said control signal and a change desired in seed placement, and further comprising: synchronizing a subsequent control signal based on said delay.
    [0009]
    9. Method according to claim 4, characterized by the fact that said control signal is sent to said row cutter controller (1500), and in which said delay corresponds to a time between said signal control, and a desired change in seed positioning, and further comprising: synchronizing a subsequent control signal based on said delay.
    [0010]
    10. Method, according to claim 3, characterized by the fact that it still comprises: activating said drive (1600) in an activation time; and display an alert to a user, if no seed pulse is detected in a predetermined time after that activation time.
    [0011]
    11. Method, according to claim 4, characterized by the fact that it still comprises: operating said row cutter controller (1500) at a time of operation; and display an alert to a user, if seed pulses are detected after a predetermined time after the said actuation time.
    [0012]
    12. Sowing control system for an agricultural seeder (10), which has a plurality of row units (12), each of the plurality of row units (12) having a seed meter adapted to discharge the seeds (11 ) in a seed path, the sowing control system comprising: a row cutter controller (1500) operationally controlling the seed discharge by the row unit seed meter (12) associated with that seed seeder (10); a GPS unit (100); a seed sensor (200) arranged with respect to the seed path to generate seed pulses as each seed (11) discharged passes through said seed sensor (200); a monitoring system (1000) in communication with said GPS unit (100), said seed sensor (200) and said row cutter controller (1500); characterized by the fact that it still comprises: the said monitoring system (1000) configured to determine a seed positioning location for each discharged seed by an association of a time of each generated seed pulse with a GPS location; said monitoring system (1000) storing in memory a time delay measured between a time associated with the seed delivery control signal and said time associated with one of said seed pulses generated; said monitoring system (1000) configured to allow a user to select a subset of planting stop conditions from a plurality of planting stop conditions; and said monitoring system (1000) controlling said row cutter controller (1500) based on said subset of selected planting stop conditions, a GPS location of the row units associated with said row cutter controller (1500), and said measured time delay.
    [0013]
    13. Sowing control system, according to claim 12, characterized by the fact that one of the referred pluralities of planting stop conditions includes crossing an external field boundary.
    [0014]
    14. Sowing control system, according to claim 12, characterized by the fact that one of the referred pluralities of planting stop conditions includes crossing an internal field boundary (19).
    [0015]
    15. Sowing control system, according to claim 12, characterized by the fact that one of the aforementioned pluralities of planting stop conditions includes entering an area of a field in which said user previously defined the said area for plant at a later time.
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    同族专利:
    公开号 | 公开日
    BR112013002104A2|2016-05-24|
    EP3236208A1|2017-10-25|
    UA110623C2|2016-01-25|
    EP3236208B1|2022-02-02|
    US20200329630A1|2020-10-22|
    EP2598840B1|2017-07-19|
    AU2011282727A1|2013-02-28|
    CA2806901C|2018-08-21|
    EP2598840A1|2013-06-05|
    US9955625B2|2018-05-01|
    ES2639389T3|2017-10-26|
    US20180242514A1|2018-08-30|
    AR082397A1|2012-12-05|
    CA2806901A1|2012-02-02|
    US10736258B2|2020-08-11|
    LT2598840T|2017-10-25|
    US20130124055A1|2013-05-16|
    WO2012015957A1|2012-02-02|
    HUE035939T2|2018-05-28|
    EP2598840A4|2015-01-07|
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    法律状态:
    2018-12-26| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-10-08| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-04-14| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-10-27| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 27/07/2011, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US36811710P| true| 2010-07-27|2010-07-27|
    US61/368,117|2010-07-27|
    PCT/US2011/045587|WO2012015957A1|2010-07-27|2011-07-27|Seeding control system and method|
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