• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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    • 专利摘要:
    claims 1. monitoring system for an agricultural implantation that has a plurality of row units characterized by the fact that it comprises: a seed meter; a seed conveyor having a side facing forward and a side facing backwards, said seed conveyor being arranged to receive seeds from said seed meter, said seed conveyor comprises a belt, said The belt has a plurality of pitches configured to transport the seeds, wherein said seed conveyor belt is configured to guide downwardly the said side facing the front of said seed conveyor belt to a lower end of said seed conveyor belt, wherein said seed conveyor is configured to release the seeds from said lower end, wherein said throws ascend through said side facing back without the seeds; a first seed sensor mounted on said side facing the front of said conveyor belt, said first seed sensor being arranged to detect the presence of seeds and runs that descend down said side facing the front of said conveyor belt; and a second seed sensor mounted to said side facing the back of said conveyor belt, said second seed sensor being arranged to detect the presence of strokes that ascend on the side facing back of said conveyor belt. 2. monitoring system according to claim 1, characterized by the fact that said first seed sensor comprises an optical sensor and in which the second seed sensor comprises an optical sensor. 3. monitoring system, according to claim 1, characterized by the fact that it additionally includes: a monitor that includes a processor, said monitor being in data communication with said first seed sensor and said monitor is in data communication with said second seed sensor. 4. monitoring system, according to claim 3, characterized by the fact that said monitor is configured to record a first generated signal through said first seed sensor and in which said monitor is configured to record a second generated signal through the second seed sensor. 5. monitoring system, according to claim 4, characterized by the fact that said monitor is configured to generate a corrected signal based on said first signal and said second signal. 6. monitoring system, according to claim 4, characterized by the fact that said monitor is configured to subtract from the amplitude of a first signal portion of said first signal based on the amplitude of a second signal portion of said second signal . 7. monitoring system, according to claim 6, characterized by the fact that said monitor is configured to apply a time deviation to said second signal. 8. monitoring system, according to claim 7, characterized by the fact that said time deviation is related to the relative position of the first and second seed sensors and the distance between adjacent strokes. 9. monitoring system according to claim 7, characterized by the fact that said time deviation is related to the time between a pulse in said first signal and an immediately subsequent pulse in said second signal. 10. monitoring system according to claim 4, characterized by the fact that said first signal includes a portion of seed pulse and a portion of throw pulse and in which said monitor is configured to distinguish between said portion of seed pulse and said throw pulse portion by comparing said first signal and said second signal. 11. monitoring system, according to claim 10, characterized by the fact that said monitor is configured to identify said portion of seed pulse based on the timing of a throw pulse on said second signal. 12. monitoring system, according to claim 11, characterized by the fact that said monitor is configured to apply a time deviation to said second signal. 13. monitoring system, according to claim 12, characterized by the fact that the said time deviation is related to one of the relative position of the first and second seed sensors and the distance between adjacent bids and the time between one pulse at said first signal and an immediately subsequent pulse at said second signal. 14. method for monitoring an agricultural implantation characterized by the fact that it comprises: receiving seeds in an upper portion of a seed conveyor, said seed conveyor includes a belt that has a plurality of strokes; transporting the seeds between said flights from an upper portion of said seed conveyor to a lower portion of said seed conveyor; releasing the seeds from said lower portion of said seed conveyor; detecting the passage of both the seeds and the throws through a first location after which the seeds and throws move from said upper portion of said seed conveyor to said lower portion of said seed conveyor; and detecting the passage of throws through a second location after which the throws move towards said upper portion of said seed conveyor after the seeds are released from the middle of said throws. 15. Method, according to claim 14, characterized by the fact that it additionally includes: distinguishing the seeds from the bids at said first location based on a time when bids are detected at said second location. 16. method, according to claim 15, characterized by the fact that the step of distinguishing the seeds from the moves is performed: generating a raw seed signal indicative of the passage of seeds and moves through said first location; generating a bid signal indicating the passing of bids by said second location; and identifying a seed pulse in said raw seed signal based on said bid signal. 17. method, according to claim 16, characterized by the fact that the step of identifying a seed pulse in said raw seed signal based on said bid is performed: applying a time deviation to one of the said bid signal and said raw seed signal; identifying the pass-through portions of said raw seed signal by comparing said bid signal with said raw seed signal; and identifying the seed passage portions of said raw seed signal by comparing the portions in addition to said throw passage portions with a seed occurrence limit. 18. Method, according to claim 17, characterized by the fact that said time deviation is related to the relative position of the first and second locations and the distance between adjacent flights. 19. method according to claim 17, characterized in that said time deviation is relative to the time between a pulse in said raw seed signal and an immediately subsequent pulse in said bid signal. 20. method according to claim 15, characterized by the fact that it additionally includes: applying a speed change at an operational speed of said seed conveyor. 21. The method of claim 20, further characterized by the fact that it further includes: determining a travel speed of said seed conveyor belt, wherein said speed change is based on said travel speed. 22. method according to claim 21, characterized in that said travel speed is a specific row unit speed. 23. method, according to claim 20, characterized by the fact that it additionally includes: capturing a tractor travel speed with a speed sensor, said speed sensor being in electrical communication with a monitor that has a knot monitor bus, and said bus node is in electrical communication with a deployment bus. 24. method, according to claim 23, characterized by the fact that it additionally includes: transmitting said tractor travel speed to a central processor via said implantation bus, said central processor having a bus node central processor; and transmitting said tractor travel speed to a multi-row control module through said implantation bus, said multi-row control module having a control module bus node, said control module multiple rows is in electrical communication with a row bus, said row bus is in electrical communication with a first drive module, a second drive module, a first conveyor module and a second conveyor module, in which said first drive module comprises an electrical assembly directly mounted to a first seed meter drive motor, said first seed meter drive motor is configured to bypass a seed disk through a gearbox, wherein said electrical assembly includes a circuit board that includes a bus node a processor, a motor pwm driver and a motor encoding signal conditioning integrated circuit. 25. method according to claim 24, characterized by the fact that it additionally includes: calculating the individual desired operating speeds for said first drive module, said second drive module, said first conveyor module and said second conveyor module; and transmitting said desired operating speeds through said row bus to said first drive module, said second drive module, said first conveyor module and said second conveyor module. abstract patent of invention: "systems, methods and apparatus for control and monitoring of agricultural implantation of multiple rows". the present invention relates to systems, methods and apparatus for monitoring and controlling an agricultural implantation, including seed planting implantations. systems, methods and apparatus are provided to detect the seeds that are transported through the seed conveyor. 2/7 1/1 1/1
    公开号:BR112015001540B1
    申请号:R112015001540
    申请日:2013-07-25
    公开日:2020-02-04
    发明作者:Sauder Derek；Stoller Jason；Hodel Jeremy；Baurer Phil；Sauder Tim
    申请人:Prec Planting Llc；
    IPC主号:
    专利说明:

    Invention Patent Descriptive Report for MONITORING SYSTEM FOR AN AGRICULTURAL IMPLANTATION THAT HAS A PLURALITY OF ROW UNITS AND METHOD FOR MONITORING AN AGRICULTURAL IMPLANTATION [0001] Since, in recent years, producers have increasingly incorporated additional sensors and controls in agricultural deployments, such as row crop planters, the control and monitoring systems for such deployments have become progressively complex. The installation and maintenance of such systems have become increasingly difficult. Therefore, there is a need in the art for effective control and monitoring of such systems. In plantation implementations that incorporate seed conveyor belts, specific control and monitoring challenges arise; therefore, in addition, there is a particular need for effective seed counting and effective incorporation of the seed conveyor into the implantation monitoring and control system.
    BRIEF DESCRIPTION OF THE DRAWINGS [0002] Figure 1 schematically illustrates a modality of an electrical control system for controlling and monitoring an agricultural implantation that has a plurality of rows.
    [0003] Figure 2 schematically illustrates a modality of a multi-row control module.
    [0004] Figure 3 schematically illustrates a modality of a drive module.
    [0005] Figure 4 schematically illustrates a modality of a conveyor module.
    [0006] Figure 5A is a side elevation view of a planter unit that includes a seed tube and that incorporates an electronic control system modality.
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    2/27 [0007] Figure 5B is a side elevation view of a planter unit that includes a seed conveyor and incorporates another modality of an electronic control system.
    [0008] Figure 6A schematically illustrates another modality of an electrical control system that includes a modular extension in each row.
    [0009] Figure 6B schematically illustrates the electrical control system of figure 6A with a conveyor module installed in each row.
    [0010] Figure 7 illustrates a modality of a process of transmitting configuration and identification data to a multi-row control module and to a row-control module.
    [0011] Figure 8 illustrates a modality of a control module control process.
    [0012] Figure 9 illustrates a modality of a process for controlling a conveyor module.
    [0013] Figure 10A is a perspective view of a modality of a seed meter that incorporates a modality of a drive module.
    [0014] Figure 10B is a perspective view of the seed meter and the drive module of figure 10A with several covers removed for clarity.
    [0015] Figure 11A is a bottom view of the drive module of figure 10A.
    [0016] Figure 11B is a side elevation view of the drive module of figure 10A.
    [0017] Figure 12A is a bottom view of the drive module of figure 10A with two covers and a housing removed for clarity.
    [0018] Figure 12B is a side elevation view of the control module
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    3/27 Figure 10A drive with two covers and a housing removed for clarity.
    [0019] Figure 13A is a front view of the drive module of figure 10A.
    [0020] Figure 13B is a rear view of the drive module of figure 10A.
    [0021] Figure 14A is a front view of the drive module of figure 10A with two covers and a housing removed for clarity.
    [0022] Figure 14B is a rear view of the drive module of figure 10A with two covers and a housing removed for clarity.
    [0023] Figure 15 is a perspective view of the drive module of Figure 10A with two covers and a housing removed for clarity.
    [0024] Figure 16 illustrates schematically another modality of an electrical control system for control and monitoring of an agricultural implantation that has a plurality of rows.
    [0025] Figure 17 illustrates a modality of a process for counting seeds with the use of optical sensors associated with the seed conveyor.
    [0026] Figure 18 illustrates exemplary signals generated by optical sensors associated with the seed conveyor.
    [0027] Figure 19 illustrates a modality of a single network of rows.
    DESCRIPTION [0028] Referring now to the drawings, in which similar numerical references designate identical or corresponding parts over several views, figure 1 schematically illustrates an agricultural implantation, for example, a planter, which comprises
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    4/27 a toolbar 14 that operationally supports six row units 500. Toolbar 14 is supported by the left and right rollers 520a, 520b and pulled by a tractor 5. A control system 100 includes a monitor 110 preferably mounted on tractor 5, a deployment net 135 and two row nets 130a, 130b.
    [0029] Monitor 110 preferably includes a graphical user interface (GUI / user interface) 112, a memory 114, a central processing unit (CPU) 116 and a bus node 118. The bus node 118 comprises preferably a controller area network (CAN) node that includes a CAN transceiver, a controller and a processor. Monitor 110 is preferably in electrical communication with a speed sensor 168 (for example, a radar speed sensor mounted on tractor 5) and the global positioning system (GPS) receiver 166 mounted to tractor 5 (or, in some modalities in the toolbar 14).
    [0030] The implantation network 135 preferably includes a implantation bus 150 and a central processor 120. The central processor 120 is preferably mounted to the tool bar 14. Each bus described in this document is preferably a bus CAN included within a coupling set that connects each module on the bus to the power, ground and bus signal lines (for example, CAN-Hi and CANLo).
    [0031] The central processor 120 preferably includes a memory 124, a CPU 126 and a bus node 128 (preferably, a CAN node including a CAN transceiver, a controller and a processor). The implantation bus 150 preferably comprises a CAN bus. Monitor 110 is preferred
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    5/27 in electrical communication with the implantation bus 150. Central processor 120 is preferably in electrical communication with wheel speed sensors 164a, 164b (for example, Hall effect speed sensors) mounted to the implantation wheels left and right 520a, 520b, respectively. Central processor 120 is preferably in electrical communication with a gyroscope 162 mounted to tool bar 14.
    ROW NETWORKS - OVERVIEW [0032] Each row network 130 preferably includes a multi-row control module 200 mounted on one of the row units 500, a row bus 250, three drive modules 300 mounted individually on three row units 500 and three conveyor belt modules 400 individually mounted on three row units 500, respectively. Each row unit 500 that has at least one drive module 300 in a given row unit network 130 is described herein as being within the row network.
    ROW NETWORKS - MULTIPLE ROW CONTROL MODULE [0033] Returning to figure 2, the multi-row control module 200 preferably includes a bus node 202 (preferably a CAN node including a CAN transceiver, a controller and a CAN processor). The CAN node, specifically, the CAN transceiver, is preferably in electrical communication with the row bus 250 and the implantation bus 150. The multi-row control module 200 additionally includes a memory 214 and a processor 204 in electrical communication with a downward vertical force signal conditioning integrated circuit 206, a seed sensor auxiliary input 208, a vertical force solenoid pulse width modulation (PWM) trigger
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    6/27 downward 210 and generic auxiliary inputs 212. Auxiliary inputs 212 are preferably configured for electrical communication with sensors including a pressure sensor and a switch. The downward force signal conditioning integrated circuit 206 is preferably in electrical communication with a downward force sensor 506 on each row unit 500 within the deployment network 135. The downward force solenoid PWM driver 210 it is preferably in electrical communication with a vertical downward force sensor 510 in each row unit 500 within the implantation network 130. In the modalities that include a seed tube (described in more detail in this document in relation to figure 5A) , the auxiliary input of the seed sensor 208 is preferably in electrical communication with a seed sensor 508 (for example, an optical sensor) in each row unit 500 within row network 130.
    ROW NETWORKS - DRIVING MODULE [0034] Returning to figure 3, the drive module 300 preferably includes a circuit board 301, a motor encoder 576 and a drive motor 578. Circuit board 301 includes preferably, a bus node 302 (preferably, a CAN node that includes a CAN transceiver, a controller and a processor). The CAN node, specifically, the CAN transceiver, is preferably in electrical communication with the row bus 250. The drive module 300 preferably also includes a memory 306 and a processor 304 in electrical communication with an integrated circuit. motor encoder signal conditioning 316, a motor PWM driver 318 and a motor current signal conditioning integrated circuit 314. The motor PWM driver 318 is preferably in communication
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    7/27 electric with a 578 motor to control an output speed of the 578 motor. The motor encoder signal conditioning integrated circuit 316 is preferably in electrical communication with the motor encoder 576, which is preferably configured to generate a signal indicating the speed of motor 570, for example, generating a defined number of encoder pulses per rotation of the motor shaft. The motor current conditioning signal integrated circuit 314 is preferably in electrical communication with the motor PWM driver 318 sampling the current that actually drives the motor 578.
    [0035] With respect to figures 10A and 10B, the drive module 300 comprises an electrical assembly 340 and motor 578 protected by a cover 304 and a gearbox 320 protected by a cover 302. The drive module 300 is mounted to a seed meter 530. The seed meter is preferably of the type disclosed in international patent application No. PCT / US2012 / 030192 copendant of the applicant, the disclosure of which is incorporated herein by reference, in its entirety. Specifically, the drive module 300 is preferably mounted to a cover 532 that protects a seed disk 534 housed inside the meter 530. The gearbox 320 includes an output gear 312 adapted to drive the seed disk 534 by sequential engagement with the gear teeth arranged in a circumference shape around the perimeter of the seed disc 534.
    [0036] Returning to figures 11A and 11B, the drive module
    300 additionally includes a housing 308 to which covers 302.304 are mounted. The cover 302 preferably includes a rubber insulating ring 305 for inserting electrical conductors in the cover 302.
    [0037] Returning to figures 12A, 12B, 14A, 14B and 15, the box
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    8/27 gear 320 includes an input shaft 325 and input gear 324 driven by engine 578. The input gear drives the first lower gear 326 and the second lower gear 328. The second lower gear 328 preferably has a smaller diameter than the first recessed gear 326. The second recessed gear 328 is preferably mounted coaxially to the first recessed gear 326, for example, by pressure fitting. The second sunken gear 328 preferably drives an intermediate gear 322. The intermediate gear 322 drives output gear 312 by means of an axis 321.
    [0038] Still with respect to figures 12A, 12B, 14A, 14B and 15, the electrical set 340 includes circuit board 301, motor encoder 576 (which preferably includes a magnetic encoder disk), and two conductors 344a , 344b in electrical communication with the 578 motor to start the motor.
    [0039] With reference to figures 13A and 13B, the drive module 300 preferably includes mounting tabs 382,384,386,388 for mounting the drive module 300 to the seed meter 530 (for example, by means of screws adapted to fit into threaded openings cover 532).
    ROW NETWORKS - CONVEYOR MODULE [0040] Returning to figure 4, the conveyor module 400 preferably includes a bus node 402 (preferably a CAN node including a CAN transceiver, a controller and a processor). The CAN node, specifically, the CAN transceiver, is preferably in electrical communication with the row bus 250. The conveyor module 400 preferably also includes a 406 memory and a 404 processor in electrical communication with an integrated circuit. codifi signal conditioning
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    9/27 motor drive 422, a motor drive PWM448 and signal conditioning integrated circuits 432, 434. The motor drive PWM448 is in electrical communication with a conveyor motor 590 mounted on a conveyor belt 580. In some embodiments the motor encoder signal conditioning integrated circuit 422 is in electrical communication with a motor encoder 597 arranged to measure the operating speed of the conveyor motor 590. The signal conditioning integrated circuits 432,434 are preferably in electrical communication with optical sensors 582,584, respectively.
    IMPLEMENTATION IN ROW UNITS [0041] Referring to figure 5A, a planter unit 500 is illustrated with components of the installed control system 100. The row unit 500 shown in Figure 5A is one of the row units to which a multi-row control module 200 is mounted.
    [0042] In the row unit 500, a vertical downward force actuator 510 (preferably a hydraulic cylinder) is mounted to the tool bar 14. The vertical downward force actuator 510 is hingedly connected at one end to a connection parallel 516. Parallel link 516 supports row unit 500 from toolbar 14, allowing each row unit to move vertically independently from the toolbar and other spaced row units to accommodate changes in land or if the row unit encounters a stone or other obstruction as the planter is passing through the field. Each row unit 500 additionally includes a mounting bracket 520 to which a hopper support beam 522 and substructure 524 are mounted. Hopper support beam 522 supports a seed hopper 526 and a
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    10/27 fertilizer hopper 528, as well as operationally supporting a seed meter 530 and a seed tube 532. Substructure 524 operationally supports a groove opening assembly 534 and a groove closure assembly 536.
    [0043] In the operation of the row unit 500, the furrow opening assembly 534 opens a furrow 38 within the surface of the soil 40 as the planter passes through the field. The seed hopper 526, which contains the seeds to be planted, transmits a constant supply of seeds 42 to the seed meter 530. The drive module 300 is preferably mounted to the seed meter 530, as previously described in this document. . As the drive module 300 drives the seed meter 530, individual seeds 42 are measured and discharged into the seed tube 532 at regularly spaced intervals based on the desired seed population and at a speed at which the planter passes through the field. The seed sensor 508, preferably an optical sensor, is supported by the seed tube 532 and arranged to detect the presence of seeds 42 as they pass. The seed 42 falls from the end of the seed tube 532 into the groove 38 and the seeds 42 are covered with soil from the soil by the closing wheel set 536.
    [0044] The grooving set 534 preferably includes a pair of grooving disc blades 544 and a pair of calibration wheels 548 that can be selected and adjusted vertically in relation to the disc blades 544 by a mechanism depth adjustment mechanism 568. The depth adjustment mechanism 568 preferably revolves around a vertical downward force sensor 506, which preferably comprises a pin equipped with effort gauges to measure the force exerted on the calibration 548 by ground 40. The force sensor see
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    11/27 descending tical is, preferably, of the type disclosed in international patent application No. 12 / 522,253 copendent of the applicant, whose disclosure is hereby incorporated by reference, in its entirety. In other embodiments, the downward force sensor is of the type disclosed in U.S. Patent Document 6,389,999, the disclosure of which is incorporated herein by reference in its entirety. Disc blades 544 are swiveled on a rod 554 depending on substructure 524. Calibration wheel arms 560 support swivel wheels 548 swiveling from substructure 524. Calibration wheels 548 are mounted swiveling shape to the 560 calibration wheel arms, which extend at the front.
    [0045] It should be considered that the row unit illustrated in figure 5A does not include a conveyor belt 580, so that a conveyor module 400 is not necessary. Returning to figure 5B, a planter unit 500 'including a conveyor belt is illustrated with components of the installed control system 100.
    [0046] Row unit 500 'is similar to row unit 500 described above, except that seed tube 532 has been removed and replaced with a conveyor belt 580 configured to transport seeds at a controlled rate, from meter 530 to groove 42 The conveyor belt motor 590 is preferably mounted on the conveyor belt 580 and is configured to selectively drive the conveyor belt 580. The conveyor belt is preferably one of the types disclosed in patent application no.
    U.S. 61 / 539,786 and the applicant's copending international patent application No. PCT / US2012 / 057327, the disclosure of which is hereby incorporated by reference in its entirety. As disclosed in that application, conveyor belt 580 preferably includes a belt 587
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    12/27 which includes bids 588 configured to transport seeds received from the seed meter 530 to a lower end of the conveyor belt. In the view of figure 5B, the seed conveyor 580 is preferably configured to drive the belt
    587 in a clockwise direction. In the view of figure 5B, the seed conveyor 580 is preferably configured to guide the seeds coming from an upper end of the conveyor downwards, to a side facing the front of the conveyor, so that the seeds descend with the moves 588 of the belt 587 on the forward side of the conveyor belt 580, being deposited from the lower end of the conveyor belt, so that there are no seeds present in the moves 588 that go up the back side of the conveyor belt, during an operation normal. The optical sensor 582 is preferably mounted on the side facing the front of the conveyor belt 580 and arranged to detect the seeds and throws of the conveyor belt
    588 that descend as they pass. The optical sensor 584 is preferably mounted on the side facing the back of the conveyor belt 580 and arranged to detect the movements of the conveyor belt 588 that rise as they return to the meter 530. In other modalities, the optical sensor 582 and / or the optical sensor 584 can be replaced by other object sensors configured to detect the presence of seeds and / or bids, such as an electromagnetic sensor as revealed in copending patent application No. US 12 / 984.263 (Publication No. US 2012/0169353) of the applicant.
    ADDING MODULAR COMPONENTS [0047] Comparing the modalities of figures 5A and 5B, it should be considered that some modalities of the control system 100 require a conveyor module 400, while others do not. In this way, row 250 busbars are configured, preferably
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    13/27 to allow the user to install one or more additional CAN modules without replacing or modifying the 250 busbars.
    [0048] Referring to figure 6A, a modified 100 'control system includes modified 250' row buses that have a modular extension 600 in each row. Each modular extension 600 preferably includes a first unevenness 610 and a second unevenness 620. Each unevenness 610, 620 preferably includes connections for power lines, ground and the bus signal (for example, CAN Hi and CAN Lo).
    [0049] Returning to figure 6B, a modified control system 100 differs from the control system 100 'in that a conveyor module 400 has been connected to a first elevation 610 of each modular extension 600. It must be considered that the second elevation 620 is still available to add modules to row 130 networks.
    OPERATION- CONFIGURATION PHASE [0050] In order to operate the control system 100 in figure 1 efficiently, each module is preferably configured to determine its identity (for example, the row unit or row units 500 with the which it is associated with) and certain configuration data, such as the relative location of its associated row unit. Thus, in the operation of the control system 100, a configuration process 700 (figure 7) is performed, preferably, to identify the modules and transmit the configuration data for each module. In step 705, monitor 110 preferably sends a first identification signal from the multi-row control module 200a via a point-to-point connection 160. The multi-row control module 200a preferably stores identification data (for example, example, indicating its status as the leftmost multi-row control module) in the
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    14/27 memory. Still referring to step 705, the multi-row control module 200a preferably sends a second identification signal to the multi-row control module 200b via a point-to-point connection 161. The multi-row control module 200b preferably stores identification data (for example, indicating its status as the rightmost multi-row control module) in memory.
    [0051] In step 710, each row module (for example, each drive module 300 and each conveyor module 400) preferably determines the row unit 500 with which it is associated based on the voltage in the identification line (not shown) connecting the row module to row bus 150. For example, three identification lines leading to drive modules 300-1, 300-2, 300-3 are preferably connected to the ground wire, one medium rate voltage and high voltage, respectively.
    [0052] In step 715, monitor 110 preferably transmits configuration data specific to the row network for each multi-row control module 200 through the deployment bus 150. For example, the data configuration preferably includes distances the direction of travel and the cross direction of each row unit 500 for the GPS receiver 166 and the center of the toolbar 14 (GPS deviations / deviations); the row-specific GPS deviations sent to the multi-row control module 200a in step 715 preferably correspond to the row units 500-1, 500-2, 500-3 within the row network 130a. In step 720, each multi-row control module 200 preferably transmits configuration data specific to the row unit for each row control module (for example, drive modules 300) through the row buses
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    15/27
    250. For example, the multi-row control module 200a preferably sends GPS deviations that correspond to row unit 500-1 to drive module 300-1.
    OPERATION - CONTROL OF THE DRIVE MODULE [0053] Returning to figure 8, the control system 100, preferably controls each drive module 300 according to a 800 process. In step 805, the monitor 110, transmits, preferably, a input prescription (for example, a number of seeds per acre (km 2 ) to be planted) for each multi-row control module 200 through the deployment bus 150 of the deployment network 135. In step 810, the various kinematic sensors in the control system 100 transmit kinematic signals to central processor 120. For example, wheel speed sensors 164 and gyroscope 162 send speed signals and angular speed signals, respectively, to central processor 120 through point-to-point electrical connections . In some embodiments, the monitor 110 also sends the speed recorded by the speed sensor 168 to the central processor 120 through the implantation bus 150, whose speed is sent to the central processor 120 through the implantation bus 150.
    [0054] In step 815, the central processor 120 calculates, preferably, the speed of the toolbar center 14 and the angular speed of the toolbar 14. The speed Sc of the toolbar center can be calculated, respectively, through the average wheel speeds Swa, Swb recorded by wheel speed sensors 164a, 164b or using the tractor speed recorded by speed sensor 168. The angular speed w of toolbar 14 can be determined from a angular velocity signal generated by gyroscope 162 or using the equation:
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    16/27
    IV = ~ - ‘Λν / ί + Z 'wh
    Dwa = lateral deviation between the toolbar center and the left implantation wheel 520a, and
    Dwb = Lateral deviation between the toolbar center and the right 520b implantation wheel.
    [0055] In step 820, the central processor 120 preferably transmits the planter speed and the angular speed for each multi-row control module 200 through the implantation bus 150 of the implantation network 135.
    [0056] In step 825, each multi-row control module 200 determines, preferably, a meter speed command (for example, a desired number of revolutions per second of the meter) for each drive module within its row network 130. The meter speed command for each row unit 500 is preferably calculated based on the row specific speed Sr of the row unit. The specific row speed Sr is preferably calculated using the speed Sc of the toolbar center, the angular speed t and the transverse distance Dr between the seed tube (or conveyor belt) of the row unit from the center of the toolbar. planter (preferably included in the configuration data discussed in figure 7) using the relationship:
    = 5 C + wx D r [0057] The R meter speed command can be calculated based on the individual row speed using the following equation:
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    17/27 / rotations Population x Row Spacing (n ») x S r (y) R ' S ^ , íto '” Meter Ratio x 43,500 (-Ώ rotation / fon · /
    Where: Meter ratio = Number of seed holes in seed disk 534, and [0058] Row spacing = Transverse spacing between row units 500.
    [0059] In step 830, the multi-row control module 200 preferably transmits the speed command of the meter determined for each drive module 300 to the respective drive module via row bus 250 of row network 130 In the modalities in which the row bus 250 comprises a CAN bus, the multi-row control module 200 preferably transmits a structure to the row bus which has an identifier field that specifies a drive module 300 (for example, module 300-2) and a data field that includes the meter speed command for the specified drive module.
    [0060] In step 835, the drive module 300 compares, preferably, the speed command of the meter R to a measured speed of the meter. The drive module 300 calculates, preferably, the measured speed of the meter using the time between the encoder pulses received from the motor encoder 576. In step 840, the drive module 300 adjusts, preferably, a voltage used to drive the meter 530 in order to adjust the measured speed of the meter closest to the R meter speed command.
    [0061] In step 845, each seed sensor sends seed pulses to the associated multi-row control module 200. In the modalities that include a 532 seed tube, each sensor
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    18/27 seed 508 preferably sends seed pulses to the associated multi-row control module 200, via point-to-point electrical connections. In embodiments that include a seed tube 532, seed pulses preferably comprise signal pulses that have maximum values that exceed a predetermined limit. In some modalities that include the seed conveyor belt 580, each seed sensor 582 preferably sends seed pulses to the associated multi-row control module 200 through the implantation bus 250 of the row network 130. In the modalities that include the seed conveyor belt 580, the seed pulses comprise signal pulses that differ from a predetermined limit of signal pulses, caused by passing conveyor strokes. Alternative methods of detecting seeds on a 580 seed conveyor are described later in this document.
    [0062] In step 850, the multi-row control module 200 calculates, preferably, the population, singulation and seed spacing in each row unit 500 within row network 130 using row speed Sr and pulses of seed transmitted from each row unit within the row network. In step 855, the multi-row module 200 transmits the population, singularity and spacing values to the central processor 120 through the implantation bus 150 of the implantation network 130. In step 860, the central processor 120 transmits, preferably, the population, singulation and spacing values for monitor 110 through the deployment bus 150 of the deployment network 135.
    OPERATION - CONTROL OF THE CONVEYOR MODULE
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    19/27 [0063] Returning to figure 9, the control system 100 preferably controls each conveyor module 400 according to a 900 process. In steps 910 to 920, the control system 100 performs, preferably, the same steps described in relation to steps 810 to 820 of process 800. In step 925, each multi-row control module 200 preferably determines a conveyor speed command for each conveyor module 400 within row network 130. The conveyor belt speed command is selected, preferably, so that a linear speed of the throws that travels the conveyor belt is approximately equal to the specific row speed Sr; for example, the speed control of the conveyor motor is preferably equal to the specific speed of row Sr multiplied by a predetermined constant. In step 930, the multi-row control module 200 preferably transmits individual conveyor belt speed commands to each corresponding conveyor module 400 through row bus 250 of row network 130.
    [0064] In step 935, the conveyor module 400 preferably compares the conveyor belt speed command to the measured speed of the conveyor. In some modalities, the speed of the conveyor belt is measured using the time between the pulses that result from the conveyor belt passes that pass through the 584 optical sensor. In other modalities, the speed of the conveyor belt is measured using the time between the encoder pulses received from the conveyor motor encoder 597. In step 940, the conveyor module 400 preferably sets a voltage used to drive the conveyor motor 590 in order to adjust the
    Petition 870190102177, of 11/10/2019, p. 26/43
    20/27 measured speed of the meter closest to the meter speed command.
    [0065] In steps 945 to 960, the conveyor module
    400 preferably performs the same steps 845 to 860 described in the present document with respect to process 800, specifically as those steps are described for modalities that include a 580 conveyor belt.
    SEED CAPTURE METHODS [0066] In the modalities that include the seed conveyor belt 580, the control system 100 is preferably configured to count seeds, indicate the date and time of the seeds and determine a sowing rate based on the signals generated by the seeds. first and second optical sensors 582, 584. It should be considered that, in normal operation, the first optical sensor 582 detects both seeds and conveyor belt pitches as the seeds of meter 530 descend from the conveyor belt 580, while the second 584 optical sensor detects only conveyor strokes as they return to the upper part of the conveyor belt after the seeds have been deposited. The shape and size of the throws on the 580 conveyor are preferably substantially consistent.
    [0067] Referring to figure 17, monitor 110 (or in some embodiments, central processor 120) is preferably configured to perform a 1700 process to detect seeds. In step 1710, monitor 110 preferably receives signals from both the first and second optical sensors 582 and 584 during a measurement period. A first signal from the 1810 optical sensor (in which the amplitude increases when the bids or seeds pass) and a second signal from the 1820 optical sensor (in which the amplitude increases the bids pass) are illustrated in an exemplary signal graph
    Petition 870190102177, of 11/10/2019, p. 27/43
    21/27 multiples 1800 in figure 18. In step 1715, the control system 100 preferably changes the speed of the conveyor belt during the measurement period so that the length of the signal pulses that result from the belts having the same length (as best illustrated, observing the pulse width-variation in the sensor signal 1820). In step 1720, monitor 110 preferably applies a time deviation Ts (for example, the time deviation Ts shown in figure 18) to the second signal from the optical sensor 1820, resulting in a sensor signal with time deviation 1820 ' . The time deviation Ts is related to the speed of the conveyor belt and is preferably calculated as follows:
    Ts = k x Tf
    Being:
    Tf = Average time between moves detected by the second optical sensor 258 k = A constant value determined, preferably, as described below.
    [0068] The k value is related to the conveyor belt and the geometry of the optical sensor and, in some modalities, is determined as follows:
    k = Tf x DEC -
    Being
    Ds = linear throw distance between the first and second optical sensors
    Df = Distance between bids
    DEC (x) returns the decimal portion of x (for example, DEC (105.2) = 0.2).
    [0069] In other modalities, the monitor 110 calculates k, preferably, empirically in a preparation stage while the
    Petition 870190102177, of 11/10/2019, p. 28/43
    22/27 seeds are not being planted, making the 580 conveyor belt run at a constant speed and determining the values of Tf and Ts; without any seed on the belt, the Ts value can be determined by measuring the time between the throw pulse on the first 582 optical sensor and the next subsequent throw pulse on the second 584 optical sensor. , 584 are positioned at a relative distance Ds equal to a multiple integer number of Df, thus requiring no time deviation or time deviation close to zero.
    [0070] Still with respect to the 1700 process in figure 17, in the
    1725 monitor 110 preferably subtracts the second signal from the optical sensor with time offset 1820 'from the first signal from the optical sensor 1810, resulting in a corrected bid signal 1830 (see figure 18) that correlates with the signal from the first signal of the optical sensor with signal pulses that result from the conveyor belt moves substantially eliminated. In step 1730, monitor 110 preferably compares pulses 1832 in the corrected bid signal 1830 to one or more seed pulse validity limits (for example, a minimum amplitude limit and a minimum period limit); the monitor preferably identifies each pulse that exceeds the validity limits of the seed pulse as a valid seed event. In step 1735, monitor 110 preferably adds the identified seed event to a seed count. In step 1740, monitor 110 preferably stores the seed count; sowing rate (for example, the seed count over a given period of time); a time associated with the seed event, seed count or sowing rate; and a GPS associated with the event, seed count or seeding rate in memory for mapping, viewing and storing data.
    Petition 870190102177, of 11/10/2019, p. 29/43
    23/27
    ALTERNATIVE MODALITIES - SINGLE ROW NETWORKS [0071] In an alternative 100 '' 'control system illustrated in figure 16, each of a plurality of row networks 132 includes a single row control module 202 mounted to one of the row 500, a row bus 250, a drive module 300 individually mounted to the same row unit 500, and a conveyor belt module 400 individually mounted to the same row unit 500. The single row control module 202 includes, preferably , components equivalent to the multi-row control module 200, with the exception that the downward vertical force signal conditioning integrated circuit 206, auxiliary seed sensor input 208 and the downward vertical force solenoid drive 210 are in electrical communication with only one of the corresponding devices individually mounted to the same row unit 500. Alt Alternatively, in the alternative 100 '' 'control system, the row bus 250 is in electrical communication with a single drive module 300 and a single conveyor module 400, as well as the single row control module 202.
    [0072] In other modalities, two seed meters
    530 are mounted to a single row unit 500 as described in provisional patent application No. U.S. 61 / 838,141. In such embodiments, a drive module 300 is operationally coupled to each seed meter 530. The row network 132 'which has two drive modules 300 is illustrated in figure 19. The row network 132' preferably includes a module single row control module 202, a row bus 250, a first drive module 300a (preferably mounted to the row unit 500), a second drive module 300b (preferably mounted to the row unit 500), a drive module conveyor belt 400, a
    Petition 870190102177, of 11/10/2019, p. 30/43
    24/27 input controller 307 and a power supply identification 309. The first drive module 300a and the second drive module 300b, which include hardware and software components, are preferably and substantially identical. The single row control module 202, the first drive module 300a, the second drive module 300b and the conveyor module 250 are preferably in electrical communication with the row bus 250. The single row control module 202 is preferably in electrical communication with an implantation bus 150 of one of the control system modalities described in this document. The first drive module 300a is preferably in electrical communication with the identification of the power supply 309 and the input controller 307. The first drive module 300a is preferably in electrical communication with the input controller 307 via a electric line 311. The identification of the power supply 309 preferably provides a low voltage signal to the first drive module 300a and can comprise a point-to-point connection to a power supply that includes a relatively larger resistor. Inlet controller 307 is preferably a rate and / or range controller configured to shut down and / or modify a crop input application rate, such as (without limitation) liquid fertilizer, dry fertilizer, liquid insecticide or dry insecticide.
    [0073] During the preparation phase of the row network 132 ', the first drive module 300a receives an identification signal from the power supply 309 and sends a corresponding identification signal to the monitor 110 (and / or the central processor 120 ) identifying itself as a first drive module 300a. Then, monitor 110 (and / or central processor 120) sends, preferably
    Petition 870190102177, of 11/10/2019, p. 31/43
    25/27 ally, commands to the first drive module 300a and stores the data received from the first drive module 300a based on the identification signal.
    [0074] During field operation of row network 132 ', monitor 110 determines which seed meter 530 to sow by comparing the position information received by the GPS receiver 166 with the application map. The monitor 110 then preferably commands the single row control module 202 to send the desired seeding rate to the drive module associated with meter 530 that is to seed, for example, the first drive module 300a.
    [0075] In the modalities in which the input controller 307 comprises a range controller configured to turn on or off a dry or liquid culture input, the first drive module 300a preferably sends a command signal to the input controller that controls the controller inlet to disconnect the associated inlet, for example, by closing a valve. In modes that include only a single seed meter 530 and a single drive module 300 associated with each row unit, drive module 300 transmits a first signal (for example, a high signal) over line 311 to the input controller 307 when the drive module is commanding the seed meter to plant, and transmits a second signal (for example, a low signal) or no signal when the drive module is not commanding the seed meter to plant. Line 311 is preferably configured for electrical communication with any of the plurality of input controllers, for example, incorporating a standard electrical connector. The first and second signals are preferably selected to correspond to the range commands recognized by any one of the plurali
    Petition 870190102177, of 11/10/2019, p. 32/43
    26/27 input controllers so that the input controller 307 turns off the crop input when the seed meter 530 is not planting and turns on the crop input when the seed meter 530 is planting.
    [0076] In the modalities in which the input controller 307 comprises a range controller and in which each row unit includes two seed meters 530 and associated drive modules 300a, 300b, the first drive module 300a preferably receives one signal of the row bus 250 (preferably generated by either the single row control module 202 or the second drive module 300b) indicating whether the second drive module is controlling its associated seed meter 530 to plant. The first drive module 300a then determines whether the first drive module 300a or 300b is controlling any of the 530 meters to be planted. If none of the drive modules 300a, 300b is controlling any of the seed meters to be planted, the first drive module 300a preferably sends a first signal to input controller 307 over line 311. Input controller 307 is preferably, configured to turn off the culture input (for example, closing a valve) upon receipt of the first signal. If any of the drive modules 300a, 300b are controlling any seed meter to be planted, the first drive module 300a preferably sends a second signal (or in some modalities, no signal) to the input controller 307 so that the input controller does not turn off the culture input.
    [0077] In modalities in which the input controller 307 comprises a rate controller configured to modify the application rate of a liquid or dry culture input, monitor 110
    Petition 870190102177, of 11/10/2019, p. 33/43
    27/27 (and / or central processor 120) preferably determines a desired culture input application rate and transmits a signal corresponding to the input controller.
    [0078] The components described herein as being in electrical communication may be in data communication (for example, they can communicate information including analog and / or digital signals) with any suitable device or devices including wireless communication devices (for example, radio transmitters and receivers).
    [0079] The previously mentioned description is presented to allow those skilled in the art to use the invention, being provided in the context of a patent application and its requirements. Various changes in the preferred modes of the apparatus and in the general principles and characteristics of the system and methods described herein will be readily apparent to those skilled in the art. Accordingly, the present invention is not limited to the apparatus, systems and methods described above and illustrated in the drawings and figures, but is in accordance with the broad scope and in accordance with the spirit and scope of the appended claims.
    权利要求:
    Claims (15)
    [1]
    1. Monitoring system for an agricultural implantation that has a plurality of row units (500) comprising:
    a seed meter (530);
    a seed conveyor belt (580) having one side facing forward and one side facing backward, the seed conveyor belt (580) being arranged to receive seeds from the seed meter (530), the seed conveyor belt ( 580) comprising a belt (587), the belt (587) having a plurality of strokes (588) configured to transport the seeds, wherein the seed conveyor belt (580) is configured to guide the seeds downwards, the side facing forward of the seed conveyor (580) to a lower end of the seed conveyor (580), where the seed conveyor (580) is configured to release the seeds from the lower end, and where the throws (588) go up the side facing back without the seeds;
    a motor (590) configured to drive the seed conveyor (580);
    a speed sensor (164) configured to measure a travel speed of the row unit (500) associated with the seed conveyor (580);
    characterized by the fact that it still comprises:
    a first seed sensor (582) mounted on the forward facing side of the conveyor belt (580), the first seed sensor (582) being arranged to detect the presence of the seeds and the throws (588) that descend the forward facing side the seed conveyor belt (580);
    a second seed sensor (584) mounted on the side vol
    Petition 870190102177, of 11/10/2019, p. 35/43
    [2]
    2/5 located behind the seed conveyor belt (580), the second seed sensor (584) being arranged to detect the presence of throws (588) that go up the back side of the seed conveyor belt (580); and a monitor including a processor (116), the monitor being in data communication with the motor (590), the speed sensor (164), the first seed sensor (582) and the second seed sensor (584) , where the monitor determines a desired engine speed to match a seed release speed to the travel speed, and where the monitor commands the engine (590) to modify a current engine speed (590) to an engine speed desired.
    2. Monitoring system according to claim 1, characterized by the fact that the first seed sensor (582) comprises an optical sensor, and the second seed sensor (584) comprises an optical sensor.
    [3]
    3. Monitoring system, according to claim 1, characterized by the fact that the monitor is configured to record a first signal generated by the first seed sensor (582), and in which the monitor is configured to record a second generated signal by the second seed sensor (584).
    [4]
    4. Monitoring system, according to claim 3, characterized by the fact that the monitor is configured to generate a corrected signal based on the first signal and the second signal.
    [5]
    5. Monitoring system, according to claim 3, characterized by the fact that the monitor is configured to subtract from the amplitude of a first signal portion of the first signal based on the amplitude of a second signal portion of the second signal, where the monitor is configured to apply a time offset to the second signal.
    Petition 870190102177, of 11/10/2019, p. 36/43
    3/5
    [6]
    6. Monitoring system according to claim 3, characterized by the fact that the first signal includes a seed pulse portion and a throw pulse portion, and the monitor is configured to distinguish between the pulse portion of seed and the throw pulse portion by comparing the first signal and the second signal.
    [7]
    7. Monitoring system, according to claim 6, characterized by the fact that the monitor is configured to identify the seed pulse portion based on the timing of a throw pulse on the second signal.
    [8]
    8. Method for monitoring an agricultural implantation comprising the steps of:
    receiving seeds in an upper portion of a seed conveyor (580), the seed conveyor (580) including a belt (587) having a plurality of strokes (588);
    transporting the seeds between strokes (588) from an upper portion of the seed conveyor (580) to a lower portion of the seed conveyor (580);
    releasing the seeds from the lower portion of the seed conveyor (580);
    characterized by the fact that it still comprises the steps of:
    with a first sensor (582), detect both the seeds and the throws (588) that pass through a first location as the seeds and the throws (588) move from the top portion of the seed conveyor (580 ) to the lower portion of the seed conveyor (580), where the first sensor (582) is mounted on a first portion of the seed conveyor (580), where the throws (588) pass
    Petition 870190102177, of 11/10/2019, p. 37/43
    4/5 through the first portion in a direction that generally downwards, and where the throws (588) carry seeds generally in a downward direction, through the first portion; and with a second sensor (584), detect the strokes (588) that pass through a second location as the strokes (588) move from the lower portion of the seed conveyor (580) towards the upper portion of the seed conveyor (580) after the seeds are released from the middle of the throws (588), in which the second sensor (584) is mounted on a second portion of the seed conveyor (580), in which the throws (588) they pass through the second portion usually in an upward direction, and where the throws (588) do not carry seeds through the second portion.
    [9]
    9. Method, according to claim 8, characterized by the fact that it still includes:
    distinguish seeds from bids (588) at the first location based on a time when bids (588) are detected at the second location.
    [10]
    10. Method, according to claim 9, characterized by the fact that the step of distinguishing the seeds from the bids (588) is performed by:
    generate a raw seed signal indicating the passage of seeds and bids (588) through the first location;
    generate a bid signal indicative of the passing of bids (588) by the second location; and identifying a seed pulse in the raw seed signal based on the bid signal.
    [11]
    11. Method according to claim 10, characterized in that the step of identifying a seed pulse in the raw seed signal based on the bid signal is performed by:
    Petition 870190102177, of 11/10/2019, p. 38/43
    5/5 apply a time offset to one of the bid signal and the raw seed signal;
    identifying the pass-through portions of the raw seed signal by comparing the bid signal to the raw seed signal; and identifying the seed pass portions of the raw seed signal by comparing the portions in addition to the pass pass portions with a seed occurrence limit.
    [12]
    12. Method according to claim 11, characterized in that the time deviation is relative to the time between a pulse in the raw seed signal and an immediately subsequent pulse in the throw signal.
    [13]
    13. Method, according to claim 9, characterized by the fact that it still includes:
    apply a speed change to an operating speed of the seed conveyor (580).
    [14]
    14. Method, according to claim 13, characterized by the fact that it still includes:
    determining a travel speed of the seed conveyor (580), where the change in speed is based on the travel speed.
    [15]
    15. Method according to claim 14, characterized in that the travel speed is a specific row unit speed (500).
    类似技术:
    公开号 | 公开日 | 专利标题
    BR112015001540B1|2020-02-04|monitoring system for an agricultural implantation that has a plurality of row units and method for monitoring an agricultural implantation
    US20200329630A1|2020-10-22|Seeding control system and method
    US10772256B2|2020-09-15|Systems, methods, and apparatus for multi-row agricultural implement control and monitoring
    BR102012009653A2|2013-06-04|seeder
    BR112018003504B1|2021-02-23|SEED COUNTING SENSOR AND METHOD TO DETECT BLOCKING OF A SEED TRANSPORT TUBE
    ES2614380T3|2017-05-30|Synchronization of a sowing system in double rows
    ES2745687T3|2020-03-03|Single-grain sowing machine for agricultural use
    BR112019021563A2|2020-05-12|CONTROL SYSTEM FOR VENTILATION SYSTEM FOR MECHANICAL AIR SEEDER
    BR102017027139A2|2019-07-02|SENSING SYSTEM FOR AGRICULTURAL IMPLEMENTATION, ROTATION SENSING METHOD APPLIED IN AGRICULTURAL IMPLEMENT, SLOPING METHOD APPLIED IN AGRICULTURAL IMPLEMENTATION
    BR112018003872B1|2021-11-23|MEASUREMENT SET TO MEASURE SOLIDS
    AU2017254860B2|2019-10-17|Seeding control system and method
    BR112018000663B1|2021-10-19|SEED DISTRIBUTION APPARATUS
    同族专利:
    公开号 | 公开日
    WO2014018717A1|2014-01-30|
    US9999175B2|2018-06-19|
    UA113660C2|2017-02-27|
    LT2876993T|2017-11-10|
    ES2629517T3|2017-08-10|
    AU2013295763B2|2017-10-12|
    EP2876993A4|2016-03-23|
    AU2018200214A1|2018-02-01|
    EP3259972B1|2021-12-08|
    AU2013295763A1|2015-02-26|
    AU2018200214B2|2020-03-26|
    EP2876993B1|2017-05-31|
    US20180139893A1|2018-05-24|
    US20160249525A1|2016-09-01|
    US9332689B2|2016-05-10|
    US20150094916A1|2015-04-02|
    ZA201500484B|2016-04-28|
    US20150201549A1|2015-07-23|
    CA3110431A1|2014-01-30|
    EP3259972A1|2017-12-27|
    EP3967121A1|2022-03-16|
    AR092357A1|2015-04-15|
    BR112015001540A2|2017-07-04|
    HUE032580T2|2017-09-28|
    CA2879731A1|2014-01-30|
    US10729064B2|2020-08-04|
    CA2879731C|2021-04-20|
    EP2876993A1|2015-06-03|
    US9872424B2|2018-01-23|
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    法律状态:
    2018-03-06| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2018-03-13| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2018-03-20| B06I| Publication of requirement cancelled [chapter 6.9 patent gazette]|Free format text: ANULADA A PUBLICACAO CODIGO 6.6.1 NA RPI NO 2462 DE 13/03/2018 POR TER SIDO INDEVIDA. |
    2019-07-16| B07A| Application suspended after technical examination (opinion) [chapter 7.1 patent gazette]|
    2019-12-10| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-02-04| 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 25/07/2013, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US201261675714P| true| 2012-07-25|2012-07-25|
    PCT/US2013/051971|WO2014018717A1|2012-07-25|2013-07-25|Systems, methods and apparatus for multi-row agricultural implement control and monitoring|
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