agricultural implement having multiple row units, and method for controlling the force applied to a

专利摘要:
Abstract: Systems, methods and apparatus are provided for controlling the downforce applied to an agricultural implement having multiple row units. abstract "patent pending unit downward force control apparatus, systems and methods". These are systems, methods, and apparatus for controlling the downward vertical force applied to an agricultural implement having multiple row units.
公开号:BR112014002818B1
申请号:R112014002818-4
申请日:2012-08-06
公开日:2018-12-04
发明作者:Derek A. Sauder；Ian R. Radtke；Jason J. Stoller
申请人:Precision Planting Llc；
IPC主号:

专利说明:

(54) Title: AGRICULTURAL IMPLEMENT HAVING MULTIPLE RANGE UNITS, AND METHOD TO CONTROL THE STRENGTH APPLIED TO A FIRST AGRICULTURAL RANGE UNIT (73) Owner: PRECISION PLANTING LLC. Address: 23207 Townline Road IL 61568, Tremont, UNITED STATES OF AMERICA (US) (72) Inventor: DEREK A. SAUDER; IAN R. RADTKE; JASON J. STOLLER.
Validity Term: 20 (twenty) years from 08/06/2012, observing the legal conditions
Issued on: 12/04/2018
Digitally signed by:
Liane Elizabeth Caldeira Lage
Director of Patents, Computer Programs and Topographies of Integrated Circuits
1/26
Invention Patent Descriptive Report for AGRICULTURAL IMPLEMENT HAVING MULTIPLE ROW UNITS, AND METHOD TO CONTROL THE STRENGTH APPLIED TO A FIRST AGRICULTURAL UNIT.
BACKGROUND [001] It is recognized that sufficient downward vertical force must be exerted on a seed drill unit to ensure a desired furrow depth and soil compaction is achieved. If too much downward vertical force is applied, especially on soft or moist soils, the soil can be over-compacted which can affect the ability of germinating seeds to break through the soil. If insufficient downward vertical force is applied, particularly on hard or dry soils, the seeder can move up and out of the ground resulting in insufficient furrow depth.
[002] In the past, spiral springs extending between the parallel arms of the row units of the seeder were often employed to provide additional or additional downward vertical force necessary to ensure that a desired furrow depth and soil compaction were achieved. By positioning the spring at several predefined locations along the parallel arms, the amount of vertical downward force exerted on the row unit could be increased or reduced. However, the amount of additional downward vertical force exerted by the spring remained constant until the spring was repositioned. For example, when the seeder found hard or dry soil so that a further supplementary vertical downward force was needed to maintain the desired groove depth or soil compaction, the operator had to stop and adjust the spring location in order to increase the vertical downward force supplePetition 870180067076, of 02/08/2018, p. 10/50
2/26 mental. In addition, during operation, as seeds or fertilizers in the gutters were dispensed, the weight of the row unit gradually decreased causing a corresponding reduction in the total vertical downward force on the measuring wheels, because the additional downward vertical force exerted by the spring remained substantially constant until the spring was manually repositioned.
[003] More advanced supplemental vertical downforce systems, as disclosed in U.S. Order No. 12 / 679,710 (Publication No. US2010 / 0198529) by Sauder et al. (in the following parts, Sauder Order 710), which is incorporated here in its entirety for reference, measure the tension in a member of the measuring wheel by adjusting the mechanism to determine the force being exerted against the measuring wheels to determine the vertical downward force. However, central control systems that apply a supplementary vertical downward force common to each row unit generally fail to respond to unique loads experienced by each row unit, so that insufficient or excessive supplemental downward force can be applied to any given row unit.
[004] Therefore, there is a need for a vertical downward force control system that effectively maintains a desired vertical downward force on each row unit of an agricultural implement having a plurality of row units.
BRIEF DESCRIPTION OF THE DRAWINGS [005] Figure 1 A is a side elevation view of a modality of a seeder row unit.
[006] Figure IB is a side elevation view of the seeder row unit of Figure 1 with a depth regulating member being shown.
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3/26 [007] Figure 2 is a top plan view of a tractor and the seeder row unit of Figure 1 illustrating schematically a modality of a vertical downforce control system.
[008] Figure 3A is a more detailed schematic illustration of the vertical downward force control system in Figure 2.
[009] Figure 3B is a schematic illustration of another modality of a vertical downward force control system.
[0010] Figure 3C is a schematic illustration of yet another modality of a vertical downward force control system that incorporates a two-stage actuator.
[0011] Figure 3D is a schematic illustration of yet another modality of a vertical downward force control system that incorporates a two-stage actuator and a regeneration circuit.
[0012] Figure 4A illustrates a method of a process flow to determine a downward pressure.
[0013] Figure 4B illustrates a method of a process flow to determine an upward pressure.
[0014] Figure 4C illustrates another modality of a process flow to determine an upward pressure.
[0015] Figure 4D illustrates the pressure range for an actuator chamber.
[0016] Figure 5A is a perspective view of a modality of a two-stage actuator.
[0017] Figure 5B is a cross-sectional view of the two-stage actuator in Figure 5A.
[0018] Figure 5C is a cross-sectional view of the two-stage actuator in Figure 5A.
[0019] Figure 6A illustrates another modality of a proPetition flow 870180067076, from 08/02/2018, p. 12/50
4/26 cess to determine a downward pressure.
[0020] Figure 6B illustrates another modality of a process flow to determine an upward pressure.
[0021] Figure 7 illustrates yet another modality of a process flow to determine an upward pressure.
[0022] Figure 8 is a schematic illustration of an actuator modality that incorporates a pressure transducer. DESCRIPTION
DOWNTIME VERTICAL FORCE SYSTEM OF THE UNIT OF
ROW [0023] Referring to the drawings, where similar numerical references designate identical or corresponding parts across the various views, Figure 1A illustrates a side elevation view of a row 10 unit of a seeder 1. A plan view of top of seeder 1 is shown in Figure 2 with four row units 10 mounted in relationship sideways spaced along the length of a tool bar 2 by parallel arm connections 8 that allow each row unit to move vertically independently between itself and in relation to the tool bar 2. It should be understood that the seeder 1 can comprise many more row units and therefore the four row seeder in Figure 2 is provided for illustrative purposes only. [0024] Each row unit 10 includes a row unit frame that supports one or more cans or gutters 20 to hold seeds, insecticides or other harvest inputs. Each row unit 10 includes opening discs 12 to make a groove or trench in the ground 14 as the seeder is pulled across the field by a tractor 50. The depth of the trench is adjusted by gauge wheels 18 moving over the surface of the soil 14.
[0025] Turning to the view of Figure 1B, the measuring wheels 18
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5/26 are mounted to dowel arms 36 on the axles 34. Draft wheel arms 36 are pivotally mounted to frame 6 at a pivot point 56. A depth adjustment arm 54 is pivotally mounted to frame 6 around a pin 51. The depth adjustment arm 54 is in contact with the measuring wheel arm 36, limiting the upward movement of the measuring wheels 18. The operator can rotate the depth adjustment arm 54 to adjust the position of the adjustment arm depth 54 and, therefore, the maximum height of the measuring wheels 18 in relation to the frame 6. It should be assessed that other modalities of the row unit 10 are known in the art, such as those that include measuring wheels that walk over obstacles by means of of a rocker as disclosed in US Patent No. 5,235,922, hereby incorporated in its entirety by reference.
[0026] Continuing the reference in Figure 1B, each row unit 10 preferably incorporates a vertical downward force sensor 52 to measure a parameter related to the vertical force between the measuring wheels 18 and the soil surface 14 and generate a load signal related to that parameter. Sensor 52 can comprise any sensor configured to measure such a parameter, including an extensometer mounted to the gauge wheel arm 36 as illustrated in Figure 1B and described in US Patent No. 6,701,857 by Jensen, hereby incorporated in its entirety for reference . In other embodiments, sensor 52 may comprise a charge pickup pin that replaces pin 51 as disclosed in U.S. Patent Publication no. US 2010/0180695, hereby incorporated in its entirety for reference. As shown in Figure 2, the signals from each of the sensors, 52-1, 52-2, 52-3, 52-4 are transmitted through a signal wire 38, which together comprise a signal harness 31, at the monitor 42 (Figure 2) preferentially Petition 870180067076, from 08/02/2018, p. 14/50
6/26 and located in the cab of the tractor 50. A preferred monitor 42 is disclosed in U.S. Patent Publication no. US 2010/0010667, hereby incorporated in its entirety by reference. Preferably, monitor 42 includes a processor, memory, and a graphical user interface (GUI).
[0027] It should be assessed that the force on the measuring wheels 18 represents the vertical downward force on the row unit 10 in excess of the vertical downward force required by the opening discs 12 to penetrate the soil 14 to a desired depth. Therefore, in operation, it is desirable to maintain a certain minimum limit of force on the gauge wheels 18 to ensure that the row unit is operating at the desired depth. However, it is desirable to keep the force on the gauge wheels 18 below an upper limit in order to minimize compaction and avoid pushing the ground 14 in the direction of travel.
[0028] In order to assist in maintaining optimal levels of vertical downward force, the row unit 10 is provided with an actuator 32. The actuator 32 is pivotally mounted on a first end to the tool bar 2 by a mounting bracket. The actuator 32 is pivotally mounted on a second end to one of the arms of the parallel connection 8. A first fluid line 40 is in fluid communication with an ascending chamber 35 (Figure 3A) of the actuator 32. A second fluid line 44 is in fluid communication with a descending chamber 33 (Figure 3A) of the actuator 32. When the pressure in the descending chamber 33 exceeds the pressure in the ascending chamber 35, the actuator 32 exerts a downward force on the row unit 10, increasing the force on the wheels meters 18. When the pressure in the rising chamber 35 exceeds the pressure in the descending chamber 33, the actuator 32 exerts an upward force on the row unit 10, reducing the force
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7/26 on the measuring wheels 18.
[0029] A control system 300 is used to control the actuators 32. A fluid supply line 43 connects the control system 300 to a fluid supply port 376 (Figure 3A) of a fluid reservoir (not shown) preferably mounted on tractor 50. A fluid return line 48 connects the control system 300 to a fluid return port 374 (Figure 3A) of the fluid reservoir. An actuator harness 45 connects the monitor 42 to the control system 300 to send the actuator command signals to each actuator 32 in each row unit 10. PRESSURE CONTROL SYSTEM [0030] A schematic illustration of a control system modality 300 in Figure 3A. The control system 300 includes an upward pressure control device 310 in fluid communication with the fluid supply line 43 and the fluid return line 48. The upward pressure control device 310 is in fluid communication with the chamber ascending 35 of each actuator 32-1, 32-2, 32-3, 32-4. The control system 300 also includes downward pressure control devices 320. Each downward pressure control device 320-1, 320-2, 320-3, 320-4 is in fluid communication with the fluid supply line 43 and the fluid return line 48. Each downward pressure control device 320-1 is in fluid communication with the downstream chamber 33 of one of the respective actuators 32-1, 32-2, 32-3, 32-4. Preferably, monitor 42 is in electrical communication with each of the downward pressure control devices 320 and with the upward pressure control device 310 via actuator harness 45. Preferably, monitor 42 is configured to modify a operational status of each control device 310, 320 (for example, to change presPetition 870180067076, of 02/08/2018, page 16/50
8/26 are controlled by each control device).
[0031] In operation, monitor 42 commands an individual downward pressure to each downward pressure control device 320 which then adjusts the downward pressure commanded in the downward chamber 33 of the associated actuator 32. Monitor 42 also commands a common upward pressure to the rising pressure control device 310, which then adjusts the common rising pressure commanded in the rising chambers 35 of each actuator 32. [0032] In the mode illustrated in Figure 3B, the rising pressure control device 310 and the control devices Downstream pressure valves 320 comprise pressure reduction and relief valves, such as Model No. TS 10-36 manufactured by HydraForce in Lincolnshire, Illinois, USA. In this modality, the fluid supply line 43 and the fluid return line 48 are in fluid communication with the pressure and tank ports of each valve, respectively, and the working port of each valve is connected to the associated actuator. 32. Monitor 42 is in electrical communication with a solenoid associated with each valve. In operation, monitor 42 sends an individual control current to each valve and each valve adjusts a pressure proportional to the associated control current.
CONTROL PROCESSES [0033] Because the upward pressure in the control system 300 is common to all rows, a process of controlling such a system preferably sets an appropriate upward pressure based on the downward pressure being applied to each row . Preferably, this process minimizes the occurrence of loss of planting depth in any row and, preferably, minimizes the occurrence of excess vertical downward force in any row.
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9/26 [0034] A preferred method 400 for determining and adjusting the desired downward pressure and upward pressure in actuators 32 is illustrated in Figures 4A-4B. Process 400 includes processes 420 for determining and controlling the desired downward pressure for each row unit 10 and a process 450 for determining and commanding the desired common upward pressure for all row units.
[0035] Referring to Figure 4A, a separate process 420 is used for each row in order to determine the individual downward pressure to be commanded for each actuator 32. In step 402, monitor 42 obtains the current downward vertical force measurement for the row from the associated sensor 52. In step 404, monitor 42 preferably determines a desired net pressure based, preferably, on the current downward vertical force measurement. The desired net pressure is the desired sum of the downward pressure in the downward chamber 33 minus the upward pressure in the upward chamber 35. In order to determine the downward pressure necessary to obtain the desired net pressure, the monitor 42 preferably obtains the upward pressure currently commanded in step 406. Preferably, the presently commanded upward pressure is stored in memory by process 450, as described in this document in relation to Figure 4B. In step 408, monitor 42 determines a commanded downward pressure based on the currently commanded upward pressure and the desired net pressure. In step 410, monitor 42 sends a command signal to the downward pressure control device 320 related to the commanded downward pressure. In step 412, monitor 42 preferably stores a new commanded downward pressure in memory.
[0036] Turning to Figure 4B, a 450 process preferably compares the current downward pressure in each row to a range
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10/26 desired and then determines an appropriate upward pressure to command actuators 32 based on these comparisons. One embodiment of a desired downward pressure range 480 is illustrated in Figure 4D. As shown, each downward pressure chamber has a maximum operating pressure of 472. In the illustrated embodiment, the maximum operating pressure of 472 is approximately 3000 psi. It should be noted that in view of this disclosure that if monitor 42 is commanding negative downward pressure in a row, then process 420 has determined that the row needs more upward pressure than is being provided by the upstream chamber; that is, the excess vertical downward force is too high. Therefore, the desired range 480 preferably has a minimum of 484 approximately equal to zero. Conversely, if monitor 42 is commanding a downward pressure greater than the maximum operating pressure of the downward chamber, then the upward pressure must be reduced in order to maintain depth in such a row. Therefore, the desired range 480 has a maximum 482 approximately equal to the maximum operating pressure 472.
[0037] It should be noted that due to the fact that hydraulic systems spend a certain amount of time to react to commands, it may be desirable to start modifying the upward pressure as the downward pressure in a given row approaches zero or the maximum operating pressure of the descending chamber. Therefore, a second embodiment of a desired downward pressure range 490 is illustrated in Figure 4D. The desired range 490 has a maximum 492 that is less than the maximum operating pressure 472 for an upper band 495. The desired range 490 has a minimum 494 that is greater than the maximum operating pressure 472 for a lower band 493. The magnitudes of the band lower 493 and upper band 495 are chosen to allow the
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11/26 control 300 proactively change the rising pressure without making unnecessary or very frequent changes to the rising pressure. [0038] Therefore, returning to Figure 4B and process 450 to determine the upward pressure, monitor 42 obtains the downward pressure currently commanded for each row in step 432. Preferably, the downward pressure currently commanded is stored in memory by process 420 as discussed in this document in relation to Figure 4A. In step 434, monitor 42 determines whether the downward pressure on any of the actuators 32 is outside a desired range. If the downward pressure is within the desired range for all actuators, then, in step 436, monitor 42 preferably retains the upward pressure currently commanded and in step 446 preferably stores the upward pressure currently commanded in memory.
[0039] If the downward pressure is outside the desired range for at least one actuator, then, in step 438, monitor 42 determines whether one or more rows are above or below the desired range. If at least one row is above the desired range and no row is below the desired range, then, in step 440, monitor 42 preferably commands a reduction in upward pressure and in step 446 preferably stores upward pressure new commanded in memory. If at least one row is below the desired range and no row is above the desired range, then, in step 444, monitor 42 preferably commands an increase in upward pressure and in step 446 preferably stores upward pressure new commanded in memory. If at least one row is above the desired range and at least one row is below the desired range, then, in step 442, monitor 42 preferably commands a reduction in upward pressure and in step 446 preferably stores the upward pressure coPetition 870180067076, from 08/02/2018, p. 20/50
12/26 new send in memory.
[0040] Reducing the upward pressure in step 442 is preferable because when a first row has excess downward pressure and a second row has insufficient downward pressure, the potential economic costs to the first row (due to the loss of depth and the potential placement of seeds at the top of the soil) are generically greater than the potential economic costs to the second row (due to excessive soil compaction or poor trench definition).
[0041] In an alternative modality of process 450, instead of retaining the current upward pressure in step 436 when all rows are within the desired range, the system performs an alternative process 436 'illustrated in Figure 4C. In step 462, monitor 42 averages the downward pressure on actuators 32. In step 464, monitor 42 compares the average downward pressure value to an intermediate operating pressure of 473 (Figure 4D) associated with actuators 32. In some modalities, the intermediate operating pressure 473 is half the maximum operating pressure 472. If the average downward pressure is below the intermediate operating pressure 473, then, in step 468, monitor 42 commands an increase in the upward pressure. Increasing the upward pressure will tend to increase the average downward pressure on the actuators 32. Similarly, if the average downward pressure is above the mid-range operating pressure 473, then, in step 466, monitor 42 commands a reduction in the upward pressure. Reducing the upward pressure will tend to decrease the average downward pressure on the actuators 32. It should be appreciated that in view of this disclosure that keeping the average downward pressure on the actuators 32 at or close to the intermediate operating pressure 473 of the actuators will allow the react more
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13/26 effectively changes to a desired net pressure. Therefore, if the average downward pressure is substantially equal to the intermediate operating pressure 473, then, in step 470, monitor 42 retains the current upward pressure.
[0042] In process 420 described previously with reference to Figure 4A, the upward pressure is obtained directly in a forward supply way and used (in addition to the current vertical force measurement) in determining a new commanded upward pressure. However, the step in step 406 of obtaining the current rising pressure could be eliminated in some modalities of process 420, resulting in a feedback system in which the effects of changes in rising pressure are taken into account after affecting the force measurement. current descending vertical. In these embodiments, the step of determining a desired net pressure in step 404 could also be eliminated so that the monitor 42 simply determines a new downward pressure (or change in downward pressure) based on the current downward vertical force measurement.
ALTERNATIVE CONTROL SYSTEMS AND PROCESSES [0043] In the system modalities of Figures 3A and 3B, the downward pressure is controlled individually while the upward pressure is controlled by a single control device. However, in other embodiments, the upward pressure is controlled individually while the downward pressure in all rows is controlled by a single control device. However, if one side of the actuator 32 needs to be controlled on a base per row, it is preferable to control the downward pressure chambers individually (as shown in Figures 3A and 3B) because maintaining the depth by the timely addition of downward force when necessary is more important economically and agronomically than a paddlePetition 870180067076, of 02/08/2018, p. 22/50
14/26 timely downward excess vertical force.
[0044] In yet other modalities, both the upward pressure and the downward pressure can be controlled individually by two pressure reduction and relief valves associated with each row. These modalities involve significantly increased costs with the system since an additional valve must be used for each row in the seeder. Similarly, the upward pressure can be controlled in common for any number of rows between two and the number of rows on the tool bar (for example, the upward pressure can be controlled separately for each of the three sections of the seeder).
[0045] In other modalities of the control system 300 illustrated in Figure 3A, the upward control device 310 and the downward pressure control devices 320 comprise electro-hydraulic servo control valves. In these modalities, each flow control valve is preferably in electrical communication with the monitor 42. In other modalities, the upward control device 310 and the downward pressure control devices 320 comprise both a flow control valve electro-hydraulic flow servo control as a pressure sensor in fluid communication with a pressure sensor. In these modalities, each flow control valve and each pressure sensor are preferably in electrical communication with the monitor 42.
[0046] In process 400 previously described, process 420 for controlling downward pressure comprises a feedback loop in which the input is the current downward vertical force measurement from each row. However, it should be noted that in modalities where the upward pressure on each actuator is controlled on a per-row basis and the downward pressure is controlled by
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15/26 a common control device, the upward pressure is preferably determined by a feedback loop similar to process 420 that uses the current downward vertical force measurement from each row. In these modalities, the downward pressure is preferably controlled by a process similar to process 450, but monitoring the upward pressure commanded in each row in order to determine and command a common downward pressure. [0047] In modalities in which both the upward pressure and the downward pressure of each actuator are controlled by individual control devices in each row, both the downward pressure and the upward pressure of each actuator are preferably controlled by a process similar to the process 420 .
[0048] As illustrated in process 700 of Figure 7, the upward pressure can be controlled by comparing any criteria related to the penetration of the soil by the opening discs in each row to a desired range. It must be evaluated that in the modality of Figures 4A and 4B, the soil penetration criterion is equal (or derived) to the downward pressure commanded in each row. However, in other modalities, this criterion can be related (or derived) to any of the following, without limitation: a net pressure command (as determined in step 404 of Figure 4A), the reading of sensor 52 (indicating the force vertical on the measuring wheels 18 in each row), or the real downward pressure in the downward pressure chamber 33 of each actuator 32 (measured, for example, by a pressure transducer 800 - such as that available from Gems Sensors and Controls at Plainville, CT, USA - incorporated into each actuator as shown in Figure 8). Whatever the criterion obtained in step 732, the criterion in each row is preferably compared to a desired range in step 734. If the soil penetration criterion is within the range for all rows, then the rising pressure 870180067076, of 08/02/2018, p. 24/50
16/26 current tooth is retina in step 736. If the ground penetration criterion is out of range for any row, then in step 738 monitor 42 determines whether the ground penetration criterion is high or low for each row. If the soil penetration criterion for at least one row is high (indicating that more force is needed to penetrate the soil to the desired depth) and is not low for any rows, then the upward pressure is reduced in step 740. If the soil penetration criterion for at least one row is low (indicating that more force is being applied than necessary to penetrate the soil to the desired depth) and is not high for any rows, then the upward pressure is increased in the step 744. If the soil penetration criterion for at least one row is low and high for at least another row, then the upward pressure is preferably reduced in step 742 because, as discussed in this document, the economic costs of downward pressure are generally smaller than those associated with loss of depth. It should be noted that in step 742, the control system 300 chooses one of the two undesirable actions (for example, it chooses to reduce the upward pressure instead of increasing the upward pressure) based on an estimated economic or agronomic cost of both actions undesirable. In other embodiments, the relative economic costs of losing depth in a given number of rows are compared to the economic costs of vertical downward force in another number of rows, and the upward pressure is modified based on that comparison. In each case, in step 746, the controlled upward pressure is preferably stored in memory for use in determining the desired downward pressure in each row (as shown in Figure 4A).
[0049] Although process 700 determines pressure asPetition 870180067076, of 02/08/2018, p. 25/50
17/26 appropriate downward pressure as described above, the desired downward pressure in each row is preferably determined and controlled as described in this document in relation to Figure 4A. Therefore, it must be evaluated that in view of this revelation that when the soil penetration criterion is the reading of sensor 52 (Ito is, vertical force on the measuring wheels 18), a higher sensor reading will correspond to the loss of force of required penetration (and vice versa) so that the soil penetration criterion derived from the sensor reading is preferably inversely related to the sensor reading and can be derived, for example, by inverting the sensor reading .
[0050] It should be evaluated in view of this disclosure that although a given soil penetration criterion may be related to soil conditions, such as soil hardness or moisture, such criterion can change to constant soil conditions. For example, when the weight of an individual row unit 10 decreases due to the discharge of harvest inputs during planting operations, more additional force may be required to penetrate the soil with the opening discs 12. In addition, a penetration criterion of soil can represent an additional force necessary to penetrate the soil or an amount of force applied in excess of the force necessary to penetrate the soil; for example, in some modalities, the magnitude of a positive criterion can be related to the amount of additional force needed to penetrate the soil, while the magnitude of a negative criterion can be related to the amount of force applied in excess of the force needed to penetrate the soil. ground. In some modalities, the criterion can also be Boolean, for example, it can have one of two valves depending on whether the soil has been penetrated to full depth; such arrangements may use a contact switch (for example, arranged between the measuring wheel arms
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18/26 and stop 60) to determine whether any force is being exerted on the gauge wheels 18 by the ground.
[0051] It should be assessed in view of this disclosure that in alternative methods, multiple soil penetration criteria can be consulted in determining an appropriate upward pressure. [0052] In addition, the magnitude of incremental adjustments made to the upward and downward pressure as described in this document can be determined by a PID, PI or similar controllers as known in the art.
CYLINDER VERTICAL DOWNTIME FORCE SYSTEM
TWO STAGES [0053] An alternative modality of the control system 300 is illustrated in Figure 3C. Two rows are illustrated. In the control system 300 'of Figure 3C, each actuator 32 is replaced by a two-stage actuator 500. The two-stage actuator 500 includes a rising chamber 535, a primary descending chamber 515 and an additional descending chamber 525. The descending chambers primary 515 of the two-stage actuators 500 are preferably in fluid communication with the fluid supply and fluid return ports 376, 374 via individual downward pressure control devices 320. The upstream chambers 535 are located preferably, in fluid communication with the fluid supply and fluid return ports 376, 374 via a common rising pressure control device 310. Supplementary downstream chambers 525 are preferably in fluid communication with the ports fluid supply and fluid return 376, 374 via a common supplemental downward pressure control device 31 5.
[0054] Control devices 310, 315, 320 may comprise pressure relief and reduction valves. Monitor 42 is found 870180067076, from 8/2/2018, p. 27/50
19/26 in electrical communication with control devices 310, 315, 320, preferably through an electrical connection to a solenoid associated with each control device.
[0055] The two-stage actuator 500 is illustrated in detail in Figures 5A and 5B. Actuator 500 includes a head 560 and a stem 550. Head 560 includes primary downward chamber 515 in fluid communication with a primary downward chamber door 510, supplementary downward chamber 525 in fluid communication with an additional downward chamber door 520, and the ascending chamber 535 in fluid communication with an ascending chamber port 530. The stem 550 is mounted to an inner stem 540. The inner stem 540 is slidably received into the head 560. The inner stem 540 includes an upper annular surface 544 that defines an upper surface of the ascending chamber 535. The inner rod
540 includes a lower annular surface 542 that defines an interior surface of the supplementary descending chamber 525. The inner stem 540 also includes a primary descending chamber surface 541 that extends into the primary descending chamber 525. Preferably, the head 560 includes a assembly 590 for attachment to the tool bar 2. As shown in relation to the actuator 32 in Figure 1A, the stem 550 is preferably attached to the row unit 10 for transmission of vertical forces from the tool bar 2 to the row unit 10 .
[0056] In operation of the two-stage actuator 500, as the pressure increases in the rising chamber 535, the increased pressure on the upper annular surface 544 creates an upward force on the inner stem 540 and therefore on the stem 550. As the pressure increases in the primary descending chamber 515, the increased pressure on the primary descending chamber surface
541 creates a downward force on the inner rod 540 and therefore
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20/26 on the stem 550. As the pressure increases in the supplementary descending chamber 525, the increased pressure on the lower annular surface 542 creates a downward force on the inner stem 540 and therefore on the stem 550.
[0057] Referring to Figure 5C, surfaces 541, 542, 544 have surface areas A541, A542, A544, respectively. Similarly, the variable fluid pressures in chambers 515, 525, 535 are indicated by the numerical references P515, P525, P535, respectively. Therefore, a net vertical force F on the stem 550 can be expressed as follows:
F = P515A541 + P525A542 - P535A544 [0058] In view of this disclosure, the two-stage actuator 500 allows the control system to operate with a less cumulative fluid flow. Smaller and more frequent adjustments to the net vertical force F can be made by adjusting the primary downward pressure, while larger adjustments to the vertical downforce can be made by adjusting the supplementary downward pressure when necessary. As a diameter D540 of the inner rod 540 increases (that is, as the area A541 increases and the area A542 decreases), the vertical downward force of row by maximum variable row increases and the amount of flow shared between the cylinders 500 decreases.
TWO STAGE CYLINDER CONTROL METHODS [0059] In operation of the control system 300 'of Figure 3C, the primary downward pressure control device 310 provides an individual primary downward pressure to each actuator 500. When the desired total downward pressure to any row is greater than the pressure that can be provided by the individual head pressure, the supplemental downward pressure control device 315 increases the common supplementary downward pressure
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21/26 in the additional downward pressure chamber 525 for all rows. According to the control system of Figures 3A and 3B, when the desired total downward pressure for any row is negative, the upward pressure control device 310 increases the common upward pressure in the upward pressure chamber 535 for all rows.
[0060] A preferred process 600 for controlling the control system 300 'of Figure 3C is illustrated in Figures 6A and 6B.
[0061] Referring to Figure 6A, the 620 processes are used to command a primary downward pressure for each row based on the measurement of downward vertical force in that row and, preferably, based on the supplementary upward and downward pressures fed ahead from process 650 (Figure 6B). In step 602, monitor 42 obtains the current downward vertical force measurement for the row from the associated sensor 52. In step 604, monitor 42 determines a desired net pressure preferably based on the current downward vertical force measurement. The net pressure is the sum of the downward pressures in the primary and supplementary downstream chambers 515, 525 minus the upward pressure in the upstream chamber 535. In order to determine the primary downward pressure necessary to obtain the desired net pressure, monitor 42 obtains the upward pressure currently commanded and the supplementary downward pressure in step 606. In step 608, monitor 42 determines a commanded primary downward pressure based on the currently commanded primary downward pressure and upward pressure and the desired net pressure. In step 610, monitor 42 sends a command signal to control device 320 related to the commanded primary downward pressure. In step 612, monitor 42 preferably stores the new commanded primary downward pressure in memory. It should be noted that 620 processes
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22/26 are similar to the processes 420 described in this document except that both the commanded upward pressure and the supplementary downward pressure are consulted and a primary downward pressure is commanded.
[0062] Turning to Figure 6B, a 650 process for determining the upward pressure and the supplementary downward pressure is illustrated. In step 632, monitor 42 obtains the primary downward pressure currently commanded for each row. The currently controlled primary downward pressure is preferably stored in memory by process 620 as discussed in this document in relation to Figure 6A. In step 634, monitor 42 determines whether the primary downward pressure on any of the actuators 500 is outside a desired range. The desired range can be similar to any of the desired ranges described in relation to Figure 4D, except that the desired range is associated with the primary downward pressure chamber 515. If the primary downward pressure is within the desired range for all actuators, then, in step 636 the monitor 42 preferably retains the supplementary downward pressure and upward pressure currently commanded and in step 646 it preferably stores the additional downward pressure and upward pressure currently commanded in memory. [0063] If the downward pressure is outside the desired range for at least one actuator, then, in step 638, monitor 42 determines whether one or more rows are above or below the desired range. If at least one row is below the desired range and no row is above the desired range, then, in step 643, monitor 42 preferably reduces the additional downward pressure commanded. In step 644, monitor 42 determines whether the commanded additional downward pressure is negative. If the commanded supplementary downward pressure is negative, then in step 645 the
Petition 870180067076, of 08/02/2018, p. 31/50
23/26 monitor 42 preferably increases the commanded upward pressure and in step 646 it preferably stores the currently commanded upward pressure and the additional downward pressure in memory. If the commanded supplementary downward pressure is not negative, then, in step 646, monitor 42 preferably stores the currently commanded upward pressure and supplementary downward pressure in memory without adjusting the commanded supplementary downward pressure.
[0064] If at least one row is above the desired range and no row is below the desired range, then, in step 640, monitor 42 preferably commands a reduction in upward pressure. In step 649, monitor 42 preferably determines whether the resulting commanded upward pressure is negative. If the currently controlled upward pressure is negative, then, in step 652, monitor 42 preferably commands an increase in supplementary downward pressure and in step 646 preferably stores the additional downward pressure and upward pressure currently commanded in memory. If the currently controlled upward pressure is not negative, then, in step 646, monitor 42 preferably stores the additional downward pressure and upward pressure currently commanded in memory without changing the supplementary downward pressure.
[0065] If at least one row is above the desired range and at least one row is below the desired range, then, in step 642, monitor 42 preferably commands a reduction in the upward pressure. In step 649, monitor 42 preferably determines whether the resulting commanded upward pressure is negative. If the upward pressure currently controlled is negative, then, in step 652, monitor 42 preferably commands an increase in supplementary downward pressure and in step 646 stores, preferably 870180067076, from 8/2/2018, p. 32/50
24/26 additional downward pressure and upward pressure currently controlled in memory. If the currently controlled upward pressure is not negative, then, in step 646, monitor 42 preferably stores the additional downward pressure and upward pressure currently commanded in memory without changing the supplementary downward pressure.
[0066] It should be noted in view of this disclosure that process 650 preferably does not simultaneously pressurize the upward pressure chambers and the supplementary downward pressure chambers. Process 650 reduces the supplementary downward pressure to zero before increasing the upward pressure. As the commanded upward pressure becomes more negative, the upward pressure determined in step 645 increases. Similarly, process 650 reduces the upward pressure to zero before increasing the supplementary downward pressure. As the commanded upward pressure becomes more negative, the additional downward force determined in step 652 increases.
REGENERATIVE CONTROL SYSTEMS [0067] As discussed earlier, the 300 'control system in Figure 3C provides a common upward pressure or an additional downward pressure common to all rows. In some scenarios, monitor 42 may determine that upward pressure is required when supplementary downward pressure is currently being applied, and vice versa. In order to reduce the time and fluid flow required to stop the application of supplementary downward pressure and start the application of upward pressure (or vice versa), the control system 300 in Figure 3D selectively allows regeneration (ie, flow) between the additional downstream chambers 525 and the upstream chambers 535.
[0068] In the control system 300 of Figure 3D, the cameras of DisPetition 870180067076, of 02/08/2018, p. 33/50
Supplementary cents are placed in fluid communication by a control device 317. The control device 317 is preferably a flow control valve and bidirectional prodrug operated by solenoid, but in some embodiments comprises a fixed orifice. A control device 311 is in fluid communication with the upward pressure control device 310 and the upstream chambers 535. A control device 316 is in fluid communication with the supplementary downward pressure control device 315 and the downstream chambers 525. Control devices 311, 316 are preferably solenoid-operated, two-way lavish valves, such as Model No. SV08-28 available from Hydraforce in Lincolnshire, Illinois, USA. The control device 311, 316, 317 solenoids are in electrical communication with the monitor 42.
[0069] In operation of the control system 300 of Figure 3D, the monitor 42 modifies the operational parameters of the control devices 311, 316, 317 in order to allow a flow between the supplementary descending chambers 525 and the ascending chambers 535. To allow as the fluid flows from the supplementary descending chamber 525 to the ascending chamber 535, the control device 311 is opened (or remains open), the control device 316 is closed, and the control device 317 is opened. To allow fluid to flow from the ascending chamber 535 to the supplementary descending chamber 525, the control device 311 is closed, the control device 316 is opened (or remains open), and the control device 317 is opened. In order to avoid a regenerative flow, the control device 317 is closed and the control devices 311, 316 are opened (or remain open), effectively converting the control system 300 of Figure 3D into a control system 300 of Figure 3C .
Petition 870180067076, of 08/02/2018, p. 34/50
26/26 [0070] Although the systems, methods and devices disclosed here are primarily described as hydraulic, it must be appreciated that instantaneous development could be used to implement a similar pneumatic system. For example, in some embodiments, the cylinders described here are replaced by pneumatic cylinders or air bags and the valves described here are replaced by pneumatic valves having equivalent functionality. It should also be understood that seeder 1 with row units 10 could be any agricultural implement with laterally spaced units that move vertically in relation to the tool bar and when it is desired to have a variable downward force for the laterally spaced units .
[0071] The preceding description is presented to allow an individual with common knowledge in the art to produce and use the invention and it is provided in the context of a patent application and its requirements. Various modifications to the preferred mode of the apparatus, and the general principles and resources of the system and methods described herein will be readily apparent to individuals skilled in the art. Therefore, the present invention is not limited to the modalities of the apparatus, system, and methods described above and illustrated in the figures, but must be in accordance with the broader scope consistent with the spirit and scope of the appended claims.
Petition 870180067076, of 08/02/2018, p. 35/50
1/7

权利要求:
Claims (14)
[1]
1. Agricultural implement (1) having multiple row units (10), each row unit (10) including opening discs (12) to make a groove in the ground (14) and gauge wheels (18) to fix a depth of groove, and having a system for applying a downward force to the row units (10), the system comprising:
a first actuator (32), said first actuator is arranged to apply a force to a first row unit (10), the first actuator including a first downward chamber (33) and a first upward chamber (35), the pressure in said first downward chamber (33) tending to oppose pressure in said first upward chamber (35);
a second actuator (32), said second actuator is arranged to apply a force to a second row unit (10), said second actuator including a second downward chamber (33) and a second upward chamber (35), pressure in said second downward chamber (33) tending to oppose pressure in said second upward chamber (35);
characterized by the fact that it further comprises: a first downward pressure control device (320) in fluid communication with said first downward chamber (33) to control the pressure in said first downward chamber (33), said first control device downward pressure (320) is configured to maintain as a first downward pressure selected any one within a continuous range of pressures in said first downward chamber (33);
a second downward pressure control device (320) in fluid communication with said second downward chamber (33) to control the pressure in said second downward chamber (33), said second downward pressure control device 870180067076, from 02 / 08/2018, p. 36/50
[2]
2/7 tooth (320) is configured to maintain as a second selected downward pressure any one within a continuous range of pressures in said second downward chamber (33), wherein said second selected downward pressure is different from said first selected downward pressure ;
a rising pressure control device (310) in fluid communication with said first rising chamber (35) and said second rising chamber (35) for controlling the pressure in said first rising chamber (35) and in said second rising chamber ( 35), said rising pressure control device (310) being configured to maintain as a selected rising pressure any one within a continuous range of pressures in both said first rising chamber (35) and said second rising chamber (35), wherein said selected upward pressure is different from said first selected downward pressure and said second selected downward pressure; and a processing circuit in electrical communication with said first downward pressure control device (320), said second downward pressure control device (320), and said upward pressure control device (310), said processing circuit configured to modify an operational state of said first downward pressure control device (320), said second downward pressure control device (320), and said upward pressure control device (310).
2. Agricultural implement, according to claim 1, characterized by the fact that said processing circuit is further configured for:
determining and a first soil penetration criterion associated with said first row unit (10);
Petition 870180067076, of 8/2/2018, p. 37/50
[3]
3/7 determining a second soil penetration criterion associated with said second row unit (10);
determining whether said first soil penetration criterion or said second soil penetration criterion exceeds a predetermined range; and reducing the pressure in said first rising chamber (35) and said second rising chamber (35) when said first ground penetration criterion or said second ground penetration criterion exceeds said predetermined range.
3. Agricultural implement, according to claim 1, characterized by the fact that it also includes:
a first downward force sensor (52) associated with the first row unit (10), said first downward force sensor (52) in electrical communication with said processing circuit, the first downward force sensor (52 ) configured to generate a first downward force signal related to a force between the floor and said first row unit (10); and a second downward force sensor (52) associated with said second row unit (10), said second downward force sensor (52) in electrical communication with said processing circuit, said second vertical force sensor downward (52) configured to generate a second downward vertical force signal related to a force between the floor and said second row unit (10).
[4]
4. Agricultural implement, according to claim 3, characterized by the fact that said processing circuit is further configured for:
select and command a pressure in said first downward chamber (33) based on said first vertical force signal
Petition 870180067076, of 8/2/2018, p. 38/50
Descending 4/7; and selecting and controlling a pressure in said second downward chamber (33) based on said second downward vertical force signal.
[5]
5. Agricultural implement, according to claim 2, characterized by the fact that it also includes:
a first downward force sensor (52) associated with said first row unit (10), said first downward force sensor (52) in electrical communication with said processing circuit, said first downward force sensor (52) configured to generate a first vertical downward force signal related to a force between the floor and said first row unit (10); and a second downward force sensor (52) associated with said second row unit (10), said second downward force sensor (52) in electrical communication with said processing circuit, said second vertical force sensor downward (52) configured to generate a second downward vertical force signal related to a force between the floor and said second row unit (10), wherein said processing circuit is further configured to determine a pressure in said first downward chamber (33) based on said first downward vertical force signal and determining a pressure on said second downward chamber (33) based on said second downward vertical force signal.
[6]
6. Agricultural implement, according to claim 5, characterized by the fact that said processing circuit is further configured for:
determine whether said first ground penetration criterion or said second ground penetration criterion is less than a minimum 870180067076, of 02/08/2018, p. 39/50
5/7 predetermined rate; and increase the pressure in said first rising chamber (35) and said second rising chamber (35) when said first ground penetration criterion or said second ground penetration criterion is less than said predetermined range and when neither the said first soil penetration criterion nor said second soil penetration criterion exceed said predetermined range.
[7]
7. Agricultural implement, according to claim 6, characterized by the fact that said first vertical downward force sensor comprises a load capturing pin.
[8]
8. Agricultural implement according to claim 6, characterized by the fact that said processing circuit is further configured to retain pressure in said first downward chamber (33) and in said second downward chamber (33) when both said first soil penetration criterion as said second soil penetration criterion are within said predetermined range.
[9]
9. Method for controlling the force applied to a first agricultural row unit (10) by a first actuator (32) having a first chamber (33, 35) and a second chamber (33, 35) and to control the force applied to a second agricultural row unit (10) by a second actuator (32) having a third chamber (33, 35) and a fourth chamber (33, 35), the first and second row units (10) including opening discs ( 12) to open a groove in the ground (14) and gauge wheels (18) to define a depth of the groove, in which the force applied to the first and second rows (10) is measured with respective first and second downforce sensors (52 ) associated with the respective first and second row units (10), characterized by the fact that it comprises the following steps:
maintain a first pressure selected in the first chaPetition 870180067076, from 08/02/2018, pg. 40/50
6/7 mara (33, 35) modifying an operational state of a first control device (310, 320) in fluid communication with the first chamber (33, 35);
maintaining a second selected pressure in the third chamber (33, 35) by changing an operational state of a second control device (310, 320) in fluid communication with the third chamber (33, 35); and maintaining a selected third pressure in the second chamber (33, 35) and in the fourth chamber (33, 35) by modifying an operational state of a third control device (310, 320) in fluid communication with the second chamber (33, 35) and the fourth chamber (33, 35), wherein said selected third pressure (33, 35) is different from said first selected pressure and said second selected pressure.
[10]
10. Method, according to claim 9, characterized by the fact that it also includes:
determine a first soil penetration criterion associated with the first row unit (10);
determine a second soil penetration criterion associated with the second row unit (10);
determining whether said first soil penetration criterion or said second soil penetration criterion exceeds a predetermined range; and reducing said third selected pressure when said first soil penetration criterion or said second soil penetration criterion exceeds said predetermined range.
[11]
11. Method, according to claim 9, characterized by the fact that it also includes:
select and command a pressure in the first chamber (33, 35) based on a first sign of vertical downward force
Petition 870180067076, of 8/2/2018, p. 41/50
7/7 generated by the first downforce sensor measuring the force between the ground and the first row unit (10); and selecting and commanding a pressure in the third chamber (33, 35) with base and a second vertical downward force signal generated by the second downward force sensor measuring the force between the ground and the second row unit (10).
[12]
12. Method, according to claim 10, characterized by the fact that it also includes:
determining whether said first soil penetration criterion or said second soil penetration criterion is less than a predetermined range; and increasing said third selected pressure when said first soil penetration criterion or said second soil penetration criterion is less than said predetermined range and when neither said first soil penetration criterion nor said second penetration criterion of soil exceed said predetermined range.
[13]
13. Method, according to claim 12, characterized by the fact that it also includes:
retain said third selected pressure when both said first soil penetration criterion and said second soil penetration criterion are within said predetermined range.
[14]
14. Method, according to claim 13, characterized by the fact that said first chamber (33, 35) and said third chamber (33, 35) are descending chambers of said first and second actuators (32), respectively, and wherein said second chamber (33, 35) and said fourth chamber (33, 35) are upward chambers of said first and second actuators (32), respectively.
Petition 870180067076, of 8/2/2018, p. 42/50
1/18

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法律状态:
2018-05-02| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2018-05-08| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|

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2018-10-09| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2018-12-04| 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 06/08/2012, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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US201161515700P| true| 2011-08-05|2011-08-05|

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US61/515,700|2011-08-05|

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PCT/US2012/049747|WO2013022835A1|2011-08-05|2012-08-06|Apparatus, systems and methods for row unit downforce control|

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