Patent Application
20220264783
The present disclosure relates generally to agricultural implements and, more particularly, to systems and methods for automatically adjusting a height limit of a row cleaner of an agricultural implement.
Modern farming practices strive to increase yields of agricultural fields. In this respect, certain agricultural implements, such as seed-planting implements, are towed behind a tractor or other work vehicle for planting. A seed-planting implement typically includes one or more ground engaging assemblies configured to work the soil as the implement is moved across a field. For example, in certain configurations, the implement may include one or more row cleaners that move residue and break up or sweep away clods from the path of subsequent ground engaging assemblies, such as one or more opening assemblies that form a trench or furrow within the soil for receiving seeds as the implement is moved across the field. Furthermore, the implement may also include one or more closing assemblies that close the furrow over seeds while the implement is moved across the field. In this regard, the function(s) of the ground engaging tool(s) requires or relies upon movement of the field materials, such as soil, crop residue, and/or clods, relative to the assemblies.
Typically, the ground engaging assemblies are configured to work the soil in a specific way. For example, when the row cleaners are operating with the correct engagement with the field, there is little to no residue left behind the row cleaners and very little soil is moved by the row cleaners. If too much residue is left behind, the residue may be pushed into the trenches, causing poor seed-to-soil contact, which may affect yields or may cause problems with depth control for the gauge wheels. Similarly, depending on the moisture within the field, the engagement between the row cleaners and the field may vary. As such, the row cleaners may have adjustable height limit settings for adjusting the height that the row cleaners may operate relative to the ground so that the row cleaners have the proper engagement with a field. However, the height limit settings of row cleaners are usually adjusted manually, one row unit at a time, which is a time consuming process. Further, it may be necessary to adjust the height limit settings multiple times throughout operation of the implement, which multiplies the time for such height limit adjustment process. Consequently, reconfiguration of the implement for a different height limit setting may result in large delays in seed planting operations, thereby decreasing seed planting efficiency.
Accordingly, an improved system and method for automatically adjusting a height limit of a row cleaner of an agricultural implement would be welcomed in the technology.
Aspects and advantages of the invention will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the invention.
In one aspect, the present subject matter is directed to a system for adjusting a height limit of a row cleaner of a row unit of an agricultural implement. The system may include a first frame member coupled to a support structure of a row unit of an agricultural implement, a second frame member rotatable relative to the first frame member, at least one cleaning wheel rotatable relative to the second frame member, and a depth stop member movably coupled to the first frame member. The depth stop member may be configured to set a lower height limit for the at least one cleaning wheel, with the second frame member being configured to abut against the depth stop member when the at least one cleaning wheel is disposed at the lower height limit. The system may further include an actuator controllable to move the depth stop member relative to the first frame member to adjust the lower height limit, and a controller configured to selectively control an operation of the actuator to set the lower height limit.
In another aspect, the present subject matter is directed to an agricultural implement including a frame and a row unit supported by the frame, where the row unit is configured to work a field as the implement is moved across the field. The row unit may include a first frame member coupled to a support structure of the row unit, a second frame member rotatable relative to the first frame member, at least one cleaning wheel rotatable relative to the second frame member, and a depth stop member movably coupled to the first frame member. The depth stop member is configured to set a lower height limit for the at least one cleaning wheel, with the second frame member being configured to abut against the depth stop member when the at least one cleaning wheel is disposed at the lower height limit.
In an additional aspect, the present subject matter is directed to a method for automatically adjusting a height limit of a row cleaner of a row unit of an agricultural implement, where the row cleaner includes a first frame member coupled to a support structure of the row unit, a second frame member rotatable relative to the first frame member, at least one cleaning wheel rotatable relative to the second frame member, and a depth stop member movably coupled to the first frame member. The method may include receiving, by one or more computing devices, an input associated with adjusting a lower height limit for the at least one cleaning wheel. The lower height limit is set by the depth stop member. Additionally, the method may include automatically controlling, with the one or more computing devices, an operation of an actuator to move the depth stop member based at least in part on the input to adjust the lower height limit for the at least one cleaning wheel.
These and other features, aspects and advantages of the present invention will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.
A full and enabling disclosure of the present invention, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which:
Repeat use of reference characters in the present specification and drawings is intended to represent the same or analogous features or elements of the present technology.
Reference now will be made in detail to embodiments of the invention, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents.
In general, the present subject matter is directed to automatically adjusting a height limit of a row cleaner of an agricultural implement. Specifically, in several embodiments, an agricultural implement may include a plurality of row cleaners, where each row cleaner has at least one cleaning wheel configured to clear away residue and clods from a travel path of subsequent ground engaging tools (e.g., disc openers, seed dispensing tools, closing wheels, etc.). In one example, the cleaning wheel(s) of each row cleaner may be supported by a wheel support frame member rotatably coupled to a support frame member that is, in turn, coupled to a frame of the row unit or of the implement. In accordance with aspects of the present subject matter, the row cleaners may have an adjustable lower height limit to control the maximum engagement between the cleaning wheel(s) and a surface of the field. Particularly, each row cleaner may have a depth stop member against which the wheel support frame member abuts when the cleaning wheel(s) is at the lower height limit. More particularly, the depth stop member may be moved relative to the support frame member to adjust the lower height limit. An actuator of the row cleaner may be selectively controlled to move (e.g., rotate or translate) the depth stop member to adjust the lower height limit of the cleaning wheel(s). As such, the lower height limit of the row cleaners may be adjusted quickly. Additionally, in some embodiments, the actuator may be actively controlled to adjust the lower depth limit of the row cleaners for different field conditions, for example, depending on the residue coverage/size and/or moisture content within the field.
Referring now to the drawings,
As shown in
It should be appreciated that, in general, the implement 10 may include any number of row units 18, such as six, eight, twelve, sixteen, twenty-four, thirty-two, or thirty-six row units. In addition, it should be appreciated that the lateral spacing between row units 18 may be selected based on the type of crop being planted. For example, the row units 18 may be spaced approximately thirty inches from one another for planting corn, and approximately fifteen inches from one another for planting soybeans.
It should also be appreciated that the configuration of the seed-planting implement 10 described above and shown in
Referring now to
As shown in
Moreover, as shown, the row unit 18 may include a furrow closing assembly 36. Specifically, in several embodiments, the furrow closing assembly 36 may include a pair of closing discs 38 (only one of which is shown) positioned relative to each other in a manner that permits soil to flow between the discs 38 as the implement 10 is being moved across the field. As such, the closing discs 38 may be configured to close the furrow after seeds have been deposited therein, such as by pushing the excavated soil into the furrow. Furthermore, the furrow closing assembly 36 may include a support arm 40 configured to adjustably couple the closing discs 38 to the frame 24. For example, one end of the support arm 40 may be pivotably coupled to the closing discs 38, while an opposed end of the support arm 40 may be pivotably coupled to a chassis arm 42, which is, in turn, coupled to the frame 24. However, it should be appreciated that, in alternative embodiments, the closing discs 38 may be coupled to the frame 24 in any other suitable manner. Furthermore, it should be appreciated that, in alternative embodiments, the furrow closing assembly 36 may include any other suitable number of closing discs 38, such as one closing disc 38 or three or more closing discs 38. Additionally, the furrow closing assembly 36 may include a press wheel 44 configured to roll over the closed furrow to firm the soil over the seed and promote favorable seed-to-soil contact.
Additionally, as shown in
More particularly, in one embodiment, the cleaning wheel(s) 48 may be rotatably coupled to a wheel frame member 54, with the wheel frame member 54 being rotatably coupled to a support frame member 56 about a pivot point 58. For example, one end of the wheel frame member 54 may be configured to support the wheel(s) 48 for rotation relative thereto, while an opposed end of the wheel frame member 54 may be pivotably coupled to the support frame member 56. The support frame member 56 is further coupled or fixed to the support structure or frame 24 of the row unit 18 to support the cleaning wheel(s) 48 relative to the frame 24. The row cleaner 46 may further include a biasing member 60 (e.g., one or more springs, pneumatic or hydraulic cylinders, etc.) for biasing the cleaning wheel(s) 48 downwards towards engagement with a field surface. It should be appreciated that, in alternative embodiments, the cleaning wheel(s) 48 may be supported relative to the frame 24 in any other suitable manner. For instance, the cleaning wheel(s) 48 may be rotatably coupled to a wheel support arm, with the wheel support arm being coupled to the support frame member 56 by a linkage. The linkage may include a wheel frame member and a linking member. The wheel frame member may extend between a first end and a second end, where the first end of the wheel frame member is rotatably coupled to the support frame member 56 and the second end of the wheel frame member is rotatably coupled to the wheel support arm. Similarly, the linking member may extend between a first end and a second end, where the first end of the linking member is rotatably coupled to the support frame member 56 and the second end of the linking member is rotatably coupled to the wheel support arm. As such, the support frame member 56, the wheel frame member, the linking member, and the wheel support arm may form a four-bar linkage. Furthermore, it should be appreciated that, in alternative embodiments, the row cleaner 46 may include any other suitable number of cleaning wheels 48 and/or may be configured in any other suitable manner.
In accordance with aspects of the present subject matter, the row cleaner 46 may further include an adjustment assembly 100 for adjusting a lower height limit for the cleaning wheel(s) 48. Particularly, the adjustment assembly 100 includes a depth stop member 102 and an actuator 104. In general, the depth stop member 102 is movably supported relative to or coupled to the support frame member 56 at a position below the wheel frame member 54 to vary the portion of the depth stop member 102 that the wheel frame member 54 is configured to engage or abut against and thus, vary the amount that the wheel frame member 54 is configured to pivot downward about the pivot point 58 relative to the support frame member 56. Specifically, the movement of the depth stop member 102 varies the amount that the wheel frame member 54 is allowed to pivot downward before coming into contact with the depth stop member 102, which, in turn, varies the positioning of the cleaning wheel(s) 48 along a vertical direction V1 and, thus, adjusts a lower height limit for the cleaning wheel(s) 48. As shown in the illustrated embodiment, a lower surface or portion of the wheel frame member 54 between the pivot point 58 and the wheel(s) 48 is generally configured to abut against a profile of the depth stop member 102 (e.g., due to the biasing force applied by the bias member 60 and/or gravity) when the wheel(s) 48 at the lower height limit. The wheel(s) 48 may be allowed to move upward away from the lower height limit (e.g., against the biasing force applied by the bias member 60), for example, if the wheel(s) 48 encounter a rock or other obstruction during operation. Additionally, as will be described in greater detail below, the actuator 104 of the adjustment assembly 100 may be selectively controllable to move the depth stop member 102 relative to the support frame member 56 to adjust the lower height limit for the row cleaner 46.
Referring now to
As shown in
Generally, the larger the distance between the wheel frame member 54 and the rotational axis A1 of the depth stop member 102 (e.g., the distance between the contact surface CS1 and the rotational axis A1), the greater the adjustment in the lower height limit. For instance, as the first portion P1 corresponds to the smallest distance D1 between the contact surface CS1 and the rotational axis A1, the first portion P1 also corresponds to the smallest distance between the wheel frame member 54 and the rotational axis A1. Thus, when the depth stop member 102 is in the first rotational position, the lower height limit is adjusted by the smallest amount, and the lower height limit is equal to a minimum lower height setting for the row cleaner 46. Similarly, as the second portion P2 corresponds to the largest distance D2 between the contact surface CS1 and the rotational axis A1, the second portion D2 also corresponds to the largest distance between the wheel frame member 54 and the rotational axis A1. Thus, when the depth stop member 102 is in the second rotational position, the lower height limit is adjusted by the largest amount, and the lower height limit is equal to a maximum lower height setting for the row cleaner 46.
For example, as shown in
As indicated above, in several embodiments, the depth stop member 102 may be selectively rotatable by the actuator 104. In some embodiments, the actuator 104 is configured as a rotary actuator. For instance, in the embodiment shown in
Alternatively, in some embodiments, the actuator 104 is configured as a linear actuator. For instance, in the embodiment shown in
It should be appreciated that the examples of the actuator shown in
Referring now to
For instance, as shown in
Additionally, the actuator 104 of the adjustment assembly 100 may be selectively controllable to rotate the depth stop member 102′ relative to the support frame member 56 to adjust such lower height limit. As discussed above with reference to
Referring now to
For instance, as shown in
Additionally, the actuator 104″ may be selectively controllable to slide the depth stop member 102′ relative to the support frame member 56 to adjust such lower height limit. For example, in the embodiment shown, the actuator 104″ includes a cylinder 126 (e.g., hydraulic, pneumatic, etc.) and a rod 128, with a first end of the rod 128 being slidably received within the cylinder 126 and a second end of the rod 128 being coupled to the depth stop member 102′. When the rod 128 extends and retracts relative to the cylinder 126, the depth stop member 102′ is slid with the rod 128, which adjusts the lower height limit. However, it should be appreciated that the actuator 104″ may be configured as any other suitable actuator for sliding the depth stop member 102′.
Referring now to
As shown in
In general, the controller 202 may include any suitable processor-based device known in the art, such as a computing device or any suitable combination of computing devices. Thus, in several embodiments, the controller 202 may include one or more processor(s) 204, and associated memory device(s) 206 configured to perform a variety of computer-implemented functions. As used herein, the term “processor” refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic circuit (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) 206 of the controller 202 may generally comprise memory element(s) including, but not limited to, a computer readable medium (e.g., random access memory RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disk-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disk (DVD) and/or other suitable memory elements. Such memory device(s) 206 may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) 204, configure the controller 202 to perform various computer-implemented functions, such as one or more aspects of the methods and algorithms that will be described herein. In addition, the controller 202 may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control bus and/or the like.
In several embodiments, the controller 202 may correspond to an existing controller of the implement 10 and/or an existing controller of a work vehicle configured to tow the implement 10. However, it should be appreciated that, in other embodiments, the controller 202 may instead correspond to a separate processing device. For instance, in one embodiment, the controller 202 may form all or part of a separate plug-in module that may be installed on the agricultural implement 10 or the work vehicle to allow for the disclosed system and method to be implemented without requiring additional software to be uploaded onto existing control devices of the work vehicle or the agricultural implement 10.
In some embodiments, the controller 202 may include a communications module or interface 208 to allow for the controller 202 to communicate with and/or electronically control any of the various system components described herein. For instance, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface 208 and the actuator(s) 104, 104′, 104″ to allow the controller 202 to control the operation of one or more components of the actuator(s) 104, 104′, 104″. Further, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface 208 and a user interface (e.g., user interface 210) to allow operator inputs to be received by the controller 202 and/or the allow the controller 202 to control the operation of one or more components of the user interface 210. Additionally, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface 208 and the sensor(s) 212 to allow data to be transmitted from the sensor(s) 212 to the controller 202.
As described above, the actuator(s) 104, 104′, 104″ may be selectively controllable to move the depth stop member(s) 102, 102′, 102″ to adjust a height limit (i.e., the lower height limit) of a row cleaner 46 of the agricultural implement 10. In one embodiment, the controller 202 may be configured to automatically control the operation of the actuator(s) 104, 104′, 104″ based at least in part on an input received from an operator (e.g., via the user interface 210) to adjust the lower height limit of the row cleaner(s) 46. For instance, the controller 202 may receive an operator input via the user interface 210 associated with raising or lowering the cleaning wheel(s) 48 and, in return, control the operation of the actuator(s) 104, 104′, 104″ to actuate the depth stop member(s) 102, 102′, 102″ to rotate accordingly. For example, if the input is associated with adjusting the lower height limit to raise the cleaning wheel(s) 48, the controller 202 may be configured to control the operation of the actuator(s) 104, 104′ to rotate the depth stop member(s) 102, 102′ towards the second rotational position (
In some embodiments, the controller 202 may be configured to actively control the operation of the actuator(s) 104, 104′, 104″ based at least in part on data indicative of field conditions. For instance, when there is more residue, larger residue and/or clods, and/or more moisture in an area of the field, it may be beneficial to actively adjust the lower height limit such that the cleaning wheel(s) 48 are positioned lower at the lower height limit and, vice versa, when there is less residue, smaller residue and/or clods, and/or less moisture in an area of the field, it may be beneficial to actively adjust the lower height limit such that the cleaning wheel(s) 48 are positioned higher at the lower height limit. In one embodiment, the controller 202 may be configured to receive the data indicative of the field conditions (e.g., residue coverage, residue and/or clod size, and/or moisture content within the field) from the sensor(s) 212. The sensor(s) 212 may be mounted at any suitable location on the implement 10 (e.g., to the implement frame assembly 22, the row unit frame(s) 24, and/or the like) or the work vehicle towing the implement 10 to generate data indicative of the monitored field conditions as the implement 10 is moved across the field. However, it should be appreciated that the controller 202 may be configured to receive data indicative of the monitored field conditions from any other suitable source. For instance, in some embodiments, the data indicative of the monitored field conditions may be historical data generated during a previous agricultural operation within the field (e.g., a harvesting operation).
The sensor(s) 212 may include any suitable type of sensing device(s) for generating data indicative of the monitored field conditions (e.g., images, point cloud data, and/or the like). For example, in several embodiments, the sensor(s) 212 may correspond to a camera(s) (e.g., RGB, multispectral, infrared, thermal, etc.). In some embodiments, the sensor(s) 212 may correspond to an infrared sensor(s), a radar sensor(s), a Light Detection and Ranging (LIDAR) sensor(s), etc. However, in alternative embodiments, the sensor(s) 212 may correspond to any other suitable device(s) or combination of devices. The controller 202 may include any suitable data processing techniques to determine the field conditions within the field based at least in part on the data received from the sensor(s) 212. In some embodiments, for example, the controller 202 may analyze images of the field using any suitable image processing techniques. Suitable processing or analyzing techniques may include performing a spatial or spectral analysis on received images or image data. For instance, geometric or spatial processing algorithms may differentiate the shape and/or average size of residue from soil particles. Similarly, shape detection and/or edge-finding or perimeter-finding algorithms may be used that differentiate clods from soil and/or residue. Additionally, if the sensor(s) 212 comprises a multi-spectral camera(s), spectral processing algorithms may be used to differentiate the spectral reflectance of residue from the spectral reflectance of soil and/or to estimate the moisture content of the field.
The controller 202 may further be configured to compare the field conditions detected within the field based on the data received from the sensor(s) 212 to one or more thresholds to determine an appropriate lower height limit for the cleaning wheel(s) 48. For example, when the controller 202 determines that the residue coverage, residue and/or clod size, and/or moisture content within the field exceeds a maximum associated threshold(s), the controller 202 may automatically control the operation of the actuator(s) 104, 104′, 104″ to rotate the depth stop member(s) 102, 102′, 102″ such that the lower height limit for the cleaning wheel(s) 48 is lowered along the vertical direction. Similarly, when the controller 202 determines that the residue coverage, residue and/or clod size, and/or moisture content within the field falls below a minimum associated threshold(s), the controller 202 may automatically control the operation of the actuator(s) 104, 104′, 104″ to rotate the depth stop member(s) 102, 102′, 102″ such that the lower height limit for the cleaning wheel(s) 48 is raised along the vertical direction. It should be appreciated that the controller 202 may be configured to compare the field conditions to any suitable number of thresholds. Further, it should be appreciated that, in some embodiments, such thresholds may be predetermined and stored within the memory 206 of the controller 202. Additionally, it should be appreciated that any other suitable field conditions may be used to adjust the lower height limit.
It should additionally be appreciated that the actuator(s) 104, 104′, 104″ of multiple row units 18 may be controlled individually to set different lower height limits for different row cleaners 46. Alternatively, or additionally, one or more of the actuator(s) 104, 104′, 104″ of multiple row units 18 may be controlled together so that the lower height limit is the same for each row unit 18 within such grouping.
As described, the system 200 allows for a more efficient way to automatically adjust the lower height limit of one or more row cleaners 46 at a time based on operator input, which improves the overall efficiency of a seed planting operation. Such system 200 also allows for active automatic adjustment of the lower height limit of one or more row cleaners 46 at a time based on the determined field conditions, which improves the overall effectiveness of the row cleaner(s) 46.
Referring now to
As shown in
Additionally, at (304), the method 300 may include automatically controlling an operation of an actuator to move a depth stop member based at least in part on the input to adjust the lower height limit for the at least one cleaning wheel. For instance, as indicated above, the controller 202 may be configured to automatically control the operation of the actuator(s) 104, 104′, 104″ to move (e.g., rotate or slide) the depth stop member(s) 102, 102′, 102″ based on the received input to adjust (e.g., increase or decrease) the lower height limit.
It is to be understood that the steps of the method 300 are performed by the computing system 200 upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disk, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the computing system 200 described herein, such as the method 300, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The computing system 200 loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the computing system 200, the computing system 200 may perform any of the functionality of the computing system 200 described herein, including any steps of the method 300 described herein.
The term “software code” or “code” used herein refers to any instructions or set of instructions that influence the operation of a computer or computing system. They may exist in a computer-executable form, such as machine code, which is the set of instructions and data directly executed by a computer's central processing unit or by a computing system, a human-understandable form, such as source code, which may be compiled in order to be executed by a computer's central processing unit or by a computing system, or an intermediate form, such as object code, which is produced by a compiler. As used herein, the term “software code” or “code” also includes any human-understandable computer instructions or set of instructions, e.g., a script, that may be executed on the fly with the aid of an interpreter executed by a computer's central processing unit or by a computing system.
This written description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.
