Grouped spot planting control

Abstract

The row unit has a seed meter and a seed delivery system. A target seed population is obtained, and a motor driving at least one of the seed meter and the seed delivery system is pulsed intermittently to plant seeds in groups based on the machine speed and the target seed population.

Description

Technical Field

[0001] This manual relates to agricultural machinery. More specifically, this manual relates to the use of agricultural machinery to control group seeding. Background Technology

[0002] There are various types of agricultural machines used to apply materials to farmland. Some of these machines include sprayers, tillers with side trimmers, pneumatic seeders, and planters with row units.

[0003] As an example, row units are often mounted on planters that have multiple row units (as used herein, the terms planter and planter include seeders and seeders). Planters are typically towed by a tractor onto the soil, where row units are used to plant seeds into the soil. The row units on a planter follow the contours of the ground using a combination of a downforce assembly that applies downforce to the row units to push a disc furrower into the ground and a gauge wheel that sets the penetration depth of the disc furrower.

[0004] Sometimes planting machines are operated to sow crops at a given location with 1-4 seeds from a seed cluster. When performing such planting operations, it may be desirable to plant the seeds as close to each other as possible within each mound.

[0005] The above discussion is provided for general background information only and is not intended to help determine the scope of the subject matter for which protection is sought. Summary of the Invention

[0006] The row unit has a seed metering device and a seed delivery system. A target seed group is obtained, and a motor driving at least one of the seed metering device and the seed delivery system intermittently pulsates to group and plant the seeds based on machine speed and the target seed group.

[0007] The present invention is provided to introduce the chosen concepts in a simplified form, which are further described in the detailed description below. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to help determine the scope of the claimed subject matter. The claimed subject matter is not limited to implementations that address any or all the shortcomings pointed out in the background art. Attached Figure Description

[0008] Figure 1 This is a top view of an example of a seeding or planting machine, shown in partial illustrations and schematic diagrams.

[0009] Figure 2 It is shown Figure 1 A side view of an example row unit of the planter shown.

[0010] Figure 3 It is shown Figure 1A side view of another example of the row unit of the planter shown.

[0011] Figure 4 This is a perspective view of an example of a seeding system.

[0012] Figure 5 This is a perspective view of another example of a seeding system.

[0013] Figure 6 An example of an active seed delivery system that can be used with a seed metering system is shown.

[0014] Figure 7 Another example of an active delivery system that can be used with a seeding system is shown.

[0015] Figure 8 This is a block diagram illustrating an example of a motor control system architecture.

[0016] Figure 9 It is shown Figure 8 The flowchart shows an example of the operation of a motor control system architecture.

[0017] Figure 10 An example of a grouped seed is shown. Detailed Implementation

[0018] As discussed above, in some scenarios, it may be preferable to plant seeds in groups. These groups can be separated based on the desired target seed population. Some scenarios include heavy rainfall events. For example, heavy rainfall reduces soil oxygen levels, increases stress on seedling pathogens, and can lead to soil compaction. Therefore, soil compaction is often a problem when it rains before crop emergence. In some crops, such as cotton and others, producers use hill planting, where multiple seeds are planted in relatively close groups. This allows multiple seeds to push the soil upward together during germination and seedling emergence.

[0019] However, it is difficult to plant multiple seeds relatively close to each other (e.g., within 1-2 cm of each other), especially in scenarios where seeds are single-seedled to control the seed population. As described in more detail below, some such scenarios utilize seed metering devices including rotating discs or other seed metering components (e.g., bowls) with single-row holes or seed holes. Individual seed holes are used to maintain seed single-seedling. Planting groups of seeds within the desired proximity using a disc or bowl or other related device with single-row holes can be very difficult.

[0020] Therefore, this specification relates to a motor control system for pulsating (or accelerating) the RPM speed of a seed metering device (and / or, in the case of an active seed delivery system, driving the motor of the active seed delivery system) to group seeds together within a desired proximity. The control system slows down the motor's RPM speed based on the target seed cluster to create space between seed groups. In another example, the seed metering device is configured with clusters (or groups) of seed holes, wherein the groups are separated from each other by a group separation distance greater than the spacing between holes within a group. This helps create gaps between seed groups, thus reducing the amount of motor speed increase and decrease required to obtain the desired seed clusters.

[0021] Some of the systems described below include active conveying systems. The motors driving such systems can decelerate to create seed groups and then accelerate to create space between the seed groups. A combination of these technologies can be used if both a seed metering motor and a conveying system motor are employed.

[0022] Figure 1 This is a partial illustration, a partial schematic top view, of an example of architecture 90, which includes an agricultural planter 100 and a tractor vehicle 94 operated by an operator 92. The operator 92 may, by way of example, interact with an operator interface mechanism 96 to manipulate and control the vehicle 94 and some or all parts of the machine 100.

[0023] Machine 100 is an inter-row crop planter, which exemplarily includes a toolbar 102 as part of frame 104. Figure 1 Multiple planting row units 106 are also shown mounted on toolbar 102. Machine 100 can be towed behind tractor 94 (e.g., tractor). Figure 1 The material can be stored in tank 107 and pumped through supply lines, so that it can be distributed in or near the rows being planted via row unit 106.

[0024] Figure 2 This is a side view of an example of row unit 106. Row unit 106 exemplarily includes a chemical tank (also referred to herein as a cargo tank) 110 and a seed storage tank 112. It also exemplarily includes one or more disc furrow openers 114, a set of guide wheels 116, and a set of closing wheels 118. Seeds from tank 112 are supplied to seed metering device 124. Seed metering device 124 (shown in more detail below) controls the dropping of seeds from seed storage tank 112 into seed delivery pipe 120 or other seed delivery systems (e.g., brush belts or flywheel belts, respectively shown in Figure 120). Figures 6 to 7 The rate in the middle). The seed can be sensed by the seed sensor 122.

[0025] Some parts of row unit 106 will now be discussed in more detail. First, it will be noted that different types of seed meterers 124 exist, and the seed meterer 124 shown is for illustrative purposes only and will be described in more detail below. However, in one example, each row unit 106 does not need to have its own seed meterer. Instead, seeding or other single-seed or seed division techniques can be performed on groups of row units 106 at a central location. The seed metering system may include finger-pick seed meterers and / or vacuum seed meterers (e.g., with rotatable discs, rotatable concave or bowl-shaped devices), etc. The seed delivery system may be a gravity-feed system (e.g., Figure 2 The seed delivery tube 120 shown above allows seeds to fall through it and, via gravity, from the outlet end 121 into the seed trench 162. Other types of seed delivery systems may include auxiliary systems, as they do not rely solely on gravity to move seeds from the seed metering system to the ground. Instead, these auxiliary systems actively assist seeds from the seed meterer to an opening below, where they exit or settle into the ground or trench. These can be systems that physically capture and move seeds from the seed meterer to the outlet end of the seed delivery system, or they can be pneumatic systems that pump air through the seed delivery tube to assist seed movement. The air speed can be controlled to control the speed at which the seeds move through the delivery system. The following discusses... Figure 6 and Figure 7 Some examples of assistive systems are described in more detail.

[0026] A downward pressure actuator 126 is mounted on a coupling assembly 128 that connects the row unit 106 to the toolbar 102. The actuator 126 can be a hydraulic actuator, a pneumatic actuator, a spring-based mechanical actuator, or various other actuators. Figure 2In the example shown, rod 130 is connected to parallel link 132 and is used to apply additional downforce (in the direction indicated by arrow 134) to row unit 106. The total downforce (including the force applied by actuator 126 indicated by arrow 134 plus the force caused by gravity acting on row unit 106 and indicated by arrow 136) is canceled out by the upward-pointing forces acting on closing wheel 118 (from ground 138 and indicated by arrow 140) and disc trencher 114 (also from ground 138 and indicated by arrow 142). The remaining force (the sum of the force vectors indicated by arrows 134 and 136 minus the forces indicated by arrows 140 and 142) and the force on any other ground engagement parts (not shown) on row unit are the differential force indicated by arrow 146. This differential force may also be referred to herein as downforce margin. The force indicated by arrow 146 acts on gauge wheel 116. The load can be sensed by a gauge wheel load sensor, which can be located anywhere on row unit 106 where the load can be sensed. Alternatively, the gauge wheel load sensor can be placed where it cannot directly sense the load but rather indicates its characteristics. For example, it can be positioned near a set of gauge wheel control arms (or gauge wheel arms) 148, which movably mount the gauge wheel 116 to the handle 152 and control the offset between the gauge wheel 116 and the discs in the double-disc furrow opener 114 to control the planting depth.

[0027] Arm (or gauge wheel arm) 148 exemplarily abuts against mechanical stop (or arm contact member or wedge) 150. The position of mechanical stop 150 relative to handle 152 can be set by planting depth actuator assembly 154. Control arm 148 exemplarily pivots about pivot point 156 such that as planting depth actuator assembly 154 actuates to change the position of mechanical stop 150, the relative position of gauge wheel 116 relative to double-disc furrow opener 114 changes, thereby changing the seed planting depth.

[0028] During operation, row unit 106 travels approximately in the direction indicated by arrow 160. Dual-disc furrow opener 114 creates furrows 162 in the soil 138, and the depth of furrows 162 is set by planting depth actuator assembly 154, which itself controls the offset between the lowermost part of gauge wheel 116 and disk furrow opener 114. Seeds fall into furrows 162 through seed delivery tube 120, and closing wheel 118 closes furrows 162 (e.g., pushing soil back into furrows 162).

[0029] As seeds fall through seed delivery tube 120, they can be sensed by seed sensor 122. Some examples of seed sensor 122 are described in more detail below. In short, some examples of seed sensor 122 may include an optical or reflective sensor comprising a radiation transmitter component and a receiver component. The transmitter component emits electromagnetic radiation, and the receiver component detects the radiation and generates a signal indicating the presence or absence of a seed adjacent to the sensor. In another example, row unit 106 may be provided with a seed holder positioned to travel through furrow 162 after the seed has been placed in it, to hold the seed in place. Seed sensor may be placed on the seed holder and generate a sensor signal indicating the presence of the seed. Again, some examples of seed sensors are described in more detail below.

[0030] exist Figure 2 In the example shown, when using the seed delivery tube 120, the rotation of the seed metering device 124 can be pulsated to increase its speed so that clusters or bunches of seeds fall rapidly into the seed delivery tube 120, so that they leave the outlet end 121 of the seed delivery tube 120 close to each other. The rotation of the seed metering device 124 can then be slowed down so that the next cluster or bunch of seeds is spaced apart from the previous cluster or bunch that has just fallen. This is described in more detail below.

[0031] Figure 3 Another example of row unit 106 is shown. Some items are related to... Figure 2 Those shown are similar, and they are numbered similarly. Figure 3 The running unit 106 may also include a running cleaner 161, which removes debris, clumps, residue, etc., from the surface portion opened by the furrow opener 114. Additionally, Figure 3 This shows that the seed source (which may be seed container 112, container 107) can be used. Figure 1 Alternatively, seeds may be supplied to seed meter 124 from another seed source.

[0032] In addition, alternatives such as Figure 2 The diagram shows a seed delivery system with a seed delivery tube 120 (which relies on gravity to move the seeds to the furrow 162). Figure 3 The seed delivery system shown is an auxiliary seed delivery system 166. A seed sensor 122 is also exemplaryly provided in the auxiliary seed delivery system 166. The following is about... Figure 6 and Figure 7 An example of the auxiliary seed delivery system 166 is described in more detail. In short, the auxiliary seed delivery system 166 includes a connecting member that captures the seed as it leaves the seed metering device 124 and moves it toward the furrow 162 in the direction indicated by arrow 168. The system 166 has an outlet end 170 from which the seed exits the auxiliary system 166 and enters the furrow 162, where it again reaches its final resting position. Figure 3 The diagram shows a seed metering motor 172 that drives the rotation of the seed metering device 124 and a conveying system motor 174 that drives the rotation of the auxiliary conveying system 166. In one example, motors 172 and 174 can be controlled independently. In another example, they are controlled in coordination with each other. In yet another example, both the seed metering device 124 and the auxiliary seed conveying system 166 are driven by a single motor. In one example, as described in more detail elsewhere, a vacuum source 123 evacuates the seed metering device 124 to aid in seed metering.

[0033] In one example, the seeds simply fall from the outlet 170 into the furrow 162 under the influence of gravity. However, in another example, the seeds may be discharged from the conveying system 166 at a speed greater or less than the speed that would be achieved under gravity. Similarly, the seeds may fall straight down from the outlet 170 into the furrow 162. However, in another example, the seeds may be slightly pushed backward from the outlet 170 to accommodate the forward movement of the row unit 106, making the seed's path more vertical, so that the seeds roll less after reaching the furrow. Furthermore, the seeds may be discharged backward and held on the ground by a trailing member (e.g., a pressure roller), which is used to stop any backward movement of the seeds after discharge and force the seeds into firm contact with the ground.

[0034] In one example, the motor 172 driving the seed metering device 124 can pulsate to place closely adjacent seeds into the auxiliary conveying system 166. The auxiliary conveying system 166 then moves the seed clusters (closely spaced seeds) to the outlet end 170, where they are deposited in the furrows 162 in a closely spaced relationship. For example, the motor 172 can pulsate the rotation of the seed metering device 124 so that three seeds are closely spaced in the seed conveying system 166, thus depositing them close to each other in the furrows. Between pulses, the motor 172 can slow down or stop the rotation of the seed metering device 124 so that the seed clusters (or groups of seeds) are spaced apart from each other. Thus, the row unit 106 plants seed clusters or groups that are closely spaced from each other with an intra-group seed spacing, wherein these clusters or groups are spaced apart from other seed groups or clusters by a group spacing (or group separation distance), where the intra-group seed spacing is less than the group spacing (or group separation distance). In this example, the motor 174 can drive the rotation of the auxiliary conveying system 166 so that it is at a relatively constant speed. Therefore, the pulsating rotation of the seed metering device 124 forms clusters or groups of seeds deposited in the furrows by the seed delivery system 166 at intervals.

[0035] In another example, motor 172 can drive seed metering device 124 to rotate at a constant speed, and motor 174 can pulsate the rotation of auxiliary conveyor 166 so that the pulsating operation of auxiliary conveyor system 166 is used to group or cluster seeds relatively close to each other. In such a scenario, motor 174 can increase the rotational speed of system 166 so that, for example, three seeds are deposited close to each other in the furrow, and then slow down the rotation of auxiliary conveyor system 166 so that the next cluster is deposited at a position that is preferably spaced apart from the previous cluster.

[0036] In another example, motors 172 and 174 can coordinate their actions to deposit seeds in furrows in spaced-out clusters or groups.

[0037] Figure 4 An example of a rotatable mechanism that can be used as part of a seed metering system (or seed meterer) 124 is shown. The rotatable mechanism includes a rotatable disk or concave element 180. The rotatable element 180 has a cover (not shown) and is rotatably mounted relative to the frame of the row unit 106. The rotatable element 180 has a plurality of protrusions or bumps 182 closely adjacent to corresponding holes 184. A seed pool 186 is formed by seeds received from seed sources 112, 107 into the seed meterer 124. The seed pool 186 is generally disposed in the lower part of the housing formed by the rotatable mechanism 180 and its corresponding cover. The rotatable element 180 is rotatably driven by its motor 172 (e.g., an electric motor, pneumatic motor, hydraulic motor, etc.) to rotate about a hub in a direction generally indicated by arrow 188. A pressure difference is introduced into the interior of the seed metering mechanism such that the pressure difference affects the drawing of seeds from the seed pool 186 into the holes 184. For example, a vacuum source 123 can be used to apply a vacuum to draw seeds from the seed pool 186, causing them to eventually settle in the orifice 184, where the vacuum holds them in place. Alternatively, positive pressure can be introduced into the interior of the seed metering mechanism to create a pressure difference across the orifice 184 to perform the same function.

[0038] Once the seeds have finally settled in (or near) the orifice 184, a vacuum or positive pressure differential is used to hold the seeds within the orifice 184, allowing the seeds to be transported from the seed pool 186 to the seed discharge area 190 in roughly the direction indicated by arrow 188. It is possible for multiple seeds to reside in individual seed units. In this case, a set of brushes or other components 194 closely adjacent to the rotating seed unit tends to remove multiple seeds so that each individual unit transports only a single seed. Additionally, a seed sensor 193 may also be exemplarily mounted adjacent to the rotating element 180. It generates a signal indicating the presence of seeds.

[0039] Once the seeds reach the seed discharge area 190, a vacuum or other pressure differential is exemplarily removed, and a positive seed removal wheel or knock-out wheel 191 is used to remove the seeds from the seed unit. Wheel 191 exemplarily has a set of protrusions 195 that at least partially project into orifices 184 to actively remove the seeds from those orifices. As the seeds (e.g., seed 171) are removed, they exemplarily pass through a seed delivery tube 120 or a seed delivery system 166 (some examples of which are shown in…). Figure 3 , Figure 6 and Figure 7 (middle) Moved to furrow 162 in the ground.

[0040] It should be noted that the motor driving the rotation of the seed metering device 124, or the seed metering device 124 itself, may be arranged relative to a sensor that generates a sensor signal indicating the angular position of the motor or the seed metering device 124, or another that can be derived from it. The angular position, together with the signal from the seed sensor 193 and the rotational speed of the seed metering device 124, can be used to determine the seed's position as it moves through the planter and into the ground. This can be used to control the dispensing of seeds from tanks 112 and / or 107. The sensor may be any of an angle encoder, a Hall effect sensor, an optical sensor, or a variety of other sensors that generate signals indicating the angular position.

[0041] Figure 5 Another example of a rotatable mechanism is shown, which includes... Figure 4 The rotatable element 180 shown is similar to and operates with a rotatable disc or bowl 196 along with a lid (not shown). Similar to the rotatable element 180, the rotatable element 196 has a plurality of protrusions 198 closely adjacent to the holes 200. Therefore, the rotatable element 196 has clusters of holes 200. The holes 200 within each cluster are closely spaced from each other. However, these clusters are spaced apart from other clusters by an angle α around the periphery of the rotatable element (or disc) 196. Therefore, as the disc 196 rotates, a pressure difference is introduced into the interior of the seed dispensing mechanism, thereby influencing the drawing of seeds from the seed pool into the holes 200. The seeds then rotate to a position (similar to...) Figure 4 In the middle 190), they are removed from the hole 200 (e.g., by knocking wheel 191). Thus, the seeds conveyed by the rotatable mechanism 196 to the seed delivery system (whether it is the seed delivery tube 120 or the auxiliary delivery system 166) have clustered. However, even as... Figure 5 The rotatable mechanism 196 shown has clustering holes 200, and the motor driving the seed metering device 124 and / or the auxiliary conveying system 166 can still pulsate to place the seeds closer to each other, or increase the distance between clusters or groups of seeds, etc.

[0042] Figure 6An example of a seed dispensing system and a seed delivery system is shown, wherein a rotating element 180 or 196 is positioned such that its seed dispensing area 190 is above and close to the seed delivery system 166. Figure 6 In the example shown, the seed delivery system 166 includes a transport mechanism, which may be a connecting mechanism such as a belt 200 having a brush formed by bristles 202 extending distally to a belt 199 that acts as a seed receiver. The belt 199 is mounted around pulleys 204 and 206. One of the pulleys 204 and 206 is exemplary a drive pulley, while the other is exemplary an idler pulley. The drive pulley is exemplaryly rotatably driven by a transmission motor 174 (which may be an electric motor, pneumatic motor, hydraulic motor, etc.). The belt 199 is driven generally in the direction indicated by arrow 168.

[0043] Therefore, as seeds move via rotating elements 180, 196 to seed discharge area 190, where they are discharged from seed units in rotating elements 180, 196, they are exemplarily positioned within brush 202 by pushing the seeds into protrusions 182 in brush 202. Seed delivery system 166 exemplarily includes walls forming a shell around brush 202 such that as brush 202 moves in the direction indicated by arrow 168, seeds, together with them, are transported from seed discharge area 190 of seed dispensing mechanism to discharge area 170, which may be located above, at, or below the ground plane within furrows or furrows 162 created by furrow openers 114 on row unit 106.

[0044] Additionally, seed sensor 122 is also exemplarily coupled to seed delivery system 166. As seeds move within bristles 202, sensor 122 can detect the presence of seeds. It should also be noted that while this specification will continue to describe multiple sensors 122 and / or 193, it is clearly conceivable that in another example, only one sensor may be used. Alternatively, additional sensors may also be used. Similarly, Figure 6 The seed sensor 122 shown can be positioned at different locations (e.g., 122A). Positioning the seed sensor closer to where the seeds are discharged from the system reduces the error in identifying the final seed location. Similarly, multiple seed sensors of different types can exist, and they can be located in many different locations.

[0045] Additionally, in one example, the motor 174 driving the belt 199 or the belt 199 itself can be configured relative to a sensor that generates a signal indicating the angular position of the motor or belt 199. This, along with the seed sensor signal and the rotational speed of the belt 199, can be used to determine when the sensed seed or seed group will reach the furrow.

[0046] Figure 7 and Figure 6 Similarly, the difference is that the seed delivery system 166 does not include a belt with distally extending bristles. Instead, it includes a flywheel belt (transport mechanism) in which a set of blades 214 forms individual chambers (or receivers) into which seeds fall from the seed dispensing area 190 of the seed metering mechanism. The flywheel belt moves the seeds from the seed dispensing area 190 to the outlet end 170 of the flywheel belt within the furrow or furrow 162.

[0047] Various other types of conveying systems also exist, including transport mechanisms and seed receivers. These include, for example, opposing belt receivers, dual-belt conveyor systems that hold and move seeds into the furrow, rotatable wheels with fingers or other objects that capture seeds from the seed metering system and move them into the furrow, multiple transport wheels operated to transport seeds to the furrow, and screw conveyors, etc. This specification will continue to focus on annular components (e.g., brush belts, flywheel belts) and / or seed delivery tubes, but many other conveying systems are also conceivable herein.

[0048] Figure 8 This is a block diagram of an example motor control architecture 220. Architecture 220 exemplarily includes a motor control system 222 that generates control signals for controlling the seed metering motor 172 and / or the seed delivery system motor 174. Figure 8 In the architecture shown, motors 172 and 174 drive the seed metering system 124 and the seed delivery system 166. As discussed above, the seed metering system 124 receives seeds from seed sources 107 and 112, performs single-seed or metering on those seeds, and provides the single-seed or metered seeds to the seed delivery system 166. Figure 8 The description continues with the seed delivery system 166 being an auxiliary delivery system, but it could also be a seed delivery tube 120. In the case of a seed delivery tube 120, a seed delivery system motor 174 is not required.

[0049] In the example discussed herein, motor control system 222 generates motor control signals to control motors 172 and / or 174 so that seeds are conveyed as groups or clusters of seeds to furrows via seed delivery system 166. For example, seeds may be conveyed in groups or clusters of two, three, four, or more seeds. Those groups or clusters are exemplary separated from each other by a group separation distance. Figure 9 Here is one example.

[0050] exist Figure 9 In the example shown, furrow 162 is planted with multiple different seed groups or clusters (identified as groups or clusters 224, 226, 228, and 230). Figure 9In the example shown, each group or cluster has three seeds. The clusters are separated by the group separation distance specified by arrow 232. The separation distance of the separated clusters can be selected or controlled based on a variety of different criteria (e.g., crop type, hybridization, soil conditions, and a variety of other criteria). In the example discussed herein, the motor control system 222 generates motor control signals for controlling the seed metering motor 172 and / or the seed delivery system motor 174, such that the desired number of seeds in each cluster 224-230 are relatively closely spaced relative to each other (e.g., within two centimeters, etc.) (intra-cluster seed spacing). The motors are also controlled to separate the clusters from each other at the desired group separation distance 232.

[0051] Therefore, the motor control system 220 can receive input from one or more seed sensors 122, 193, position sensor 234, speed sensor 236, and / or various other items 238. Position sensor 234 can be a GPS receiver or another position sensor identifying the geographic location of line unit 106 in the field. Thus, if seed clusters 224-230 are to be placed in a predetermined location, motor control system 222 can control motors 172 and / or 174 to deposit the seeds in the clusters at the desired predetermined location. In another example, there may not be a predetermined location, but rather the actual location where the seeds are deposited will be captured by motor control system 222 and sent to another system for mapping. In this case, the locations where different clusters 224-230 are deposited, identified by position sensor 234, can be saved and forwarded to the mapping system or another suitable system.

[0052] Speed ​​sensor 236 can provide one or more speed signals indicating various different speeds. In one example, speed sensor 236 can sense the rotational speed of motor 172 and / or motor 174. This can be done by sensing the output speed of the motor's drive shaft, or by sensing the speed of rotatable elements (such as rotatable elements 180, 196, or the continuous belt in the auxiliary seed delivery system 166). Speed ​​sensor 236 may also include a sensor that senses the ground speed indicating the speed of the row unit 106. These speed signals can be used to control motor 172 and / or 174 to place seeds or groups in a desired location, or to map the location for placing seeds or groups. Similarly, predictive calculations can be performed based on knowledge of future command operations. Predictive calculations can be used to control motor 172 and / or 174 to place seeds or groups in a desired location, or to map the location for placing seeds or groups.

[0053] exist Figure 8In the example shown, the motor control system 222 exemplarily includes one or more processors 240, a data warehouse 242, a motor control signal generation system 244, and a communication system 246, and may include a variety of other items 248. The communication system 246 exemplarily allows communication between the various items in the architecture 220, and may allow communication with external systems (e.g., remote systems). Therefore, the communication system 246 may be configured to communicate via a Controller Area Network (CAN) bus, where a CAN bus is implemented. It may be configured to communicate via any one or a combination of local area networks, wide area networks, near-field communication networks, cellular communication networks, or a variety of other networks, where such communication will be used.

[0054] The motor control signal generation system 244 can obtain information such as target seed spacing or seed clusters (e.g., seed ratio), the desired number of seeds per subcluster or seed group, and other criteria. This information can be received via communication system 246 based on operator input. System 244 can obtain or receive data from data warehouse 242 or a remote data warehouse, or may otherwise receive data.

[0055] The motor control signal generation system 244 also exemplarily receives input from one or more of sensors 122, 193, 234, 236, and / or 238. Based on these signals, the motor control signal generation system 244 can generate a seed metering motor control signal 250 and / or a seed delivery system motor control signal 252. Signals 250 and 252 can be generated to pulsate the operation of motors 172 and / or 174, thereby discharging seeds in clusters or groups through seed metering system 124 and / or seed delivery system 166. System 244 can generate control signals 250 and 252 to control motors 172 and / or 174 independently or in relation to each other. For example, when the system pulsates the speed of seed metering motor 172, it can also pulsate the speed of seed delivery system motor 174. Alternatively, it can pulsate the speed of motor 172 while keeping the speed of motor 174 relatively constant. These and other control mechanisms can be used to control the speed of motors 172 and 174 so as to separate the seed groups or clusters 224-230 at the desired group separation distance 232 for planting seeds.

[0056] Figure 10 This indicates when planting seeds in seed groups or seed clusters. Figure 8 The flowchart illustrates an example of the operation of the architecture 220 shown. First, assume that row unit 206 is configured with a seed meterer 126 and seed delivery systems 120 and 166. This is... Figure 10 Box 260 in the flowchart indicates this. In one example, the seed delivery system is seed delivery tube 120. In another example, it is an active seed delivery system 166. The seed metering device can be a seed metering device with equidistant holes around its outer perimeter (e.g., Figure 4 As shown), Figure 10 As indicated by box 262 in the flowchart. It can also be a seed metering device with groups of holes (e.g., Figure 5 As shown), Figure 5 As indicated by box 264 in the flowchart. When the seed delivery system is an active seed delivery system or an auxiliary seed delivery system 166, the seed metering device 124 and the active delivery system 166 may have independently controllable motors, as indicated by box 266. The motors may be controlled in relation to each other, as indicated by box 268. Similarly, the row units may also be configured in other ways, as indicated by... Figure 10 The flowchart is indicated by box 270.

[0057] At a certain point, the motor control signal generation system 244 obtains the target seed group. This is achieved by... Figure 10 As indicated by box 272 in the flowchart. The target seed group can identify the desired spacing between seed clusters or seed groups, and / or it can be the original seed group per acre, etc. The target seed group can be received via operator input 274 or from a data warehouse (local data warehouse 242 or remote data warehouse), as indicated by box 276. Other seed group parameters can also be defined for the target seed group and can also be received or obtained in other ways. This is indicated by box 278.

[0058] Then, row unit 106 begins the planting operation. This is... Figure 10 As indicated by box 280 in the flowchart. Based on the machine ground speed and the target seed group, the motor control signal generation system 244 intermittently pulses (accelerates and decelerates) motors 172 and / or 174 to plant seeds in groups or clusters separated at the desired group separation distance. Figure 10 Box 282 in the flowchart indicates the generation of motor control signals to cause the motors to pulsate in this manner. In one example, system 244 generates control signals to cause seed metering motor 172 to pulsate, as indicated by box 284. In another example, system 244 generates control signals to cause seed delivery system motor 174 to pulsate, as indicated by box 286. In yet another example, system 244 controls motors 172 and 174 to coordinate them with each other, as indicated by box 288. The motors can also be controlled in other ways based on other inputs, as indicated by box 290.

[0059] Therefore, it can be seen that this specification describes a system and control mechanism that controls the speed of a motor on row unit 106 to plant seeds by clusters or seed groups. It will be noted that this motor control mechanism can be used without receiving substantially no sensor signals (e.g., seed sensor signals, machine speed signals, etc.), and the motor speed can be simply pulsed. However, when some sensor signals (e.g., machine speed sensor) are received, the clusters can be placed more accurately relative to each other. Additionally, using additional sensor inputs (e.g., seed sensors, machine position, etc.), the clusters can be placed in a desired location in the field, or their positions can be tracked and plotted, etc.

[0060] It should also be noted that the different examples described in this article can be combined in different ways. That is, parts of one or more examples can be combined with parts of one or more other examples.

[0061] Example 1 is a planting machine, comprising:

[0062] A seed metering device receives seeds from a seed source at its input section and rotates to deliver seeds at its output section.

[0063] Seed metering motor drives the rotation of the seed metering device;

[0064] A seed delivery system receives seeds from the seed metering unit and outputs the seeds into the furrows at the outlet of the seed delivery system; and

[0065] The motor control system generates motor control signals to control the seed metering motor to intermittently change the motor speed of the seed metering motor to provide a seed group with a predetermined number of seeds to the seed delivery system. The predetermined number of seeds in the seed group are closely spaced from each other by the seed spacing within the group, and the seed groups are separated from each other by a group separation distance greater than the seed spacing within the group.

[0066] Example 2 is a planter according to any or all of the previous examples, wherein the seed delivery system includes:

[0067] Seed delivery tube.

[0068] Example 3 is a planter according to any or all of the previous examples, wherein the seed metering device includes:

[0069] A rotatable element driven by a seed metering motor, wherein a seed hole group is defined, each seed hole transporting seeds from a seed pool to a seed metering output, the seed holes in each seed hole group being separated from each other by a first distance, and the seed hole groups being separated from each other by a second distance greater than the first distance.

[0070] Example 4 is a planter according to any or all of the previous examples, wherein the seed metering device includes:

[0071] A rotatable element driven by a seed metering motor, wherein seed holes are defined, each seed hole transporting seeds from a seed pool to the seed metering output, and the seed holes are equidistant from each other.

[0072] Example 5 is a planter according to any or all of the previous examples, wherein the seed delivery system includes:

[0073] An auxiliary seed delivery system that moves seeds to the outlet of the seed delivery system.

[0074] Example 6 is a planter according to any or all of the previous examples, wherein the auxiliary seed delivery system includes:

[0075] The connecting component receives seeds from the seed metering output and rotates to move the seeds to the outlet of the seed delivery system.

[0076] Example 7 is a planter according to any or all of the previous examples, wherein the auxiliary seed delivery system includes:

[0077] The seed delivery system motor drives the rotation of the connecting components.

[0078] Example 8 is a planter according to any or all of the previous examples, wherein the motor control system generates motor control signals to control the seed delivery system motor to move the seed bundles to the outlet end of the seed delivery system and discharge the seed bundles from the seed delivery system into the furrows by group separation distance.

[0079] Example 9 is a planting machine according to any or all of the previous examples and also includes:

[0080] The machine speed sensor generates a machine speed signal that indicates the ground speed of the planter. The motor control system generates motor control signals based on the machine speed signal.

[0081] Example 10 is a planting machine according to any or all of the previous examples and also includes:

[0082] The seed sensor generates a seed signal indicating the presence of seeds in the planter, and the motor control system generates motor control signals based on the seed signal.

[0083] Example 11 is a planting machine according to any or all of the previous examples and also includes:

[0084] The machine position sensor generates a machine position signal indicating the geographical location of the planter, and the motor control system generates motor control signals based on the machine position signal.

[0085] Example 12 is a planting machine according to any or all of the previous examples and also includes:

[0086] The communication system sends the location corresponding to each seed group to the remote system based on the machine's position signal.

[0087] Example 13 is a method for controlling a planting machine, including:

[0088] Seeds are received from the seed source at the input of the seed metering device;

[0089] The seed metering device is rotated by a seed metering motor to provide seeds at the seed metering output.

[0090] Seeds are received from the seed metering output at the seed delivery system input section of the seed delivery system.

[0091] A motor control signal is generated to control the seed metering motor to intermittently change its speed, thereby providing a seed pack with a predetermined number of seeds to the seed delivery system. The predetermined number of seeds in each seed pack are closely spaced from each other by the seed spacing within the pack, and the seed packs are separated from each other by a pack separation distance greater than the seed spacing within the pack.

[0092] The seed packs are output into the furrows at the outlet of the seed delivery system.

[0093] Example 14 is a method according to any or all of the previous examples, wherein the seed delivery system includes an auxiliary seed delivery system and further includes:

[0094] An auxiliary seed delivery system is used to move the seeds to the outlet of the seed delivery system.

[0095] Example 15 is a method according to any or all of the preceding examples, wherein the auxiliary seed delivery system includes a connecting member that receives seeds from the seed metering output, and further includes:

[0096] The seed conveying system uses a motor to drive the connecting component to rotate, so that the seeds move to the outlet end of the seed conveying system.

[0097] Example 16 is a method according to any or all of the previous examples, wherein generating the motor control signal includes:

[0098] Generate motor control signals to control the seed conveying system motor, so that the seed groups move to the outlet end of the seed conveying system and are discharged from the seed conveying system into the furrow according to the group separation distance.

[0099] Example 17 is a method described according to any or all of the previous examples and also includes:

[0100] The speed of the sensing planter; and

[0101] Generate a machine speed signal that indicates the ground speed of the planter, wherein generating a motor control signal includes generating a motor control signal based on the machine speed signal.

[0102] Example 18 is a method based on any or all of the previous examples and also includes:

[0103] The seeds in the sensor planter; and

[0104] Generate a seed signal indicating the seeds sensed in the planter, wherein generating a motor control signal includes generating a motor control signal based on the seed signal.

[0105] Example 19 is a method based on any or all of the previous examples and also includes:

[0106] The geographical location of the sensing planting machine; and

[0107] Generate a machine position signal indicating the geographical location of the planting machine, wherein generating a motor control signal includes generating a motor control signal based on the machine position signal.

[0108] Example 20 is a method for controlling a planting machine, including:

[0109] Seeds are received from the seed source at the input of the seed metering device;

[0110] The seed metering device is rotated by a seed metering motor to provide seeds at the seed metering output.

[0111] Seeds are received from the seed metering output at the seed delivery system input section of the auxiliary seed delivery system;

[0112] The seed conveying system motor drives the connecting component to rotate, so that the seeds move to the outlet end of the seed conveying system;

[0113] Generating motor control signals to control at least one of the seed metering motor and the seed delivery system motor to intermittently change the motor speed to provide seed groups with a predetermined number of seeds, wherein a predefined number of seeds in each seed group are closely spaced from each other relative to the seed spacing within the group, and the seed groups are separated from each other by a group separation distance greater than the seed spacing within the group; and

[0114] The seed pack is discharged into the furrow at the outlet of the seed conveying system.

[0115] Although the subject matter is described in language specific to structural features and / or methodological actions, it will be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are disclosed as exemplary forms for implementing the claims.

Claims

1. A planting machine, comprising: A seed metering device that receives seeds from a seed source at a seed metering input and rotates to deliver seeds at a seed metering output. A seed metering motor that drives the rotation of the seed metering device; A seed delivery system that receives seeds from the output of the seed metering device and outputs the seeds into the furrow at the outlet end of the seed delivery system; as well as A motor control system generates motor control signals to control the seed metering motor to intermittently change the motor speed of the seed metering motor in order to provide a seed delivery system with multiple seed groups having a predetermined number of seeds, wherein the predetermined number of seeds in the seed groups are closely spaced from each other by the seed spacing within the group, and the seed groups are separated from each other by a group separation distance greater than the seed spacing within the group.

2. The planting machine according to claim 1, wherein, The seed delivery system includes: Seed delivery tube.

3. The planting machine according to claim 1, wherein, Seeding devices include: A rotatable element driven by a seed metering motor, the rotatable element having a set of seed holes defined therein, each seed hole transporting seeds from a seed pool to a seed metering output, the seed holes in each set of seed holes being separated from each other by a first distance, and the sets of seed holes being separated from each other by a second distance greater than the first distance.

4. The planting machine according to claim 1, wherein, Seeding devices include: A rotatable element driven by a seed metering motor, the rotatable element having seed holes defined therein, each seed hole transporting seeds from a seed pool to the seed metering output, the seed holes being equally spaced from each other.

5. The planting machine according to claim 1, wherein, The seed delivery system includes: An auxiliary seed delivery system that moves seeds to the outlet of the seed delivery system.

6. The planting machine according to claim 5, wherein, The auxiliary seed delivery system includes: A connecting member that receives seeds from the seed metering output and rotates to move the seeds to the outlet of the seed delivery system.

7. The planting machine according to claim 6, wherein, The auxiliary seed delivery system includes: A seed delivery system motor drives the rotation of the connecting member.

8. The planting machine according to claim 7, wherein, The motor control system generates motor control signals to control the seed conveying system motor, so as to move the seed group to the outlet end of the seed conveying system and discharge the seed group from the seed conveying system into the furrow according to the group separation distance.

9. A method for controlling a planting machine, the method comprising: Seeds are received from the seed source at the input of the seed metering device; The seed metering device is rotated by a seed metering motor to provide seeds at the seed metering output. Seeds are received from the seed metering output at the seed delivery system input section of the seed delivery system. A motor control signal is generated to control the seed metering motor to intermittently change the motor speed of the seed metering motor in order to provide multiple seed groups with a predetermined number of seeds to the seed delivery system. The predetermined number of seeds in the seed group are closely spaced from each other by the seed spacing within the group, and the seed groups are separated from each other by a group separation distance greater than the seed spacing within the group. as well as The seed packs are output into the furrows at the outlet of the seed delivery system.

10. A method for controlling a planting machine, comprising: Seeds are received from the seed source at the input of the seed metering device; The seed metering device is rotated by a seed metering motor to provide seeds at the seed metering output. Seeds are received from the seed metering output at the seed delivery system input section of the auxiliary seed delivery system; The seed conveying system motor drives the connecting component to rotate, so that the seeds move to the outlet end of the seed conveying system; A motor control signal is generated to control at least one of the seed metering motor and the seed delivery system motor to intermittently change the motor speed to provide multiple seed groups with a predetermined number of seeds, wherein the predetermined number of seeds in the seed group are closely spaced from each other by the seed spacing within the group, and the seed groups are separated from each other by a group separation distance greater than the seed spacing within the group. as well as The seed packs are output into the furrows at the outlet of the seed delivery system.

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