Patent Application
20250208004
The present disclosure generally relates to tillage implements and, more particularly, to systems and methods for detecting disk plugging on a tillage implement.
It is well known that, to attain the best agricultural performance from a field, a farmer must cultivate the soil, typically through a tillage operation. Modern farmers perform tillage operations by pulling a tillage implement behind an agricultural work vehicle, such as a tractor. In certain configurations, tillage implements include one or more disks spaced apart disks supported on its frame, such as by one or more disk gangs. Each disk, in turn, is configured to rotate relative to the soil as the tillage implement travels across the field. The rotation of the disks loosens and/or otherwise agitates the soil to prepare the field for subsequent planting operations.
During tillage operations, field materials, such as residue, soil, rocks, and/or the like, may become trapped or otherwise accumulate between a disk and another component of the tillage implement, such as a scraper, an adjacent disk, C-hanger, and/or the like. When such accumulations of field materials become sufficient to prevent one or more disks from providing adequate tillage to the field (e.g., by slowing or preventing rotation of the disk(s)), the respective disk(s) is plugged. In such instances, it is necessary for the operator to take certain corrective actions to remove the accumulated field materials. However, it may be difficult for the tillage implement operator to determine when the disk(s) is plugged. In this respect, systems have been developed to detect plugging of disk(s) during tillage operations. While such systems work well, further improvements are needed.
Accordingly, an improved system and method for detecting disk plugging on a tillage implement would be welcomed in the technology.
Aspects and advantages of the technology 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 technology.
In one aspect, the present subject matter is directed to a tillage implement. The tillage implement includes a frame and a plurality of ground-engaging shanks supported by the frame and configured to till soil as the tillage implement traverses a field. Additionally, the tillage implement includes a plurality of disks supported by the frame. Each disk is configured to rotate relative to the soil of the field. Moreover, the tillage implement includes a load sensor configured to generate data indicative of a draft load being applied to the frame by the plurality of disks as the tillage implement traverses the field. Additionally, the tillage implement includes a computing system communicatively coupled to the load sensor. The computing system is configured to access an input indicative of a condition of the field. Moreover, the computing system is configured to determine a minimum load threshold value indicative of plugging of at least one disk of the plurality of disks based on the condition of the field. Furthermore, the computing system is configured to determine the draft load being applied to the frame based on the data generated by the load sensor. Additionally, the computing system is configured to determine when the at least one disk of the plurality of disks is plugged based on the determined draft load and the determined minimum load threshold value.
In another aspect, the present subject matter is directed to a system for detecting disk plugging on a tillage implement. The system includes a plurality of disks supported by a frame of the tillage implement. Each disk is configured to rotate relative to soil of a field. Furthermore, the system includes a load sensor configured to generate data indicative of a draft load being applied to the frame by the plurality of disks as the tillage implement traverses the field. Moreover, the system includes a computing system communicatively coupled to the load sensor. The computing system is configured to access an input indicative of a condition of the field. Additionally, the computing system is configured to determine a minimum load threshold value indicative of plugging of at least one disk of the plurality of disks based on the condition of the field. Furthermore, the computing system is configured to determine the draft load being applied to the frame based on the data generated by the load sensor. Additionally, the computing system is configured to determine when the at least one disk of the plurality of disks is plugged based on the determined draft load and the determined minimum load threshold value.
In a further aspect, the present subject matter is directed to a method for detecting disk plugging on a tillage implement. The tillage implement includes a frame and a plurality of disks supported by the frame. Each disk is configured to rotate relative to soil of a field. The method includes accessing, with a computing system, an input indicative of a condition of the field. Furthermore, the method includes determining, with the computing system, a minimum load threshold value indicative of plugging of at least one disk of the plurality of disks based on the condition of the field. Additionally, the method includes receiving, with the computing system, load sensor data indicative of a draft load being applied to the frame. Moreover, the method includes determining, with the computing system, the draft load being applied to the frame based on the received load sensor data. Additionally, the method includes determining, with the computing system, when the at least one disk of the plurality of disks is plugged based on the determined draft load and the determined minimum load threshold value. Furthermore, the method includes initiating, with the computing system, a control action associated with de-plugging the at least one disk when it is determined that the at least one disk is plugged.
These and other features, aspects and advantages of the present technology 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 technology and, together with the description, serve to explain the principles of the technology.
A full and enabling disclosure of the present technology, 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 a system and a method for detecting disk plugging on a tillage implement. As will be described below, the tillage implement generally includes a frame and a plurality of disks supported by the frame. In this respect, as the tillage implement travels across the field to perform a tillage operation thereon, the disks rotate relative to the field such that field materials (e.g., soil, residue, rocks, etc.) flow between the disks. However, when a sufficient amount of field materials accumulates between the one or more of the disks and another component of the tillage implement, such as a scraper, an adjacent disk, C-hanger, and/or the like, the operation of the disk(s) may be impacted. In such instances, the disk(s) is considered plugged.
In several embodiments, a computing system of the disclosed system is configured to determine when one or more disks of the implement are plugged. More specifically, the computing system accesses one or more inputs indicative of one or more conditions of the field, such as the soil moisture level of the field, soil type, type of crop material within the field, and/or the like, while the tillage implement traverses the field. For example, the computing system may be configured to receive field condition sensor data from one or more field condition sensors indicative of the condition(s) of the field, access a field map identifying the condition(s) of the field at one or more locations within the field, and/or receive an operator input indicative of the condition(s) of the field. Furthermore, the computing system determines the minimum load threshold value indicative of plugging of one or more disks based on the condition(s) of the field. Additionally, the computing system determines the draft load(s) being applied to the frame of the implement based on received load sensor data. Thereafter, the computing system is configured to determine when one or more disks are plugged based on the determined draft load(s) and the determined minimum load threshold value. For example, in several embodiments, the computing system is configured to compare the determined draft load(s) to the determined minimum load threshold value and determine that the disk(s) is plugged when the determined draft load(s) exceed the determined minimum load threshold value.
Using a minimum load threshold value that is determined based on one or more conditions of the field to determine when a disk(s) of a tillage implement is plugged improves the operation of the tillage implement. More specifically, when the disk(s) becomes plugged, the field materials apply loads, such as draft loads, to the disks and, thus, to the frame of the implement, that exceed the determined minimum threshold value. As the implement traverses the field, the disks may encounter fluctuating conditions of the field, such as fluctuating soil moisture levels, that affect the magnitude of the draft loads being applied to the frame of the implement. As such, the minimum load threshold value, which is indicative of plugging of the disks, may need to change based on the fluctuating conditions of the field to minimize false detections of plugged disks. As described above, the disclosed system and method use the minimum load threshold value determined based on one or more conditions of the field to determine when one or more disks of the implement are plugged and, thus, provide for more accurate detection of plugging.
Referring now to the drawings,
In general, the implement 10 may be configured to be towed across a field in a direction of travel (e.g., as indicated by arrow 14 in
As shown in
As shown in
In several embodiments, the implement frame 28 may be configured to support a plurality of disks 46. For example, as shown in
Moreover, in several embodiments, the implement 10 may include a plurality of actuators 102 (one is shown). In general, each actuator 102 is configured to move or otherwise adjust the orientation or position of one or more of the disks 46. For example, in the embodiment shown in
Additionally, as shown, in one embodiment, the implement frame 28 may be configured to support other ground engaging tools. For instance, in the illustrated embodiment, the implement frame 28 supports a plurality of ground-engaging shanks 50 configured to rip or otherwise till the soil as the implement 10 is towed across the field. The plurality of ground-engaging shanks 50 may be positioned aft of the disk gang(s) 44. Furthermore, in the illustrated embodiment, the implement frame 28 also supports a plurality of rolling (or crumbler) basket assemblies 52. However, in other embodiments, any other suitable ground-engaging tools may be coupled to and supported by the implement frame 28.
The configuration of the tillage implement 10 and the work vehicle 12 described above and shown in
Additionally, the implement 10 may include one or more load sensors 108 coupled thereto and/or supported thereon. The load sensor(s) 108 is configured to generate data indicative of one or more draft loads being applied to the implement frame 28 by the plurality of disks 46 during a tillage operation. Such draft load(s) results from engagement between the disks 46 and the soil into which the disks 46 has penetrated. As will be described below, the data may subsequently be used to determine when one or more of the disks 46 is plugged.
In general, the load sensor(s) 108 may correspond to any suitable load sensor(s) configured to generate data indicative of the draft load(s) being applied to the implement frame 28. In several embodiments, the load sensor(s) 108 may be configured as a load cell(s). However, in alternative embodiments, the load sensor(s) 108 may be configured as any other suitable load sensor(s) for generating data indicative of the draft load(s) being applied to the implement frame 28, such as strain gauge(s) and/or the like.
Additionally, the implement 10 may include any number of load sensors 108 provided at any suitable location that allows data indicative of the draft load(s) being applied to the implement frame 28 by the disks 46 to be generated. In this respect,
Moreover, the implement 10 and/or the work vehicle 12 may include one or more field condition sensors 110 coupled thereto and/or supported thereon. The field condition sensor(s) 110 is configured to generate data indicative of one or more conditions of the field, such as soil moisture level, crop material type, residue coverage, and/or the like. As will be described below, the data may subsequently be used to determine a minimum load threshold value indicative of plugging of the disk(s) 46 which will be used to determine when the disk(s) 46 is plugged.
In several embodiments, the field condition sensor(s) 110 may correspond to any suitable field condition sensor(s) configured to generate data indicative of the soil moisture level of the field. For example, in one embodiment, the field condition sensor(s) 110 may be configured as an optic sensor(s). However, in alternative embodiments, the field condition sensor(s) 110 may be configured as any other suitable sensor configured to generate data indicative of the soil moisture level of the field.
Additionally, in alternative embodiments, the field condition sensor(s) 110 may correspond to any suitable field condition sensor(s) configured to generate data indicative of a type of crop material present within the field. In several embodiments, the field condition sensor(s) 110 may be configured as an imaging device(s) configured to depict the type of crop material present within a portion(s) of the field within a field(s) of view 112 of the imaging device(s). For example, the imaging device(s) may be configured as a light detection and ranging (LiDAR) imaging device(s). However, in alternative embodiments, the imaging device(s) may be configured as any other suitable imaging device(s) configured to depict the type of crop material present within the portion(s) of the field within the field(s) of view 112 of the imaging device(s), such as a camera(s) and/or the like.
Furthermore, in alternative embodiments, the field condition sensor(s) 110 may correspond to any suitable field condition sensor(s) configured to generate data indicative of residue coverage within the field, such as a percentage of the field within a given area that is covered with crop residue. In several embodiments, the field condition sensor(s) 110 may be configured as an imaging device(s) configured to depict the residue coverage present within a portion(s) of the field within the field(s) of view 112 of the imaging device(s). For example, the imaging device(s) may be configured as a light detection and ranging (LiDAR) imaging device(s). However, in alternative embodiments, the imaging device(s) may be configured as any other suitable imaging device(s) configured to depict the residue coverage present within the portion(s) of the field within the field(s) of view 112 of the imaging device(s), such as a camera(s) and/or the like. Additionally, it should be appreciated that the field condition sensor(s) 110 may be configured as any other suitable field condition sensor(s) configured to generate data indicative of any other condition(s) of the field.
Moreover, the implement 10 and/or the work vehicle 12 may include any number of field condition sensors 110 provided at any suitable location that allows data indicative of the condition(s) of the field to be generated. In this respect,
Referring now to
In general, the disk gang 44 is supported relative to the corresponding structural frame member 38 of the implement frame 28. Specifically, in several embodiments, a pair of hangers 70 (e.g., C-hangers) support the disk gang 44 at a position below the corresponding structural frame member 38. For example, in one embodiment, one end of each hanger 70 may be coupled to the corresponding structural frame member 38, while the opposing end of each hanger 70 is coupled to a bearing block 72. The bearing blocks 72, in turn, are rotatably coupled to the disk gang shaft 56. However, in alternative embodiments, the disk gang 44 may have any other suitable configuration.
As shown in
The configuration of the tillage implement 10 described above and shown in
Referring now to
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Moreover, the system 200 includes a computing system 210 communicatively coupled to one or more components of the tillage implement 10, the work vehicle 12, and/or the system 200 to allow the operation of such components to be electronically or automatically controlled by the computing system 210. For instance, the computing system 210 may be communicatively coupled to the load sensor(s) 108 via a communicative link 202. As such, the computing system 210 may be configured to receive data from the load sensor(s) 108 that is indicative of the draft load(s) being applied to the implement frame 28. Additionally, the computing system 210 may be communicatively coupled to the field condition sensor(s) 110 via the communicative link 202. As such, the computing system 210 may be configured to receive data from the field condition sensor(s) 110 that is data indicative of the condition(s) of the field. Furthermore, the computing system 210 may be communicatively coupled to the engine 24, the transmission 26, and/or the actuators 102 via the communicative link 202. In this respect, the computing system 210 may be configured to control the operation of the components 24, 26, 102. In addition, the computing system 210 may be communicatively coupled to any other suitable components of the implement 10, the vehicle 12, and/or the system 200.
In general, the computing system 210 may comprise any suitable processor-based device known in the art, such as a given controller or computing device or any suitable combination of controllers or computing devices. Thus, in several embodiments, the computing system 210 may include one or more processor(s) 212 and associated memory device(s) 214 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 controller (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) 214 of the computing system 210 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 disc, a compact disc-read only memory (CD-ROM), a magneto-optical disc (MOD), a digital versatile disc (DVD), and/or other suitable memory elements. Such memory device(s) 214 may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) 212, configure the computing system 210 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 computing system 210 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.
It should be appreciated that the computing system 210 may correspond to an existing computing system(s) of the implement 10, itself, or the computing system 210 may correspond to a separate processing device. For instance, in one embodiment, the computing system 210 may form all or part of a separate plug-in module that may be installed in association with the implement 10 to allow for the disclosed systems to be implemented without requiring additional software to be uploaded onto existing control devices of the implement 10.
Furthermore, it should also be appreciated that the functions of the computing system 210 may be performed by a single processor-based device or may be distributed across any number of processor-based devices, in which instance such devices may be considered to form part of the computing system 210. For instance, the functions of the computing system 210 may be distributed across multiple application-specific controllers or computing devices, such as a navigation controller, an engine computing controller, a transmission controller, an implement controller and/or the like.
In addition, the system 200 may also include a user interface 220. More specifically, the user interface 220 may be configured to provide feedback from the computing system 210 (e.g., feedback associated with plugging of the disk(s) 46) to the operator. As such, the user interface 220 may include one or more feedback devices (not shown), such as display screens, speakers, warning lights, and/or the like, which are configured to provide feedback from the computing system 210 to the operator. As such, the user interface 220 may, in turn, be communicatively coupled to the computing system 210 via the communicative link 202 to permit the feedback to be transmitted from the computing system 210 to the user interface 220. Furthermore, some embodiments of the user interface 220 may include one or more input devices, such as touchscreens, keypads, touchpads, knobs, buttons, sliders, switches, mice, microphones, and/or the like, which are configured to receive inputs from the operator. In one embodiment, the user interface 220 may be mounted or otherwise positioned within the cab 22 of the work vehicle 12. However, in alternative embodiments, the user interface 220 may mounted at any other suitable location.
Referring now to
As shown in
As mentioned previously, in several embodiments, the computing system 210 is communicatively coupled to the field condition sensor(s) 110 via the communicative link 202. In this respect, as the implement/vehicle 10/12 travels across the field to perform a tillage operation thereon, the computing system 210 may receive data from the field condition sensor(s) 110 indicative of the condition(s) of the field. For example, the computing system 210 may be configured to receive the data from the field condition sensor(s) 110 indicative of the soil moisture level of the field, the residue coverage within the field, the type of crop material within the field, and/or the like.
Additionally, or alternatively, in several embodiments, the computing system 210 may be configured to access a field map. In general, the field map may be stored within the memory device(s) 214 of the computing system 210 and/or in a remote database server (not shown) and include geo-referenced data that is indicative of the condition(s) of the field, such as geo-referenced data indicative of the soil moisture level of the field, the residue coverage within the field, the type of crop material within the field, and/or the like. For example, the geo-referenced data used to create the field map may be collected during a previously performed agricultural operation (e.g., a field scouting operation with an unmanned aerial vehicle (UAV) or drone, a harvesting operation, and/or the like). In this respect, as the implement 10 traverses the field, the computing system 210 may access the field map from its memory device(s) 214. The field map may, in turn, identify the condition(s) of the field at one or more locations within the field.
Additionally, or alternatively, in several embodiments, the computing system 210 may be communicatively coupled to the user interface 220 via the communicative link 202. In this respect, the computing system 210 configured to receive an operator input indicative of the condition(s) of the field, such as operator input indicative of the soil moisture level of the field, the residue coverage within the field, the type of crop material within the field, and/or the like.
Additionally, at (304), the control logic 300 includes determining a condition of the field based on the accessed input. Specifically, in several embodiments, the computing system 210 may be configured to determine the condition(s) of the field based on the input accessed in (302). For example, the computing system 210 may access a look-up table(s) stored within its memory device(s) 214 that correlates the input accessed at (302) to the condition(s) of the field.
Moreover, at (306), the control logic 300 includes determining a minimum load threshold value indicative of plugging of at least one disk based on the determined condition of the field. The minimum load threshold value, in turn, may be a minimum value at or below which the disk(s) 46 is not plugged. Specifically, in several embodiments, the computing system 210 is configured to determine the minimum load threshold value indicative of plugging of the disk(s) 46 based on the condition(s) of the field determined at (304) while the implement 10 traverses the field. For example, in several embodiments, the computing system 210 may be configured to determine the minimum load threshold value based on the condition(s) of the field determined at (304). For example, the computing system 210 may be configured to determine the minimum load threshold value based on received field condition sensor data, such as the data indicative of the soil moisture level, the type of crop material present within the field, and/or the residue coverage present within the field. Additionally, or alternatively, in several embodiments, the computing system 210 may be configured to determine the minimum load threshold value based on the accessed field map and/or the received operator input indicative of the soil moisture level, the type of crop material present within the field, and/or the residue coverage present within the field. Moreover, the computing system 210 may access a look-up table(s) stored within its memory device(s) 214 that correlates the condition(s) of the field determined at (304) to the minimum load threshold value.
Furthermore, at (308), the control logic 300 includes receiving load sensor data indicative of a draft load being applied to the implement frame by the plurality of disks as the tillage implement traverses the field. Specifically, as mentioned above, in several embodiments, the computing system 210 may be communicatively coupled to the load sensor(s) 108 via the communicative link 202. In this respect, the computing system 210 may receive the load sensor data from the load sensor(s) 108 indicative of the draft load(s) being applied to the implement frame 28 by the disks 46.
Additionally, as shown in
Furthermore, at (312), the control logic 300 includes comparing the determined draft load to the determined minimum load threshold value. Specifically, in several embodiments, the computing system 210 is configured to compare the draft load(s) determined at (310) to the minimum load threshold value determined at (306). When one or more of the draft loads determined at (310) exceeds the minimum load threshold value determined at (306), it is likely that one or more disks 46 of the tillage implement 10 are plugged. In such instances, the control logic 300 proceeds to (314). Conversely, when all of the draft loads determined at (310) are at or fall below the minimum load threshold value determined at (306), it is unlikely that any of the disks 46 of the tillage implement 10 are plugged. In such instances, the control logic 300 returns to (302).
Additionally, at (314), the control logic 300 includes determining that the at least one disk is plugged when the determined draft load exceeds the determined minimum load threshold value. Specifically, in several embodiments, the computing system 210 is configured to determine that one or more disks 46 are plugged when the draft load(s) determined at (310) exceed the minimum load threshold value determined at (306).
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It is to be understood that the steps of the control logic 300 and the method 400 are performed by the computing system 210 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 disc, 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 210 described herein, such as the control logic 300 and the method 400, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The computing system 210 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 210, the computing system 210 may perform any of the functionality of the computing system 210 described herein, including any steps of the control logic 300 and the method 400 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 controller. 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 controller, 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 controller, 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 controller.
This written description uses examples to disclose the technology, including the best mode, and also to enable any person skilled in the art to practice the technology, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the technology 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 language of the claims.
