COMPUTER-IMPLEMENTED PROCESSING SYSTEM AND METHOD FOR OPTIMIZING SPEED CONTROL DURING THE ADJUSTMENT OF AN AGRICULTURAL PARAMETER

Abstract

Speed ​​control of implements during agricultural parameter adjustment transitions. The present invention relates to the speed control of machines and associated implements during agricultural parameter transitions. In one embodiment, a processing system comprises processing logic to execute instructions for processing agricultural data and performing speed control of a machine and associated implement during a transition period to adjust an agricultural parameter setting. The communication unit is coupled to the processing logic. The communication unit transmits and receives implement data. The processing logic is configured to execute instructions to adjust the agricultural parameter setting and determine a desired speed control during the transition period based on at least one of a desired transition distance and productivity during the transition period.

Description

1 / 33 COMPUTER-IMPLEMENTED PROCESSING SYSTEM AND METHOD FOR OPTIMIZING SPEED CONTROL DURING THE ADJUSTMENT OF AN AGRICULTURAL PARAMETER FIELD OF TECHNIQUE

[001] The modalities of the present description refer to the speed control of machines and associated implements during transitions of agricultural parameter adjustments. BACKGROUND

[002] Conventional control systems for planters typically require an operator to manually adjust one or more planter operating parameters to control the desired spacing and depth of seeds being deposited by the planter. An operator error or inexperience can result in reduced planting productivity. BRIEF DESCRIPTION OF THE DRAWINGS

[003] The present description is illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings, in which:

[004] Figure 1 is a top view of a model of an agricultural planter.

[005] Figure 2 is a side elevation view of an embodiment of a planter row unit.

[006] Figure 3 schematically illustrates one type of soil monitoring system.

[007] Figure 4 is a side elevation view of an embodiment of a seed firming device that has a plurality of sensors mounted on the firming device.

[008] Figure 5 illustrates a mode in which the 300 system measures the Petition 870250076210, dated 08 / 27 / 2025, page 18 / 57 2 / 33 electrical conductivity of the soil adjacent to trench 38 by measuring an electrical potential between the front electrical conductivity sensor 370f and the rear electrical conductivity sensor 370f.

[009] Figure 6 illustrates a timeline 600 for adjusting an agricultural parameter during planting without adjusting the speed of a machine 620.

[0010] Figure 7 illustrates a timeline 700 for adjusting an agricultural parameter during planting with speed adjustment of a machine 720 according to a modality.

[0011] Figure 8 illustrates a flowchart of one embodiment for a method 800 of obtaining soil measurements and then generating a signal to actuate any implement on any agricultural implement.

[0012] Figure 9 shows an example of a system 1200 that includes a machine 1202 (e.g., tractor, thresher, combine harvester, etc.) and an implement 1240 (e.g., planter, side bar, cultivator, plow, sprayer, spreader, irrigation implement, etc.) according to an embodiment. BRIEF SUMMARY

[0013] The speed control of machines and associated implements during transitions of agricultural parameter settings is described herein. In one embodiment, a processing system comprises processing logic to execute instructions for processing agricultural data and to perform speed control of a machine and associated implement during a transition period to adjust an agricultural parameter setting. A communication unit is coupled to the processing logic. The communication unit transmits and receives data from the implement. The processing logic is configured to execute instructions to adjust the agricultural parameter setting and determine a control. Petition 870250076210, dated 08 / 27 / 2025, page 19 / 57 3 / 33 of the desired speed during the transition period based on a desired transition distance and productivity during the transition period. DETAILED DESCRIPTION Depth Control and Soil Monitoring Systems

[0014] Referring now to the drawings, where identical reference numbers designate identical or corresponding parts across the various views, Figure 1 illustrates a tractor 5 pulling an agricultural implement, for example, a planter 10, comprising a toolbar 14 that operationally supports multiple row units 200. An implement monitor 50, preferably including a central processing unit (CPU), memory and graphical user interface (GUI) (e.g., a touch screen interface), is preferably located in the tractor cab 5. A global positioning system (GPS) receiver 52 is preferably mounted on the tractor 5. The monitor 50 can control the speed of the tractor and associated implement in general. The speed can be adjusted during transitions of agricultural parameter settings based on a desired distance for a transition and productivity during this transition.

[0015] Observing Figure 2, one embodiment is illustrated in which the row unit 200 is a planter row unit. The row unit 200 is preferably articulated to the toolbar 14 by a parallel articulation 216. An actuator 218 is preferably arranged to apply lift and / or downward force on the row unit 200. A solenoid valve 390 is preferably in fluid communication with the actuator 218 to modify the lift and / or downward force applied by the actuator. A preferred opening system 234 includes two rolling opening discs 244 mounted on a downward extending rod 254 and arranged to open a V-shaped trench 38 in the ground 40. A pair of wheels Petition 870250076210, dated 08 / 27 / 2025, page 20 / 57 4 / 33 regulating wheels 248 are articulatedly supported by a pair of corresponding regulating wheel arms 260; the height of the regulating wheels 248 relative to the opening discs 244 adjusts the trench depth 38. A depth adjustment rocker arm 268 limits the upward movement of the regulating wheel arms 260 and thus the upward movement of the regulating wheels 248. A depth adjustment actuator 380 is preferably configured to modify a position of the depth adjustment rocker arm 268 and thus the height of the regulating wheels 248. The actuator 380 is preferably a linear actuator mounted on the row unit 200 and articulatedly coupled to an upper end of the rocker arm 268.In some embodiments, the depth adjustment actuator 380 comprises a device such as that described in International Patent Application No. PCT / US2012 / 035585 (the application '585') or International Patent Applications No. PCT / US2017 / 018269 or PCT / US2017 / 018274, the description of each of which is hereby incorporated by reference. An encoder 382 is preferably configured to generate a signal relating to the linear extension of the actuator 380; it should be appreciated that the linear extension of the actuator 380 is related to the depth of the trench 38 when the regulating wheel arms 260 are in contact with the rocker arm 268.A downward force sensor 392 is preferably configured to generate a signal relative to the amount of force exerted by the regulating wheels 248 on the ground 40; in some embodiments, the downward force sensor 392 comprises an instrumented pin around which the rocker arm 268 is articulated coupled to the row unit 200, such as those instrumented pins described in the Applicant's U.S. Patent Application No. 12 / 522,253 (U.S. Publication No. 2010 / 0180695), the description of which is hereby incorporated by reference.

[0016] Continuing to refer to Figure 2, a seed meter 230 such Petition 870250076210, dated 08 / 27 / 2025, page 21 / 57 5 / 33, as described in the Applicant's International Patent Application No. PCT / US2012 / 030192, the description of which is hereby incorporated by reference, is preferably arranged for depositing seeds 42 from a funnel 226 into the trench 38, for example, through a seed tube 232 arranged to guide the seeds in the direction of the trench. In some embodiments, instead of a seed tube 232, a seed conveyor is implemented to transport the seeds from the seed meter to the trench at a controlled speed rate, as described in US Patent Application Serial No. 14 / 347,902 and / or US Patent No. 8,789,482, both of which are hereby incorporated by reference.In such embodiments, a support such as that shown in Figure 3 is preferably configured to mount the seed retainer on the stem by means of side walls that extend laterally around the seed conveyor, so that the seed retainer is disposed behind the seed conveyor to retain the seeds within the soil after they have been deposited by the seed conveyor. In some embodiments, the meter is powered by an electric drive 315 configured to drive a seed disc within the seed meter. In other embodiments, the drive 315 may comprise a hydraulic drive configured to drive the seed disc.A seed sensor 305 (for example, an optical or electromagnetic seed sensor configured to generate a signal indicating the passage of a seed) is preferably mounted in the seed tube 232 and arranged to send light or electromagnetic waves through the seed path 42. A closing system 236 which includes one or more closing wheels is articulatedly coupled to the row unit 200 and configured to close the trench 38.

[0017] Observing Figure 3, a depth control system and Petition 870250076210, dated 08 / 27 / 2025, page 22 / 57 Figure 6 / 33 shows a schematic illustration of soil monitoring 300. The monitor 50 is preferably in data communication with components associated with each row unit 200, including the drives 315, the seed sensors 305, the GPS receiver 52, the downward force sensors 392, the valves 390, the depth adjustment actuator 380, and the depth actuator encoders 382. In some embodiments, specifically those in which each seed meter 230 is not driven by an individual drive 315, the monitor 50 is also preferably in data communication with clutches 310 configured to selectively and operatively couple the seed meter 230 to the drive 315.

[0018] Continuing to refer to Figure 3, monitor 50 is preferably in data communication with a cellular modem 330 or other component configured to put monitor 50 in data communication with the Internet, indicated by reference number 335. The Internet connection may comprise a wireless connection or a cellular connection. Through the Internet connection, monitor 50 preferably receives data from a weather data server 340 and a soil data server 345.Through the Internet connection, monitor 50 preferably transmits measurement data (e.g., measurements described herein) to a recommendation server (which may be the same server as the climate data server 340 and / or the soil data server 345) for storage and receives agronomic recommendations (e.g., planting recommendations such as planting depth, whether to plant, which fields to plant, which seed to plant, or which crop to plant) from a recommendation system stored on the server; in some embodiments, the recommendation system updates the planting recommendations based on the measurement data provided by monitor 50.

[0019] Continuing to refer to Figure 3, monitor 50 is also Petition 870250076210, dated 08 / 27 / 2025, page 23 / 57 7 / 33 Preference is given to data communication with one or more temperature sensors 360 mounted on the planter 10 and configured to generate a signal relative to the soil temperature being worked by the planter row units 200. The monitor 50 is preferably in data communication with one or more reflectivity sensors 350 mounted on the planter 10 and configured to generate a signal relative to the reflectivity of the soil being worked by the planter row units 200.

[0020] Referring to Figure 3, monitor 50 is preferably in data communication with one or more electrical conductivity sensors 365 mounted on the planter 10 and configured to generate a signal relative to the temperature of the soil being worked by the planter row units 200.

[0021] In some embodiments, a first set of reflectivity sensors 350, temperature sensors 360, and electrical conductivity sensors are mounted on a seed firming device 400 and arranged to measure reflectivity, temperature, and electrical conductivity, respectively, of the soil in the trench 38. In some embodiments, a second set of reflectivity sensors 350, temperature sensors 360, and electrical conductivity sensors 370 are mounted on a reference sensor set 1800 and arranged to measure reflectivity, temperature, and electrical conductivity, respectively, of the soil, preferably at a different depth than the sensors on the seed firming device 400.

[0022] In some embodiments, a subset of sensors is in data communication with the monitor 50 via a bus 60 (e.g., a CAN bus). In some embodiments, the sensors mounted on the seed firming device 400 and the set of reference sensors 1800 are likewise in data communication with the monitor 50 via the Petition 870250076210, dated 08 / 27 / 2025, p. 24 / 57 8 / 33 busbar 60. However, in the embodiment illustrated in Figure 3, the sensors mounted on the seed firming device 400 and the reference sensor assembly 1800 are in data communication with the monitor 50 via a first wireless transmitter 62-1 and a second wireless transmitter 62-2, respectively. The wireless transmitters 62 in each row unit are preferably in data communication with a single wireless receiver 64 which is in turn in data communication with the monitor 50. The wireless receiver may be mounted on the toolbar 14 or in the tractor cab 5. a. Soil Monitoring, Seed Monitoring, and Seed Firming Device

[0023] Observing Figure 4, an embodiment of a seed firmer 400 is illustrated that has a plurality of sensors to detect soil characteristics. The seed firmer 400 preferably includes a flexible portion 410 mounted on the rod 254 and / or the seed tube 232 by a support 415. In some embodiments, the support 415 is similar to one of the support embodiments described in U.S. Patent Number 6,918,342, which is incorporated herein by reference. The seed firmer preferably includes a firmer body 490 arranged and configured to be received at least partially within the V-shaped trench 38 and to firm the seeds 42 at the bottom of the trench. When the seed firmer 400 is lowered into the trench 38, the flexible portion 410 preferably forces the firmer body 490 into resilient coupling with the trench.In some embodiments, the flexible portion 410 preferably includes an external or internal reinforcement, as described in PCT / US2013 / 066652, which is incorporated herein by reference. In some embodiments, the retainer body 490 includes a removable portion 492; the removable portion 492 preferably slides in locking coupling with the remainder of the retainer body. The retainer body 490 (preferably including the portion...) Petition 870250076210, dated 08 / 27 / 2025, page 25 / 57 9 / 33 of the seed-seeding body that couples the soil, which in some embodiments comprises the removable portion 492) is preferably made of a material (or has an outer surface or coating) that has hydrophobic and / or non-stick properties, for example having a Teflon graphite coating and / or comprising a polymer that has a hydrophobic material (e.g., silicone oil or polyetheretherketone) impregnated therein. Alternatively, the sensors may be arranged on the side of the seed-seeding unit 400 (not shown).

[0024] Returning to Figures 4 and 5, the seed firmer 400 preferably includes a plurality of reflectivity sensors 350a, 350b. Each reflectivity sensor 350 is preferably arranged and configured to measure soil reflectivity; in a preferred embodiment, the reflectivity sensor 350 is arranged to measure the soil in the trench 38, and preferably at the bottom of the trench. The reflectivity sensor 350 preferably includes a lens disposed at the bottom of the firmer body 490 and arranged to engage the soil at the bottom of the trench 38. In some embodiments, the reflectivity sensor 350 comprises one of the embodiments described in 8,204,689 and / or U.S. Provisional Patent Application 61 / 824975 (the '975 application), both of which are incorporated herein by reference.In various embodiments, the 350 reflectivity sensor is configured to measure reflectivity in the visible range (e.g., 400 and / or 600 nanometers), in the near-infrared range (e.g., 940 nanometers), and / or elsewhere in the infrared range.

[0025] The seed firmer 400 may also include a capacitive moisture sensor 351 arranged and configured to measure the capacitive moisture of the soil in the seed trench 38, and preferably the bottom of the trench 38.

[0026] The seed firming device 400 may also include an electronic tensiometer sensor 352 arranged and configured to measure the tension of Petition 870250076210, dated 08 / 27 / 2025, page 26 / 57 10 / 33 soil moisture in the seed trench 38, and preferably at the bottom of the trench 38.

[0027] Alternatively, soil moisture tension can be extrapolated from capacitive moisture measurements or reflectivity measurements (such as at 1450 nm). This can be done using a soil water characteristic curve based on soil type.

[0028] The seed firmer 400 may also include a temperature sensor 360. The temperature sensor 360 is preferably arranged and configured to measure soil temperature; in a preferred embodiment, the temperature sensor is arranged to measure the soil within the trench 38, preferably at or adjacent to the bottom of the trench 38. The temperature sensor 360 preferably includes soil coupling ears 364, 366 arranged to engage sliders on each side of the trench 38 as the planter traverses the field. The ears 364, 366 preferably engage the trench 38 at or adjacent to the bottom of the trench. The ears 364, 366 are preferably made of a thermally conductive material, such as copper. The ears 364 are preferably fixed to and in thermal communication with a central portion 362 housed within the firmer body 490.The central portion 362 preferably comprises a thermally conductive material, such as copper; in some embodiments, the central portion 362 comprises a hollow copper rod. The central portion 362 is preferably in thermal communication with a thermocouple fixed in the central portion. In other embodiments, the temperature sensor 360 may comprise a non-contact temperature sensor, such as an infrared thermometer. In some embodiments, other measurements made by the system 300 (e.g., reflectivity measurements, electrical conductivity measurements, and / or measurements derived from these measurements) are temperature compensated using the temperature measurement made by the sensor. Petition 870250076210, dated 08 / 27 / 2025, p. 27 / 57 11 / 33 temperature 360. Adjusting the temperature-compensated measurement based on temperature is preferably done by consulting an empirical lookup table that relates the temperature-compensated measurement to the soil temperature. For example, the reflectivity measurement at a near-infrared wavelength can be increased (or in some examples, decreased) by 1% for every 1 degree Celsius in soil temperature above 10 degrees Celsius.

[0029] The seed firmer preferably includes a plurality of electrical conductivity sensors 370r, 370f. Each electrical conductivity sensor 370 is preferably arranged and configured to measure the electrical conductivity of the soil; in a preferred embodiment, the electrical conductivity sensor is arranged to measure the electrical conductivity of the soil in the trench 38, preferably at or adjacent to the bottom of the trench 38. The electrical conductivity sensor 370 preferably includes soil coupling ears 374, 376 arranged to slidingly couple each side of the trench 38 as the planter traverses the field. The ears 374, 376 preferably couple to the trench 38 at or adjacent to the bottom of the trench. The ears 374, 376 are preferably made of an electrically conductive material such as copper. The ears 374 are preferably fixed in electrical communication with a central portion 372 housed within the firming body 490.The central portion 372 preferably comprises an electrically conductive material such as copper; in some embodiments, the central portion 372 comprises a copper rod. The central portion 372 is preferably in electrical communication with an electrical conductor fixed in the central portion. The electrical conductivity sensor can measure the electrical conductivity within a trench by measuring the electrical current between the soil coupling ears 374 and 376.

[0030] Referring to Figure 5, in some modes the 300 system Petition 870250076210, dated 08 / 27 / 2025, p. 28 / 57 12 / 33 measures the electrical conductivity of the soil adjacent to the trench 38 by measuring an electrical potential between the front electrical conductivity sensor 370f and the rear electrical conductivity sensor 370f. In other embodiments, the electrical conductivity sensors 370f, 370r may be arranged in a longitudinally spaced relationship on the bottom of the seed firming device so as to measure the electrical conductivity at the bottom of the seed trench.

[0031] In other embodiments, the electrical conductivity sensors 370 comprise one or more grounding or ground contact devices (e.g., discs or rods) that contact the ground and are preferably electrically isolated from each other or from another reference voltage. The voltage potential between the sensors 370 or another reference voltage is preferably measured by the system 300. The voltage potential or other electrical conductivity value derived from the voltage potential is preferably reported to the operator. The electrical conductivity value may also be associated with the reported GPS position and used to generate a map of the spatial variation in electrical conductivity across the entire field.In some such embodiments, the electrical conductivity sensors may comprise one or more opening discs of a planter row unit, row cleaning wheels of a planter row unit, soil contact rods of a planter, soil contact shoes hanging from a planter shank, a tillage tool rod, or discs of a tillage tool. In some embodiments, a first electrical conductivity sensor may comprise a component (e.g., disc or rod) of a first agricultural row unit, while a second electrical conductivity sensor comprises a component (e.g., disc or rod) of a second agricultural row unit, such that the electrical conductivity of the soil... Petition 870250076210, dated 08 / 27 / 2025, page 29 / 57 13 / 33 extends transversely between the first and second row units to be measured. It should be appreciated that at least one of the electrical conductivity sensors described herein is preferably electrically isolated from the other sensor or reference voltage. In one example, the electrical conductivity sensor is mounted on an implement (e.g., on the row unit of a planter or tillage tool) being first mounted on an electrically insulating component (e.g., a component made of an electrically insulating material such as polyethylene, polyvinyl chloride, or a polymer such as rubber) which in turn is mounted on the implement.

[0032] In other modalities, below is a table relating the measured properties (some listed above), each property's impact on seed germination and / or emergence; how the property is measured; resulting information such as raw data, seed environment score, time to germination, time to emergence, and / or seed germination risk; and equipment action or action to take. Note, a Stop Planting Action may be listed below for a Measured Property for which Stop Planting alone may not be taken, but Stop Planting may be an action for this Measured Property in combination with one or more other Measured Properties. For example, soil color alone may not be a reason to stop planting, but soil color in combination with other Measured Properties may result in a Stop Planting Action. This may also be the case for other actions, such as Queue Cleaner Aggressiveness. Measured Property Impact on germination / emergence How Measured Result Action Petition 870250076210, dated 08 / 27 / 2025, page 30 / 57 14 / 33 Soil Color Radiative Heat Absorption Seed Firming Agent 400, 400' Images • Raw Data • Days to Germination • Days to Emergence • Seed Germination Risk • Seed Environment Score Adjust depth Adjust downforce Hybrid selection Row cleaner aggressiveness Stop planting Residue Radiative heat absorption Furrow residue Seed environment quality Seed firming agent 400, 400' Images • Raw Data • Days to Germination • Days to Emergence • Seed Germination Risk • Seed Environment Score Row cleaner aggressiveness Adjust depth Adjust downforce Topography Slope runoff or infiltration Reference source • Raw Data • Days to Germination • Days to Emergence • Seed Germination Risk Adjust depth Adjust downforce Row cleaner aggressiveness Stop planting Petition 870250076210, dated 08 / 27 / 2025, page 31 / 57 15 / 33 • Seed Environment Score Soil Texture / Type Water Retention Capacity Seed Imbibition Rate Thermal Insulation Factor Seed Firming Agent 400, 400' Images • Raw Data • Days to Germination • Days to Emergence • Seed Germination Risk • Seed Environment Score Adjust Depth Adjust Downforce Hybrid Selection Row Cleaner Aggressiveness Stop Planting Organic Matter Water Retention Capacity Seed Imbibition Rate Thermal Insulation Factor Seed Firming Agent 400, 400' Images • Raw Data • Days to Germination • Days to Emergence • Seed Germination Risk • Seed Environment Score Adjust Depth Adjust Downforce Population Hybrid Selection Row Cleaner Aggressiveness Stop Planting Petition 870250076210, dated 08 / 27 / 2025, page 32 / 57 16 / 33 Soil Temperature Impact on Germination Seed Firming Agent 400, 400' • Raw Data • Days to Germination • Days to Emergence • Seed Germination Risk • Seed Environment Score Adjust Depth Adjust Downforce Population Stop Planting Row Cleaner Aggressiveness Soil Moisture Impact on Germination Seed Firming Agent 400, 400' • Raw Data • Days to Germination • Days to Emergence • Seed Germination Risk • Seed Environment Score Adjust Depth Adjust Downforce Population Stop Planting Row Cleaner Aggressiveness Seed Size / Shape Water Volume for Germination User Input • Raw Data • Days to Germination • Days to Emergence • Seed Germination Risk Adjust Depth Adjust Downforce Hybrid Selection Row Cleaner Aggressiveness Petition 870250076210, dated 08 / 27 / 2025, page 33 / 57 17 / 33 • Seed Environment Score Stop planting Cold Seed Germination Risk of non-germination based on temperature User input • Raw Data • Days to Germination • Days to Emergence • Seed Germination Risk • Seed Environment Score Adjust depth Adjust downforce Hybrid selection Row cleaner aggressiveness Stop planting Time of Day Current temperature and humidity trend Monitor • Raw Data N / A Furrow Depth Soil insulating effect, Time required to emerge from this depth Depth Actuator / Depth Sensor • Raw Data • Days to Germination • Days to Emergence • Seed Germination Risk • Seed Environment Score Adjust depth Adjust downforce Row cleaner aggressiveness Stop planting Petition 870250076210, dated 08 / 27 / 2025, page 34 / 57 18 / 33 Temperature Forecast Impact of temperature on germination Climate source • Raw Data • Days to Germination • Days to Emergence • Seed Germination Risk • Seed Environment Score Adjust depth Adjust downforce Population Hybrid selection Stop planting Row cleaner aggressiveness Precipitation Forecast Impact of moisture on germination Climate source • Raw Data • Days to Germination • Days to Emergence • Seed Germination Risk • Seed Environment Score Adjust depth Adjust downforce Population Hybrid selection Stop planting Row cleaner aggressiveness Wind Speed ​​Forecast Thermal and evaporative impact on soil temperature and / or moisture Climate source • Raw Data • Days to Germination • Days to Emergence • Seed Germination Risk Adjust depth Adjust downforce Population Hybrid selection Stop planting Aggressiveness Petition 870250076210, dated 08 / 27 / 2025, page 35 / 57 19 / 33 • Seed Environment Score for Row Cleaner Prediction of Impact Source of • Raw Data Adjust Thermal and Climate Coverage • Days to Depth Evaporative Cloud Germination Adjust Strength on the • Days to Descending Temperature Emergence Population and / or Humidity • Risk of Selection of Hybrid Seeds Stop Planting • Aggressiveness Score for Row Cleaner Seed Environment

[0033] In other embodiments, any of the sensors need not be disposed of on a firming device. The sensors may be on any implement that is disposed of on an agricultural implement in contact with the ground. For example, the firming device body 490 may be mounted on any support and disposed of anywhere on an agricultural implement and in contact with the ground. Examples of an agricultural implement include, but are not limited to, planters, harvesters, sprayers, side bars, tillers, fertilizer spreaders, and tractors.

[0034] There are many ways to handle transitions in agricultural parameter adjustments. For example, for multi-hybrids, there is a planned depletion of seeds from the seed meter before switching to a different seed type. In general, when a change is needed, the change is commanded, but without slowing down the tractor to reduce the transition zone. The monitor / controller is connected to the tractor via a CAN / ISOBUS network and Petition 870250076210, dated 08 / 27 / 2025, page 36 / 57 20 / 33 controls the tractor speed.

[0035] There are some mechanical systems that have a maximum actuation speed when changing from a first setpoint to a second setpoint for an agricultural parameter (e.g., soil properties, moisture, seed depth, seed population, multi-hybrid change from one hybrid type to another, application of liquid / granular fertilizer / insecticide / herbicide / fungicide, soil preparation depth for different compaction zones). When knowledge of a setpoint change exists before the change is executed, actuation for the setpoint change can occur proactively, ensuring that the target is reached at the intended point in time.

[0036] In other cases, knowledge of a change in the setpoint is not known in advance.

[0037] As a result, the setpoint changes in a reactionary manner, and a period of time exists in which the setpoint and actual points are different. In an agricultural implement, this transition zone appears as a distance within a field, where the distance is proportional to the time required to complete the actuation.

[0038] If the implement speed can be controlled, the speed can be reduced during a transition, shortening the transition zone.

[0039] Figure 6 illustrates a timeline 600 for adjusting an agricultural parameter setting during planting without adjusting the speed of a machine 620. The machine 620 is pulling an implement 610 through an agricultural field. In one example, the machine has a constant speed (e.g., 9.6 km / h (6 mph)), a maximum actuation rate of 3.2 mm (1 / 8") per second to change an implement depth setting from a first Petition 870250076210, dated 08 / 27 / 2025, page 37 / 57 21 / 33 setpoint (e.g., 25.4 mm (1) depth) during time period 602 to a second setpoint (e.g., 50.8 mm (2) depth) for time period 660. A transition period 650 from time 640 to time 642 occurs for this change from the first setpoint to the second setpoint. In this example, the transition period 650 lasts for 8 seconds and corresponds to a transition in the field of 21.4 m (70.4 ft). No speed adjustment is performed during the transition period 650.

[0040] Figure 7 illustrates a time queue 700 to adjust an agricultural parameter setting with speed adjustment of a machine 720 according to a modality. The machine 720 is pulling an implement 710 through an agricultural field. In one example, the machine has an adjustable speed (e.g., 4,816.1 km / h (3-10 mph)) that adjusts during a transition time period, a maximum actuation rate of 3.2 mm (1 / 8) per second to change an implement depth setting from a first setpoint (e.g., a depth of 25.4 mm (1) during time period 702) to a second setpoint (e.g., a depth of 50.8 mm (2)) for time period 760. A transition period 750 from time 740 to time 742 occurs with this change from the first setpoint to the second setpoint. In this example, the transition period 750 lasts 8 seconds and corresponds to a field transition of 10.7 m (35.2 ft).The machine speed is reduced from an initial speed for time period 702 to a second speed (e.g., 4.8 km / h (3 mph)) during transition period 750, and then increases to the first speed (or a different speed) during time period 760.

[0041] Figure 8 illustrates a flowchart of one embodiment for an 800 method of using implement speed control during the Petition 870250076210, dated 08 / 27 / 2025, page 38 / 57 22 / 33 agricultural parameter transitions to optimize these transitions. The 800 method is executed by hardware (circuits, dedicated logic, etc.), software (as it runs on a general-purpose computer system or a dedicated machine or device), or a combination of both. In one embodiment, the 800 method is executed by at least one system or device (e.g., 80 monitor, machine processing system, implement processing system, soil monitoring system, seed firmer, sensors, implement, queuing unit, etc.). The system executes the instructions of an application or software program with processing logic. The application or software program may be initiated by a system or may notify an operator or user of a machine (e.g., tractor, planter, harvester) depending on whether agricultural conditions cause a signal to actuate an implement.In one example, a machine pulls an implement across an agricultural field.

[0042] In any embodiment herein, in operation 802, a processing system (e.g., machine processing system or implement, soil monitoring system, monitor 50, seed firmer, sensors) may optionally obtain soil measurements (e.g., measurements for moisture, organic matter, porosity, texture / soil type, furrow residue, etc.) from sensors. In operation 804, the processing system (e.g., machine processing system or implement, monitor 50) may generate a signal to adjust an agricultural parameter setting (e.g., change a planted seed population by controlling a seed meter, change seed variety (e.g., hybrid), change furrow depth, change fertilizer, fungicide, and / or insecticide application rate, change downward force or upward force applied by an agricultural implement, such as a planter or tiller). Petition 870250076210, dated 08 / 27 / 2025, page 39 / 57 23 / 33 of the soil, controlling the force applied by a row cleaner) of an agricultural implement. Generating a signal to trigger an agricultural parameter can be a response to obtaining soil measurements from soil sensors or data obtained from other sensors. This can be done in real time anywhere. Examples of soil measurements that can be measured and implements controlled include, but are not limited to: A) Moisture, organic matter, porosity, or soil texture / type to change a planted seed population by monitoring a seed meter; B) moisture, organic matter, porosity, or soil texture / type to change a seed variety (e.g., hybrid); C) Moisture, organic matter, porosity, or soil texture / type can influence furrow depth; D) moisture, organic matter, porosity, or soil texture / type to change the application rate of fertilizer, fungicide, and / or insecticide; E) moisture, organic matter, porosity, or texture / soil type to change the downward or upward force applied by an agricultural implement, such as a planter or tiller; F) groove residue to control the force applied by a row cleaner.

[0043] In either a downward or upward force application, a combination of moisture and texture / type can be used. A higher downward force can be applied to sandy and / or moist soils, and a lower downward force can be used to clayey and / or moist soils. Too much downward force for a given soil type can cause soil compaction, which decreases the ability of roots to spread through the soil. Too little downward force for a given soil type can allow an implement Petition 870250076210, dated 08 / 27 / 2025, pp. 40 / 57 24 / 33 raise and do not plant seeds at the desired depth. Downward force is generally applied via the 248 regulating wheels adjacent to the trench.

[0044] In operation 806, when detecting an agricultural parameter adjustment (or having knowledge of an agricultural parameter adjustment before the actual adjustment), the processing system determines whether to optimize a change in speed for a machine and associated agricultural implement during a transition period for shorter transition distance, productivity, or maximum transition distance. In operation 808, the processing system optimizes for a shorter transition distance. When a setpoint change occurs, the processing system decelerates the machine (e.g., vehicle) and associated implement from a first speed to a second speed (e.g., a stop) as soon as possible, conducts a transition to the agricultural parameter, and then restarts machine movement to the first speed (or a different speed) after the transition period ends.

[0045] In operation 810, the processing system optimizes for productivity (minimum speed). When a setpoint change occurs, the processing system slows the machine (e.g., vehicle) and associated implement from a first speed to a minimum tolerable second speed. Although a shorter transition may be possible at a lower minimum speed, productivity is affected at the slower speed. The transition zone is substantially improved and balanced with achieving productivity while operating at a slower, but acceptable, speed. After the transition period ends, the vehicle returns to first speed.

[0046] In operation 812, the processing system optimizes for a Petition 870250076210, dated 08 / 27 / 2025, pp. 41 / 57 25 / 33 Maximum transition distance. If a specific transition distance is acceptable, then the speed of the machine (e.g., vehicle) and associated implement may be reduced from a first speed to a specific second speed that achieves a specific distance in a specific time. For example, if a transition of 15.2 m (50 ft) is acceptable, and 10 seconds are required to transition, then the speed need not be reduced below 5.4 km / h (5 ft / second) during the transition period.

[0047] Controlling tractor speed can provide a means to shorten (in distance) a transition. In one example, an algorithm determines when Δhumidity / Δdistance increases, then this algorithm signals that an implement is transitioning between zones, and processing restricts the speed based on a magnitude of a zone transition to a length of the transition.

[0048] In another example, if an implement enters a region with above-normal moisture volatility (based on knowledge of adjacent neighboring passages through a field), the speed is temporarily restricted while in the region to ensure that any transitions occur with a shorter response distance, and the speed restrictions are removed once leaving the region.

[0049] Figure 9 shows an example of a system 1200 that includes a machine 1202 (e.g., tractor, thresher, combine harvester, etc.) and an implement 1240 (e.g., planter, side bar, cultivator, plow, sprayer, spreader, irrigation implement, etc.) according to an embodiment. The machine 1202 includes a processing system 1220, memory 1205, machine network 1210 (e.g., a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.), and a network interface 1215 for communicating with other systems or Petition 870250076210, dated 08 / 27 / 2025, pp. 42 / 57 26 / 33 devices including implement 1240. The machine network 1210 includes sensors 1212 (e.g., speed sensors), controllers 1211 (e.g., GPS receiver, radar unit) to control and monitor the operations of the machine or implement. The network interface 1215 may include at least one GPS transceiver, a WLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other communication interfaces with other devices and systems including implement 1240. The network interface 1215 may be integrated with the machine network 1210 or separate from the machine network 1210 as illustrated in Figure 12. The I / O ports 1229 (e.g., diagnostic / on-board diagnostic (OBD) port) allow communication with another data processing system or device (e.g., display devices, sensors, etc.).

[0050] In one example, the machine performs operations of a tractor coupled to an implement for planting applications in a field. Planting data for each implement row unit can be associated with application time location data to better understand planting for each row and region of a field. The data associated with the planting applications can be displayed on at least one of the display devices 1225 and 1230. The display devices can be integrated with other components (e.g., processing system 1220, memory 1205, etc.) to form the monitor 50.

[0051] The processing system 1220 may include one or more microprocessors, processors, a system on a chip (integrated circuit), or one or more microcontrollers. The processing system includes processing logic 1226 to execute software instructions from one or more programs and a communication unit 1228 (e.g., transmitter, Petition 870250076210, dated 08 / 27 / 2025, pp. 43 / 57 27 / 33 transceiver) to transmit and receive machine communications via machine network 1210 or network interface 1215 or implement via implement network 1250 or network interface 1260. The communication unit 1228 can be integrated with the processing system or separate from the processing system. In one embodiment, the communication unit 1228 is in data communication with the machine network 1210 and implement network 1250 via a diagnostic / OBD port of the I / O ports 1229.

[0052] The processing logic 1226 which includes one or more processors or processing units can process communications received from the communication unit 1228 including agricultural data (e.g., GPS data, planting application data, soil characteristics, any data detected from implement sensors 1240 and machine 1202, etc.). The system 1200 includes a memory 1205 for storing data and programs for execution (software 1206) by the processing system.Memory 1205 may store, for example, software components such as speed control software to optimize speed control during a transition from a setpoint of an agricultural parameter (e.g., method 800), planting application software for soil analysis and planting applications to perform the operations of the present description, or any other software application or module, images (e.g., images captured of crops, soil, furrow, soil clods, row units, etc.), alerts, maps, etc. Memory 1205 may be any known form of a machine-readable non-transient storage medium, such as semiconductor memory (e.g., flash memory; SRAM; DRAM; etc.) or non-volatile memory, such as hard disks or solid-state drives. The system may also include an audio input / output subsystem (not shown) which may include a microphone and a speaker for, for example, Petition 870250076210, dated 08 / 27 / 2025, pp. 44 / 57 28 / 33 receive and send voice commands or for user authentication or authorization (e.g., biometrics).

[0053] The processing system 1220 communicates bidirectionally with memory 1205, machine network 1210, network interface 1215, header 1280, display device 1230, display device 1225, and I / O ports 1229 through communication connections 1231-1236, respectively. The processing system 1220 may be integrated with memory 1205 or separate from memory 1205.

[0054] Display devices 1225 and 1230 can provide visual user interfaces for a user or operator. Display devices may include display controllers. In one embodiment, display device 1225 is a portable tablet device or computing device with a touch screen that displays data (e.g., speed control data, planting application data, captured images, localized view map layer, high-definition field maps of seed germination data, seed environment data, as-planted or as-harvested data or other agricultural variables or parameters, productivity maps, alerts, etc.) and data generated by an agricultural data analysis software application and receives user or operator input for an exploded view of a region of a field, monitoring and controlling field operations.Operations may include machine or implement configuration, data reporting, machine or implement control including sensors and controllers, and storage of generated data. The 1230 display device may be a display (e.g., a display provided by an original equipment manufacturer (OEM)) that displays images and data for a localized view map layer, fluid application data as applied, data as planted or as harvested, productivity data, germination data. Petition 870250076210, dated 08 / 27 / 2025, pages 45 / 57 29 / 33 of seeds, seed environment data, control a machine (e.g., planter, tractor, harvester, sprayer, etc.), drive the machine, and monitor the machine or an implement (e.g., planter, harvester, sprayer, etc.) that is connected to the machine with sensors and controllers located on the machine or implement.

[0055] A 1270 cab control module may include an additional control module to enable or disable certain machine or implement components or devices. For example, if the user or operator is unable to control the machine or implement using one or more of the display devices, then the cab control module may include switches to stop or turn off machine or implement components or devices.

[0056] Implement 1240 (e.g., planter, cultivator, plow, sprayer, spreader, irrigation implement, etc.) includes an implement network 1250, a processing system 1262, a network interface 1260, and optional input / output ports 1266 for communicating with other systems or devices, including the machine 1202. Implement network 1250 (e.g., a Controller Area Network (CAN) serial bus protocol network, an ISOBUS network, etc.) includes a pump 1256 for pumping fluid from storage tank(s) 1290 to application units 1280, 1281,...N of the implement, sensors 1252 (for example, speed sensors, seed sensors for detecting seed passage, sensors for detecting soil or trench characteristics including soil moisture, soil organic matter, soil temperature, seed presence, seed spacing, percentage of seeds set, presence of soil residues, downward force sensors, actuator valves, moisture sensors or flow sensors for a combine harvester, speed sensors for a. Petition 870250076210, dated 08 / 27 / 2025, pp. 46 / 57 30 / 33 machine, seed force sensors for a planter, fluid application sensors for a sprayer, or vacuum, lift, bottom sensors for an implement, flow sensors, etc.), controllers 1254 (e.g., GPS receiver), and the processing system 1262 to control and monitor implement operations. The pump controls and monitors the application of fluid to crops or soil as applied by the implement. Fluid application can be applied at any stage of crop development, including within a planting furrow when planting seeds, adjacent to a planting furrow in a separate furrow, or in an area that is close to the planting area (e.g., between rows of corn or soybeans) with seed or crop growth.

[0057] For example, controllers may include processors communicating with a plurality of seed sensors. The processors are configured to process data (e.g., fluid application data, seed sensor data, soil data, furrow or trench data) and transmit the processed data to the 1262 or 1220 processing system. Controllers and sensors may be used to monitor motors and drives in a planter, including a variable rate drive system to change plant populations. Controllers and sensors may also provide row control to shut off individual rows or sections of the planter. Sensors and controllers may detect changes in an electric motor that controls each row of a planter individually. These sensors and controllers may detect seed delivery speeds in a seed tube for each row of a planter.

[0058] The 1260 network interface can be a GPS transceiver, a WLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other communication interfaces with Petition 870250076210, dated 08 / 27 / 2025, pages 47 / 57 31 / 33 other devices and systems including machine 1202. Network interface 1260 may be integrated with implement network 1250 or separate from implement network 1250 as illustrated in Figure 9.

[0059] The processing system 1262 communicates bidirectionally with the implementation network 1250, network interface 1260, and I / O ports 1266 through communication connections 1241-1243, respectively.

[0060] The implement communicates with the machine via bidirectional wireless communications and also possibly wireless 1204. The implement network 1250 can communicate directly with the machine network 1210 or via network interfaces 1215 and 1260. The implement can also be physically attached to the machine for agricultural operations (e.g., planting, harvesting, spraying, etc.).

[0061] Memory 1205 may be a non-transient machine-accessible medium in which one or more instruction sets (e.g., software 1206) incorporating any one or more of the methodologies or functions described herein are stored. Software 1206 may also reside, wholly or at least partially, within memory 1205 and / or within the processing system 1220 during its execution by the system 1200, memory and the processing system also constituting machine-accessible storage media. Software 1206 may also be transmitted or received over a network via the network interface 1215.

[0062] In one embodiment, a non-transient machine-accessible medium (e.g., memory 1205) contains executable computer program instructions which, when executed by a data processing system, cause the system to perform operations or methods of the present description. Although the non-transient machine-accessible medium (e.g., memory 1205) is shown in one embodiment Petition 870250076210, dated 08 / 27 / 2025, pages 48 / 57 32 / 33 example as being a single medium, the term non-transient machine-accessible medium should be understood to include a single medium or multiple media (e.g., a centralized or distributed database, and / or associated caches and servers) that store one or more instruction sets. The term non-transient machine-accessible medium should also be understood to include any medium capable of storing, encoding, or loading an instruction set for execution by the machine and that causes the machine to execute any one or more of the methodologies of the present description. The term non-transient machine-accessible medium should consequently be understood to include, but not limited to, solid-state memories, optical and magnetic media, and carrier wave signals.

[0063] Any of the following examples may be combined into a single embodiment or these examples may be separate embodiments. In an example of a first embodiment, a processing system comprises processing logic to execute instructions to process agricultural data and perform speed control of a machine and associated implement during a transition period to adjust an agricultural parameter setting. A communication unit is coupled to the processing logic. The communication unit transmits and receives agricultural data from the implement. The processing logic is configured to execute instructions to generate a signal to adjust the agricultural parameter setting, and determine a desired speed control during the transition period based on a desired transition distance and productivity for the transition period.

[0064] In an example of a second embodiment, a computer-implemented method for optimizing speed control during the adjustment of an agricultural parameter setting comprises receiving data Petition 870250076210, dated 08 / 27 / 2025, pp. 49 / 57 33 / 33 agricultural implements generate a signal to adjust the agricultural parameter setting and determine a desired speed control for the implement during a transition period to adjust the setting based on a desired transition distance or productivity during the transition period. Petition 870250076210, dated 08 / 27 / 2025, pages 50 / 57

Claims

1 / 6 CLAIMS 1. Processing system (1220) comprising: a memory (1205) in which one or more instruction sets are stored; processing logic (1226) configured to execute instructions stored in memory (1205) to process agricultural data and perform speed control of a machine (620, 720) and an associated implement (610, 710, 1240) during a transition period (650, 750) to adjust an agricultural parameter setting; and a communication unit (1228) coupled to the processing logic (1226), the communication unit (1228) configured to transmit and receive agricultural data from the implement (610, 710, 1240), characterized in that the processing logic (1226) is configured to execute instructions stored in memory (1205) to generate a signal to adjust the agricultural parameter setting from a first setpoint to a second setpoint,and determine a desired speed control during the transition period (650, 750) based on a desired transition distance and productivity for the transition period (650, 750), wherein adjusting an agricultural parameter from a first setpoint to a second setpoint comprises one or more of changing a planted seed population by controlling a seed meter, changing the seed variety, changing the furrow depth, changing the application rate of fertilizer, fungicide, or insecticide, changing the downward or upward force applied by an agricultural implement (610, 710, 1240), and controlling the force applied by a row cleaner of an agricultural implement (610, 710, 1240), and Petition 870250076210, dated 08 / 27 / 2025, page 51 / 57 2 / 6 wherein to determine a desired speed control during the transition period (650,750) from the first adjustment point to the second adjustment point involves determining whether one of two options is desired: a shorter transition distance, a higher productivity, or a maximum transition distance during the transition period (650, 750).

2. Processing system (1220), according to claim 1, characterized in that the processing system (1220) is configured to: optimize a shorter transition distance when the agricultural parameter setting is adjusted by slowing down the machine (620, 720) and associated implement (610, 710, 1240) to a stop as soon as possible, adjusting the setting during the transition period (650, 750), and then restarting machine movement; optimize for productivity during the transition period (650, 750) by reducing the speed of the machine (620, 720) and the associated implement (610, 710, 1240) to a minimum tolerable speed for sufficient productivity; or optimize for maximum transition distance by reducing a machine speed (620, 720) and the associated implement speed (610, 710, 1240) to a specific value that achieves a specific distance in a specific transition period.

3. Processing system (1220), according to claim 1 or 2, characterized in that the communication unit (1228) is configured to receive soil measurements obtained from sensors (350, 351, 352, 360, 370) of the implement (610, 710, 1240).

4. Processing system (1220), according to claim 3, characterized in that the processing logic (1226) is configured to execute instructions stored in memory (1205) to generate a signal to adjust the agricultural parameter setting in response to obtaining soil measurements.

5. Processing system (1220), according to claim 4, characterized in that the soil measurements and implement control (610, 710, 1240) include, but are not limited to: A) moisture, organic matter, porosity, or soil texture / type to change a planted seed population by controlling a seed meter (230); B) moisture, organic matter, porosity, or soil texture / type to change a seed variety; C) moisture, organic matter, porosity, or soil texture / type to change a furrow depth; D) moisture, organic matter, porosity, or soil texture / type to change the application rate of fertilizer, fungicide, and / or insecticide; E) moisture, organic matter, porosity, or soil texture / type to change the downward or upward force applied by an agricultural implement, such as a planter or tiller; or F) furrow residue to control the force applied by a row cleaner.

6. Processing system (1220), according to any one of claims 1 to 5, characterized in that the communication unit (1228) is configured to communicate with an implement network (1250) of the implement (610, 710, 1240) via a controller area network serial bus protocol network, CAN, or an ISOBUS network.

7. Processing system (1220), according to any one of claims 1 to 6, characterized in that the processing system Petition 870250076210, dated 08 / 27 / 2025, page 53 / 57 4 / 6 (1220) is positioned on the machine (620, 720), wherein the machine (620, 720) comprises a vehicle.

8. A computer-implemented method for optimizing speed control during the adjustment of an agricultural parameter setting, the method comprising: receiving (802) agricultural data from an implement (610, 710, 1240); generating (804) a signal to adjust the agricultural parameter setting from a first setpoint to a second setpoint; and characterized in that determining a desired speed control for the implement (610, 710, 1240) during a transition period (650, 750) to adjust the setting based on a desired transition distance or productivity during the transition period (650, 750), wherein adjusting an agricultural parameter setting from a first setpoint to a second setpoint comprises one or more of changing a planted seed population by controlling a seed meter (230), changing the seed variety, changing the furrow depth, changing the application rate of fertilizer, fungicide, or insecticide,to change the downward or upward force applied by an agricultural implement (610, 710, 1240), and to control the force applied by a row cleaner of an agricultural implement, and wherein determining a desired speed control during the transition period (650, 750) from a first setpoint to the second setpoint comprises determining, with a processing system (1220), whether a shorter transition distance, a higher productivity, or a maximum transition distance during the transition period (650, 750) is desired.

9. Computer-implemented method, according to Petition 870250076210, dated 08 / 27 / 2025, page 54 / 57 5 / 6 claim 8, characterized in that the processing system (1220): optimizes a shorter transition distance when the agricultural parameter setting is adjusted by decelerating a vehicle (620, 720) and associated implement (610, 710, 1240) from a first speed to a stop as soon as possible, adjusting the setting during the transition period (650, 750), and then restarting the vehicle movement to the first speed; Optimizes for productivity during the transition period by reducing the speed of the vehicle (620, 720) and associated implement (610, 710, 1240) from a first speed to a minimum tolerable second speed for sufficient productivity during the transition period (650, 750) and then returns the vehicle (620, 720) to the first speed after the transition period ends;or optimize for maximum transition distance by reducing the speed of the vehicle (620, 720) and associated implement (610, 710, 1240) from a first speed to a specific second speed that achieves a specific distance in a specific transition period.

10. Computer-implemented method, according to any one of claims 8 to 9, characterized in that a communication unit (1228) of the vehicle (620, 720) receives soil measurements obtained from sensors (350, 351, 352, 360, 370) of the implement (1240), wherein generating a signal to adjust the agricultural parameter setting optionally occurs in response to obtaining soil measurements.

11. Computer-implemented method according to claim 10, characterized in that the communication unit (1228) communicates with an implement network (1250) of the implement (610, 710, 1240) via a serial area network protocol network, CAN, or an ISOBUS network. (Petition 870250076210, 27 / 08 / 2025, p. 55 / 57 6 / 6)

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