Method for controlling a downforce, method for calculating a downforce, method for adjusting a target force signal, method for calculating a gound contact signal and method for calculating a float signal in an agricultural implement

Abstract

The present invention relates to a method for controlling a downforce in an agricultural implement, comprising the steps of obtaining, via a strain cell, a signal corresponding to a working force measured by a strain sensor; filtering the signal corresponding to the working force via a processing unit; obtaining, via the processing unit, an initial target force value; comparing, via the processing unit, the filtered signal corresponding to the working force with the target force; adjusting, via the processing unit, the working force, to bring it closer to the target force; and automatically readjusting the target force value on the basis of a calculated ground contact parameter.

Description

"METHOD FOR CONTROLLING A DOWNWARD FORCE, METHOD FOR CALCULATING A DOWNWARD FORCE, METHOD FOR ADJUSTING A TARGET FORCE SIGNAL, A METHOD FOR CALCULATING A GROUND CONTACT SIGNAL, AND A METHOD FOR CALCULATING A FLUCTUATION SIGNAL IN AN AGRICULTURAL IMPLEMENT FIELD OF THE INVENTION

[0001] The present invention relates to an agricultural planting implement, such as a planter or seeding machine with multiple rows, and more particularly to systems and methods for controlling and adjusting downward force in order to optimize planting. BACKGROUND OF THE INVENTION

[0002] There are basically two types of planting machines: so-called planters, also known as seeders, and so-called seeders. Planters basically plant large grains such as corn, soybeans, cotton, sorghum, sunflower, beans, sweet corn, and other crops with large seeds. Seeders, on the other hand, plant smaller, finer, or lighter grains such as wheat, canola, rice, ryegrass, and other crops with similar seeds. A seed drill can occasionally plant large grains such as soybeans, peas, and chickpeas, just as planters can occasionally plant smaller grains such as canola, wheat, and rice, for example.

[0003] It is evident that these agricultural machines require specific containers to carry the seeds that will be distributed throughout the planting process. These containers are designed to store a sufficient quantity of seeds to allow for a continuous flow during sowing. However, due to the limited capacity of these compartments, it is essential that they are periodically refilled.

[0004] The known containers for these types of machines, planters and seeders, are basically divided into three models / types of seed hoppers.

[0005] In the first model, the seed reservoirs are specific to each planting row and are located within the structure of each row, with no other reservoir connected to them. Typically, there is only one reservoir for each planting row, where all the seeds available for that planting row are contained within this individual seed reservoir. This seed reservoir model is known and will be referred to hereafter as an "individual seed box" or "individual seed boxes".

[0006] In general, individual seed boxes in each planting row are sized to hold the largest possible volume of seeds, because the larger the reservoir, the greater the autonomy of the planting row and, therefore, the greater the autonomy of the machine as a whole.

[0007] Some models of individual seed boxes can hold more than 80 kg of seeds. In these models, there is a substantial variation in the weight of the planting row throughout the planting process, as each individual seed box may start planting with 80 kg and stop to replenish with 1 kg, generating a difference of 79 kg over the course of planting. Considering that a planting row weighs approximately 100 kg, the difference between 80 kg and 1 kg represents a substantial variation in the total weight of each planting row.

[0008] In a second model, there are also seed reservoirs located in the planting row itself; however, in this model, these reservoirs are supplied or replenished by another reservoir, which will be referred to later as the "auxiliary seed reservoir" and the "main seed reservoir," respectively.

[0009] The main reservoirs, responsible for supplying multiple planting rows, are significantly larger than the individual reservoirs mentioned earlier. These main reservoirs are not mounted directly on the planting rows, but rather on some part of the machine's chassis. This configuration allows for a substantial increase in seed storage capacity, ensuring that the additional weight does not overload the planting rows.

[0010] Because there are main reservoirs in this model, the auxiliary reservoirs for each planting row do not need to be able to hold a large volume of seeds, unlike the "individual seed box" model. This is because the main reservoirs provide a constant replenishment as the seeds are planted. This configuration allows the auxiliary reservoirs to be smaller, since they receive a continuous supply of seeds from the main reservoirs during the planting process.

[0011] Typically, the auxiliary reservoirs for each row of this model have a capacity of 2 to 4 kg of seeds and are commonly called "popcorn hoppers". The main reservoirs, always located outside the planting row, can be more centrally located in relation to the planting rows and transport the seeds pneumatically to supply the "popcorn hoppers", or they can be aligned above the planting rows, but on a different chassis, never on the seed row structure, and supply the popcorn hoppers by gravity.

[0012] In this way, this model with main reservoirs connected to auxiliary reservoirs has the advantage that as the auxiliary reservoirs lose volume due to sowing, this volume is automatically replenished by the main reservoirs. Thus, the weight of the planting row remains constant and stable, unlike the model with individual seed boxes.

[0013] In the third model, the construction is very similar to the second model, known as the "popcorn maker," with the difference that there are no auxiliary seed reservoirs located in the planting row. In this model, there are large seed reservoirs, known as seed tanks, which are large enough to supply several or all of the machine's rows. These tanks are positioned on some chassis of the machine assembly and use pneumatic or gravity transport to transfer the seeds directly to the soil. The seeds are conveyed by gravity or under positive pressure to the planting furrow, without passing through any reservoir located in the planting row.

[0014] In this case, just like the previous model, there is no variation in the weight of the seed row throughout the planting process, since the seeds go directly from the reservoir / tank to the planting furrow.

[0015] Another important factor in agriculture for optimizing crop production and sustainability relates to planting models. These models include a variety of techniques and methods, such as crop rotation, no-till farming, row planting, among others, each with its specific benefits in terms of efficiency, soil conservation, and increased productivity.

[0016] Choosing the right planting method depends on several factors, including soil type, climate, chosen crops, and the farmer's objectives. With advances in technology and a growing interest in sustainable agricultural practices, planting methods have become increasingly sophisticated, incorporating innovations that allow for more precise and ecological crop management.

[0017] One of the technological advancements came with the advent of new herbicides and the progress of biotechnology. In this context, farmers People all over the world have had access to a previously unimaginable technique known as "no-till farming" (NT).

[0018] Direct planting (DP) is a cultivation technique in which the farmer does not disturb the soil between two subsequently planted crops. In other words, they do not plow, harrow, or till the soil and plant "directly".

[0019] Direct planting (DP) has been mentioned more as a "cropping system" than as a technique and has been hailed as a very environmentally friendly farming system, as it helps control erosion and increase soil biological life, in addition to substantially increasing crop productivity and optimizing agricultural operations. These advantages are clear consequences of an efficient farming system, since it eliminates expensive and laborious operations such as plowing and harrowing the land.

[0020] Recently, EMBRAPA published a scientific study proving that crops under no-till farming in the Cerrado ecosystem had a higher content of organic matter and biological life than the original soils under the Cerrado, and showed less erosion, thus proving the benefits of this technology.

[0021] Thus, farmers worldwide have widely adopted this system, with particular emphasis on Brazil, where this method has become the most popular among farmers. In the Brazilian context, the widespread acceptance and preference for this system is due to several factors, including its proven effectiveness in optimizing productivity, its adaptability to local climatic conditions, and its ability to integrate new agricultural technologies. The result of the implementation of this system in Brazil reflects its relevance and efficiency, making it a benchmark in modern and sustainable agricultural practices.

[0022] A unanimous and fundamental recommendation from researchers for farmers using this system is to increase the volume of straw. no soil. This increase brings several significant benefits, such as the expansion of biological life in the soil, a greater amount of organic matter, better protection against erosion, greater availability of water in the soil, and more effective weed control. Due to these benefits, many experts in the field refer to no-till farming as "planting in straw," highlighting the importance of this practice for improving agronomic conditions and the sustainability of cultivation.

[0023] Besides no-till farming, there are other cultivation systems such as the "conventional system" and "strip cropping." In the conventional system, the soil is plowed and harrowed, completely turning over the land before planting. Strip cropping involves turning over the soil only in the specific areas where the plants will be sown, leaving the soil between these strips intact. Each of these methods has its own practices and advantages, and is chosen according to the specific needs of the crop and the soil conditions.

[0024] The no-till farming system faces significant challenges, one of the main ones being crop residue management during planting. Proper crop residue management is crucial to ensure that seeds are deposited uniformly and at the desired depth.

[0025] In North America and other countries with temperate climates, planting of major crops occurs in the spring, right after the winter thaw. This period requires the soil to be warmed and, in many cases, drained due to excess moisture. To meet these needs, it is common in these regions to use row trimmers that remove straw ahead of the planting row, allowing the soil to be warmed more quickly by the sun. Consequently, planting row designs in these temperate areas generally incorporate row trimmers. These devices ensure straw-free planting directly in the row. Planting, while the straw remains between the rows, promotes a more favorable environment for crop development.

[0026] Even with the use of tillers, no-till farming in temperate countries performs worse in terms of emergence and uniform depth compared to conventional planting, which is why it is less popular in these regions.

[0027] The importance of increasing soil temperature is so great in temperate countries that conventional planting is more common than no-till farming, unlike in Brazil. And, since in these countries the most profitable crop is corn and, coincidentally, the one most demanding in terms of depth and emergence control, most farmers prefer not to risk uneven emergence and irregular depth with no-till farming, even with row trimmers, and opt for conventional planting or strip cropping. This is because in temperate countries, even with row trimmers, no-till farming can leave straw behind in the rows, hindering the performance of the depth-limiting wheels. Due to the lower temperatures, straw is less degraded and recycled, and no-till systems in these regions tend to accumulate more straw than in the tropics, which is good for the environment but not so much for crop emergence and depth.

[0028] In Brazil, as in other countries with tropical or subtropical climates, the absence of snow allows planting to be carried out predominantly in early summer or autumn, periods when temperatures are still high. Under these conditions, the main concern is to avoid excessive increases in soil temperature and to prevent moisture loss through evaporation.

[0029] Thus, both in Brazil and in tropical and subtropical regions, instead of using track cleaners, it is common to use cutting discs positioned ahead of the planting row. The purpose of these cutting discs The purpose is to cut the straw and keep it over the planting row, helping to conserve soil temperature and moisture. Although the use of field trimmers does not necessarily cause harm, it is not commonly adopted by farmers in these regions due to the greater complexity of the operation compared to cutting discs.

[0030] An additional advantage of using a track cleaner is that, by cleaning the track, it allows the depth-limiting wheels of the planting row to rest directly on the ground, avoiding contact with the inevitably uneven crop residue. In other words, with a track cleaner, the depth-limiting wheel operates on the ground, providing more precise depth control. In contrast, in planting rows equipped with cutting discs, the depth-limiting wheels tend to rest more on the straw on the ground than directly on the soil, which can affect planting uniformity.

[0031] In practice, in planting rows equipped with cutting discs under the no-till system, the depth-limiting wheels operate under variable conditions, sometimes resting on bare soil, sometimes on shallow mulch, and sometimes on dense mulch. This variability in contact with the soil and mulch requires that the soil hardness sensing system be extremely precise and respond assertively and quickly. Thus, a downward force should be applied and adjusted appropriately at each centimeter of soil in response to the sensing system to ensure planting uniformity.

[0032] Furthermore, to ensure efficient and high-quality planting, it is essential that the planting line deposits the seeds at the desired depth, avoiding compaction of the furrow where the seeds are placed. This challenge requires the farmer to maintain the consistency of the planting furrow depth throughout the entire process. sowing, ensuring that the ideal conditions for germination and plant growth are continuously met.

[0033] Therefore, the need for continuous and precise adjustment of the pressure exerted by the depth-limiting wheels is fundamental to ensuring the uniformity and effectiveness of planting, addressing the differences in resistance and compaction presented by the soil and straw along the planting row.

[0034] Therefore, in tropical and subtropical regions, there is a significant challenge in controlling the final downward force in planting rows, given the variable straw and soil conditions.

[0035] One of the difficulties farmers face when planting seeds is the differences in terrain, such as relief, slopes, compaction, presence of stones, moisture, and soil composition, which directly impact the proper functioning of agricultural machinery, particularly planters. This can create oscillations in the position of the planting rows and, consequently, variations in the depth of the planting furrow. Thus, the application of downward force is a commonly used solution in planting rows to ensure adequate force to guarantee the ideal depth of the planting furrow.

[0036] However, simply applying a downward force to the rows does not efficiently solve the problem. The downward force must be applied dynamically, adapting to the various variables mentioned earlier. To achieve this, a force sensor is usually used in each planting row to measure the acting forces and assist in controlling the downward force.

[0037] The state-of-the-art document BR 11 2014 0028184 B1 presents systems for controlling downward vertical force using actuators associated with each line unit, with control of the applied force by adjusting the pressures in upward pressure chambers and The system uses downward force control within the actuators, based on sensor feedback. This control allows for individual force adjustments in each row unit, dynamically responding to variations in soil conditions and load on the units, to maintain ideal planting depth and soil compaction. This solution manages to maintain an ideal planting depth, especially when the limiting wheels are always in contact with the ground, but it demands a high frequency of actuation to follow the terrain in response to sensor readings, and has greater difficulty and slower response in conditions of crop residue between the limiting wheel and the soil.

[0038] The state-of-the-art document EP 3725142 B1 proposes a verification method for vertical downward force controllers, which adjusts the lifting pressure to individually raise each line unit and then adjusts the downward force of each actuator individually to ensure that each line is touching the ground. This solution verifies the operation of a plurality of controllers, actuating an upward force control valve and a downward force control valve to ensure that the systems are operational, but does not calibrate the system to optimize the actuation of the downward force system.

[0039] The prior art document US 9173339 B2 proposes a system and method for determining the appropriate downward vertical force on an agricultural planter row unit, aiming to minimize soil compaction while maintaining the desired furrow depth. A load sensor is used to generate a signal corresponding to the load on a depth-regulating member of the row unit. This method calculates a load margin based on the minimum load value detected, or derives a margin through a statistical analysis of the detected load values. The calculated or derived load margin... This indicates the amount of supplemental downward force that must be increased or decreased to approximate the load margin to zero, with the goal of ensuring the desired furrow depth and minimizing soil compaction.

[0040] Although seemingly functional, the solution disclosed in US 9173339 B2 uses a system based on complex statistical calculations, requiring the comparison of a large number of samples to predict and ensure adequate contact between the planting lines and the soil. However, it does not guarantee a calibrated system to optimize downforce control under all conditions, especially in mulch conditions, particularly regarding the frequency of operation.

[0041] The US 11140812 B2 prior art document proposes a system that dynamically adjusts the force based on the load detected in the row unit, using a downward force actuator, a sensor to detect the load, and a controller to compare the detected load with a defined downward force load range based on a user-defined target downward force. This dynamic adjustment uses rates of force increase and decrease over time to allow the system to adapt the force application according to varying soil conditions, ensuring a consistent planting depth. This system requires constant calculations for the rates of force increase and decrease, not adequately addressing conditions of straw on the depth-limiting wheel and not working in an optimized range in rows with constant weight, thus demanding more processing capacity.

[0042] Although seemingly functional, prior art documents reveal systems that require complex sensing and control processes demanding constant adjustments of forces. Ascending and descending planting lines based on statistical projections.

[0043] Furthermore, the application of downward force, even dynamically, does not by itself prevent oscillations in the fluctuation of the planting line during the planting process, especially in mulch conditions. This demands higher frequencies of downward force system actuations in all situations, since it does not optimize a working range for the actuators, which would simplify the application of the downward force, particularly when the weight of the line is considerably constant.

[0044] Therefore, there is a market need for a planting implement equipped with a system capable of operating at high speeds while maintaining planting furrow precision through the appropriate application of downward force. Furthermore, there is a market need for such a system to be optimized for agricultural implements with substantially constant weight in the planting rows and also applicable to no-till planting systems. DESCRIPTION OF THE INVENTION

[0045] Thus, with the aim of overcoming the inconveniences and limitations found in the state of the art, the present invention presents a method for controlling a downward force in an agricultural implement, wherein the agricultural implement comprises a plurality of planting rows and a seed box associated with a plurality of seed metering devices, in which each seed metering device is equipped with a seed reservoir arranged in each of the planting rows, wherein the method comprises the steps of: (a) to obtain, through a strain cell, a signal corresponding to a work force measured by a strain sensor; (b) filter the signal corresponding to the workforce, through a processing unit; (c) obtain, through the processing unit, an initial target force value; (d) compare, through the processing unit, the corresponding filtered work force signal with the target force; (e) adjust, through the processing unit, the work force to approximate the target force; and (f) automatically readjust the target force value based on a calculated ground contact parameter.

[0046] According to further or alternative embodiments of the invention, the following features, alone or in technically feasible combinations, may also be present: - Step (b) filtering the signal corresponding to the workforce is calculated by a moving average; - A Proportional Integral Derivative (PID) control is used to achieve the target force; - the parameter is a percentage of contact with the ground; - includes, before step (a), a float calibration step; - The planting implement is a planter, in which each planting row comprises a seed metering device equipped with an auxiliary seed hopper connected to the main seed hopper; The planting implement is a seeder, in which the main seed hopper is associated with a seed metering device with a delivery tube for each planting row.

[0047] The present invention further provides a method for controlling a downward force on an agricultural implement, wherein the agricultural implement comprises a plurality of planting rows and a seed box associated with a plurality of seed metering devices, wherein each seed metering device is equipped with a seed reservoir. arranged in each of the planting rows, where the method comprises the following steps: (a) receive a target force value to use in a control logic; (b) read a value from a strain sensor to obtain a working force; (c) feed the control logic with a target value and a workforce; (d) automatically readjust the target force value based on a calculated ground contact parameter; (e) actuate a valve with a control signal calculated by the control logic to change the applied work force; and (f) return to (a).

[0048] According to further or alternative embodiments of the invention, the following features, alone or in technically feasible combinations, may also be present: - further understand the step of automatically calculating and adjusting the range of values ​​for a control signal generated by the processing unit based on a supply voltage applied to the processing unit, prior to step (c); - The control logic is a Proportional Integral Derivative (PID) control; - understand, before step (a), a fluctuation calibration step; - The planting implement is a planter, in which each planting row comprises a seed metering device equipped with an auxiliary seed hopper connected to the main seed hopper; The planting implement is a seeder, in which the main seed hopper is associated with a seed metering device with a delivery tube for each planting row.

[0049] The present invention also provides a method for adjusting a downward force on an agricultural implement, wherein the agricultural implement comprises a plurality of planting rows and a box of Seeds associated with a plurality of seed dispensers, where each seed dispenser is equipped with a seed reservoir located in each of the planting rows, in which the method comprises the following steps: (a) receive a target force value through a processing unit; (b) calculate a ground contact parameter from a corresponding work force signal; (c) if the parameter is within a contact tolerance range, return to (a); (d) if the parameter is below the contact tolerance range for a time window and the target force remains below or equal to a user-defined target force limit when applying a force increment, increment the target force by a percentage of the target force previously sought by the control logic, and return to (a); (e) if the parameter is at the maximum ground contact value for a time window and the target force remains above the user-defined target force limit when applying a force decrement, decrement the target force by a percentage of the target force previously sought by the control logic, and return to (a).

[0050] According to further or alternative embodiments of the invention, the following features, alone or in technically feasible combinations, may also be present: - the tolerance range is between 75% and 99%, and more preferably between 95% and 99%; - The increase / decrease value should be percentages between 0 and 20% of the target force, preferably increases are made at a percentage of 5% of the target force and decreases at 3% of the target force; - understand, before step (a), a fluctuation calibration step; - the planting implement being a planter, in which each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir; - the planting implement being a seeder, in which the main seed hopper is associated with a seed metering device with a delivery duct for each planting row.

[0051] Furthermore, the present invention provides a method for adjusting a target force signal in an agricultural implement, wherein the agricultural implement comprises a plurality of planting rows and a seed box associated with a plurality of seed metering devices, wherein each seed metering device is equipped with a seed reservoir arranged in each of the planting rows, and the method comprises the following steps: (a) obtain a corresponding signal of force measured by a strain cell in a traveled distance window; (b) compare with a force threshold; (c) detect occurrences where the corresponding strength signal is below the threshold; (d) relate the number of occurrences of the corresponding below-threshold force signal to the number of occurrences of the corresponding above-threshold force signal; (e) calculate a percentage of ground contact for the traveled distance window; and (f) adjust the target force according to the calculated percentage.

[0052] According to further or alternative embodiments of the invention, the following features, alone or in technically feasible combinations, may also be present: - The planting implement is a planter, in which each planting row comprises a seed metering device equipped with an auxiliary seed hopper connected to the main seed hopper; The planting implement is a seeder, in which the main seed hopper is associated with a seed metering device with a delivery tube for each planting row.

[0053] The present invention further presents a method for calculating a ground contact signal in an agricultural implement, wherein the agricultural implement comprises a plurality of planting rows and a seed box associated with a plurality of seed metering devices, wherein each seed metering device is equipped with a seed reservoir arranged in each of the planting rows, wherein the method comprises the following steps: (a) measure the ground contact force in predetermined distance windows; (b) for each of the measures, assess whether the value is greater than a predetermined minimum threshold; (c) count the measurements above the minimum threshold; (d) divide the number of measurements counted above the minimum threshold by the total number of samples; and (e) generate a percentage of contact with the ground.

[0054] According to further or alternative embodiments of the invention, the following features, alone or in technically feasible combinations, may also be present: - The planting implement is a planter, in which each planting row comprises a seed metering device equipped with an auxiliary seed hopper connected to the main seed hopper; The planting implement is a seeder, in which the main seed hopper is associated with a seed metering device with a delivery tube for each planting row.

[0055] The present invention further presents a method for calculating a fluctuation signal in an agricultural implement, wherein the agricultural implement comprises a plurality of planting rows and a seed box associated with a plurality of seed metering devices, wherein each seed metering device is equipped with a seed reservoir arranged in each of the planting rows, wherein the method comprises the following steps: (a) measure the ground contact force in predetermined distance windows; (b) for each of the measures, assess whether the value is greater than the predetermined minimum threshold; (c) count the measurements below the minimum threshold; (d) divide the number of measurements counted below the minimum threshold by the total number of samples; and (e) generate a fluctuation percentage.

[0056] According to further or alternative embodiments of the invention, the following features, alone or in technically feasible combinations, may also be present: - the planting implement being a planter, in which each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir; - the planting implement being a seeder, in which the main seed hopper is associated with a seed metering device with a delivery duct for each planting row.

[0057] Also, the present invention provides a calibration system for controlling downward force for an agricultural implement, being The agricultural implement comprises a plurality of planting rows and a seed box associated with a plurality of seed metering devices, wherein each seed metering device is equipped with a seed reservoir located in each of the planting rows, wherein the system comprises: a calibration mechanism associated with all row units of the plurality of planting rows; a plurality of downward force adjustment mechanisms, wherein each downward force adjustment mechanism is respectively associated with a planting row of the plurality of planting rows.

[0058] According to further or alternative embodiments of the invention, the following features, alone or in technically feasible combinations, may also be present: - The calibration mechanism comprises an actuating mechanism; - The actuation mechanism of the calibration mechanism is a hydraulic or pneumatic actuator with a control valve or an electric actuator; - The hydraulic or pneumatic actuator of the actuation mechanism is adjustable by a manual control valve; - The actuator of the actuation mechanism is adjustable to raise multiple planting rows simultaneously; - each downward force adjustment mechanism comprises an actuating mechanism; - The actuation mechanism of each downward force adjustment mechanism is a hydraulic or pneumatic actuator with a control system, or an electric actuator. - each of the downward force adjustment mechanisms individually controls the actuation mechanism of one planting row out of the plurality of rows; - the planting implement being a planter, in which each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir; - the planting implement being a seeder, in which the main seed hopper is associated with a seed metering device with a delivery duct for each planting row.

[0059] The present invention also presents a calibration method for controlling the downward force of an agricultural implement, wherein the agricultural implement comprises a plurality of planting rows and a seed box associated with a plurality of seed metering devices, wherein each seed metering device is equipped with a seed reservoir located in each of the planting rows, and the calibration method comprises the steps of: defining a prior calibration of an upward force mechanism applied to all row units before any operation of the agricultural implement; and actuating a downward force mechanism associated with the plurality of planting rows.

[0060] According to further or alternative embodiments of the invention, the following features, alone or in technically feasible combinations, may also be present: - Calibration is based on the weight of the line; - the calibration definition is based on the fluctuation of the plurality of lines; - Calibration is adjusted by either manual or electronic means; - The upward force mechanism is actuated by mechanical, hydraulic, pneumatic, electrical means, or a combination thereof; - The step of activating the downward force mechanism is performed during the operation of the planting implement; - The activation of the downward force mechanism is based on parameters obtained during the operation of the planting implement; - The stage of activating the downward force mechanism is responsive to data obtained from sensors regarding changes in terrain and soil hardness; - The stage for activating the downward force mechanism is adjusted electronically; - The downward force mechanism is actuated by mechanical, hydraulic, pneumatic, electrical means, or a combination thereof; - the planting implement being a planter, in which each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir; - the planting implement being a seeder, in which the main seed hopper is associated with a seed metering device with a delivery duct for each planting row.

[0061] Finally, the present invention presents a method for calibrating the fluctuation of an agricultural implement, wherein the agricultural implement comprises a plurality of planting rows and a seed box associated with a plurality of seed metering devices, wherein each seed metering device is equipped with a seed reservoir disposed in each of the planting rows, wherein the calibration method comprises the steps of: reducing an upward force applied by an upward force mechanism applied to all row units; and gradually increasing the upward force until a predefined position range is reached.

[0062] According to further or alternative embodiments of the invention, the following features, alone or in technically feasible combinations, may also be present: - the predefined position range is between the point of being on the verge of lifting off the ground and being lifted tangent to the ground; - the predefined position range is reached within 95% to 105% of the line unit weight; - the predefined position range is reached when the reaction force of the depth-limiting wheel is 294.2 N above zero down to zero; - the reaction force is obtained by a sensing means associated with the depth-limiting wheel; - the sensing medium being an instrumented stop; - a step to measure the force applied to instrumented stops in each planting row during the gradual increase of upward force; - the planting implement being a planter, in which each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir; - the planting implement being a seeder, in which the main seed hopper is associated with a seed metering device with a delivery duct for each planting row.

[0063] These and other features, aspects, and advantages of the present invention will be better understood with reference to the appended description and claims. The accompanying drawings, which are incorporated into and form part of this descriptive report, illustrate exemplary embodiments and, together with the description, serve to explain the scope of the present invention. BRIEF DESCRIPTION OF THE FIGURES

[0064] The objectives, advantages, and technical and functional improvements of the present invention will be better understood from the following description of particular embodiments, which refer to the accompanying figures. Figure 1 shows a perspective view of an agricultural planting implement with multiple rows, according to an embodiment of the present invention; Figure 2 shows a process flowchart for controlling a downward force on an agricultural implement, according to the present invention; Figure 3 shows a process flowchart for controlling a downward force on an agricultural implement, according to the present invention; Figure 4 shows a process flowchart for adjusting a downward force on an agricultural implement, according to the present invention; Figure 5 shows a process flowchart for adjusting a target force signal on an agricultural implement, according to the present invention; Figure 6 shows a process flowchart for calculating a ground contact signal on an agricultural implement, according to the present invention; Figure 7 shows a process flowchart for calculating a fluctuation signal in an agricultural implement, according to the present invention; Figure 8 shows a process flowchart for the prior calibration of an agricultural implement, according to the present invention; Figure 9 shows a process flowchart for adjusting the buoyancy of an agricultural implement, according to the present invention; Figures 10A to 10C show an agricultural implement of the individual seed box type, known from the state of the art, under different soil conditions and amounts of inputs; Figures 11A to 11C show an agricultural implement of the planter type, according to the embodiment of the invention, under different soil conditions and amounts of inputs; and Figures 12A to 12C show an agricultural implement of the seeder type, according to an embodiment of the invention, under different soil conditions and amounts of inputs. DESCRIPTION OF THE INVENTION'S EMPHASIS

[0065] The invention is now described with regard to its particular embodiments, with reference to the accompanying figures. In the figures and description that follow, equal or corresponding parts are marked with the same reference numbers.

[0066] The figures are schematic and their dimensions and proportions are illustrative, as they are intended only to describe the invention in a way that facilitates understanding and do not impose any limitations beyond those defined by the appended claims.

[0067] It should be recognized that the different teachings of the achievements discussed below can be employed separately or in any suitable combination to produce the same technical effects.

[0068] The present invention was developed for application in both seed drill and planter type planting implements.

[0069] Furthermore, the present invention has also been developed for application in various planter or seeder models, including those with main and auxiliary reservoirs, those with only main reservoirs, or any other model where the weight of the planting row 11 remains stable during planting. The present invention offers significant benefits compared to the prior art, such as lower frequency of hydraulic piston actuation during operation, faster reading and response to soil hardness, and greater precision in the application of downward force.

[0070] It is worth noting that the present invention is particularly advantageous when applied to planters and seeders equipped with main reservoirs, with or without auxiliary reservoirs, where weight variation... The downward pressure on planting row 11 is practically zero throughout the entire operation. Under these conditions, it is possible to use supplementary downward force systems in a relatively simpler way, since it is not necessary to constantly compensate for the weight reduction caused by the continuous deposition of seeds or fine grains. This allows for more efficient and stable control of the pressure applied during planting.

[0071] The present invention allows for compensating the weight of the planting rows 11 by applying a constant upward force, which facilitates calibration and eliminates a control variable from the system. With this approach, the sensing systems are solely responsible for measuring the downward force applied. Consequently, the control systems can generate only one adjustable force command with a reduced frequency of change during operation, simplifying the process and improving the efficiency of the applied force control.

[0072] In the case of conventional hydraulic actuation systems, for example, the control of upward and downward force is limited by physical constraints on the response time of the actuators; generally, the response time of hydraulic actuators is in the range of 80 to 90 milliseconds. Given the limitations of the actuators, the algorithm implemented in the electronic controllers to adjust the downward force and compensate for ground variations can also operate in slower time windows, for example, in the range of 100ms, saving on processing demand and ensuring that there will be no incomplete actuations.

[0073] In this context, the present invention advantageously drastically reduces the frequency of system operation, since the upward force is locked in the condition where the lines are optimally positioned. In this way, the weight of the lines remains stable, requiring only the control of the downward force to compensate for variations in the ground.

[0074] The present invention allows for more efficient control, since with the weight of the planting lines 11 constant, the calibration mechanism can maintain upward force at a stable level without the need for adjustments during planting. In this way, the system can apply an ideal downward force more consistently, keeping the planting lines 11 in a proper position for longer.

[0075] More specifically, the present invention provides a more efficient downward force application, acting only for minor adjustments. This reduces the need for frequent system actions, requiring fewer actuation cycles, which in turn decreases wear on moving parts and reduces noise that could interfere with sensing. As a result, the system operates for longer within an ideal region with an optimized actuation frequency.

[0076] Furthermore, the present invention also allows for improved sensing, since when the line weight and upward force are constant, varying only the hydraulic system's action to adjust the downward force, the sensing system only needs to monitor this downward force to feed the control system.

[0077] Thus, the present invention allows for achieving an optimal adjustment of the downward force with minimal changes to a single variable controlled by the control systems, requiring only the measurement of the downward force by the sensors.

[0078] These simplifications allow for the development of a more targeted sensing and control system to detect variations in soil hardness, rather than variations in the weight of the planting rows 11. This results in more efficient control of the application of the appropriate downward force on the planting row 11, preventing both compaction Excessive loss of furrow depth ensures more uniform and effective planting.

[0079] Thus, the present invention is capable of optimizing downforce in no-till planting conditions, both in temperate and tropical and subtropical regions, with or without the use of track cleaners. Furthermore, it seeks to maintain efficiency even in conventional planting conditions, where there is no straw present.

[0080] Therefore, one embodiment of the present invention relates to a method for controlling a downward force in an agricultural planting implement 10, wherein the agricultural planting implement 10 comprises a plurality of planting rows 11 and a main seed reservoir 12 associated with a plurality of seed metering devices 13, wherein each seed metering device 13 is provided with an auxiliary seed reservoir 14, arranged in each of the planting rows 11, as shown in Figure 1.

[0081] The agricultural planting implement 10 of the present invention provides for the use of hydraulic or pneumatic pistons to create a downward force in a planting row 11, in order to prevent the planting row 11 of the agricultural planting implement 10 from suffering undesirable fluctuations, in addition to maintaining the planting furrow depth always uniform.

[0082] In one embodiment of the invention, a strain gauge is implanted in planting row 11 to read corresponding working force signals. The strain gauge is an extensometer, which is a device used to measure the deformation of a material when subjected to a load. It generally works through a grid of conductive wire or metal foil fixed onto a flexible base, which is glued to the material to be tested. When the material deforms, this deformation is transmitted to the extensometer, altering the electrical resistance, and this change in resistance is measured by an electrical circuit, frequently A Wheatstone bridge, which detects the variation and converts it into a strain reading.

[0083] A process 100 for controlling a downward force on an agricultural planting implement 10 according to the present invention, shown in Figure 2, has step 102 of obtaining, through the strain cell, a signal corresponding to a working force, the working force being measured by a strain sensor. The strain sensor can be applied to different parts of the planting row 11.

[0084] In the following step 104, the signal corresponding to the workforce is filtered by a processing unit. This filtering is done using signal processing techniques, such as moving average calculation.

[0085] The delimitation of the specific parameters to perform step 104 is done with a variable update window that the processing unit uses to control the force corresponding to the speed limit of state change of a hydraulic system.

[0086] Next, in step 106, an initial target force value is obtained through the processing unit. The target force value can be determined by the user or selected from 3 values ​​pre-determined by the system.

[0087] The next step, 108, compares, through the processing unit, the corresponding filtered work force signal with the target force obtained in the previous step. In step 110, the work force is adjusted, through the processing unit, to approximate the target force.

[0088] A proportional integral derivative (PID) control is used to achieve the target force.

[0089] Finally, in step 112, the target force value is automatically readjusted based on a calculated ground contact parameter, where the parameter is a percentage of ground contact.

[0090] Therefore, process 100 is particularly advantageous for controlling the resulting force to be applied to the agricultural planting implement 10, as it ensures that the resulting value of the assembly is always close to reality.

[0091] Figure 3 shows a process 200 to control a downward force on an agricultural planting implement 10, which occurs synchronously with process 100, where step 202 receives a target force value to be used in a control logic. The control logic is a Proportional Integral Derivative (PID) control.

[0092] The target force value can be entered by the user through a human-machine interface or selected from pre-established values ​​such as light force, medium force, and heavy force. Subsequently, the target force value can be automatically calculated by a control algorithm within the process.

[0093] Step 204 reads a value from a strain gauge to obtain a working force. The working force is the resultant force between the force applied to planting row 11 plus the weight of planting row 11 and the soil resistance.

[0094] In step 206, the control logic is fed with a target value and a working force. In the following step 208, the target force value is automatically readjusted based on a calculated ground contact parameter. The calculated ground contact parameter refers to the distance traveled by the planting implement 10.

[0095] Next, in step 210, a valve is activated by a control signal calculated by the control logic to change the applied working force. The control signal is the signal that effectively activates the solenoid, which controls an oil flow valve for a piston that applies force to the planting line. The adjustment must be made to operate from 0 to 12 volts.

[0096] Finally, in step 212 of the process, there is a return to step 202, in a cycle.

[0097] Process 200 for controlling a downward force in an agricultural planting implement 10 further comprises the step of automatically calculating and adjusting the range of values ​​for a control signal generated by the processing unit based on a supply voltage applied to the processing unit, prior to step 206. In other words, the operating voltage is modulated, limiting the actuation power of the valve. For example, when the valve operates at 24V, it is limited to 50% of its power.

[0098] Such modulation is necessary to adjust the voltage available in the system and ensure correct results.

[0099] All stages of this process are performed using wireless transmission technology.

[0100] Furthermore, all stages of the process are carried out using wireless technology, such as radio. This allows for a cleaner and, at the same time, more efficient implementation.

[0101] Since the downward force is controlled in the agricultural planting implement 10, it is necessary to adjust it so that there are dynamic values, according to the momentary reality of the terrain at the time of planting. Therefore, the present invention additionally presents a process 300, simultaneous to the other processes 100 and 200, to adjust a downward force in an agricultural planting implement 10, in which in step 302 a target force value is received through a processing unit, as shown in Figure 4.

[0102] In step 304, a ground contact parameter is calculated from a corresponding work force signal. The ground contact parameter is a value from 0 to 100%.

[0103] In step 306, the parameter is compared, and if the parameter is within a contact tolerance range, process 300 returns to step 302.

[0104] However, if the parameter is below the contact tolerance range for a time window and the target force remains below or equal to a user-defined target force limit when applying a force increment—in other words, the parameter does not cause an upper target force limit to be exceeded—then process 300 moves to step 308, and the target force will be incremented by a percentage of the target force previously sought by the control logic, or an incremental value, and process 300 returns to step 302.

[0105] On the other hand, if the parameter is at the maximum ground contact value for a time window and the target force remains above the user-defined target force limit when applying a force decrease—in other words, if the parameter does not cause the lower target force limit to be exceeded—then process 300 moves to step 310, and the target force will decrease by a percentage of the target force previously sought by the control logic, or by an incremental value, and process 300 returns to step 302.

[0106] The tolerance range for the soil contact parameter should be between 75% and 99%, and more preferably between 95% and 99%.

[0107] The increase or decrease values ​​are percentages between 0 and 20% of the previously sought target force; preferably, increases are made at a percentage of 5% of the previously sought target force, and decreases are made at a percentage of 3% of the previously sought target force.

[0108] In summary, the flowchart in Figure 4 shows a process for controlling the force applied by an agricultural implement. First, a target force value is received by a processing unit 302. In Next, a ground contact parameter is calculated from a working force signal 304. If the parameter is within the contact tolerance range, the process resumes from the beginning 306. Otherwise, if the parameter is below the range for a period of time and the target force remains below the established limit, the target force is incremented and the process restarts 308. If the parameter is at the maximum contact value for a period of time and the target force remains above the limit, the target force is decremented before restarting the process 310.

[0109] The main advantage of process 300, shown in the flowchart in Figure 4, is the precision in controlling the applied force, which ensures that the contact force with the ground remains within a specific tolerance range. This results in a more uniform and efficient application of force, improving planting quality, correct seed depth, and overall crop health, as well as minimizing equipment wear and reducing the need for frequent manual adjustments.

[0110] Concurrent with the other processes 100, 200 and 300, the present invention presents a process 400 for adjusting a target force signal in an agricultural planting implement 10, as shown in Figure 5. The target force signal adjustment is obtained according to a percentage of contact with the soil.

[0111] In step 402 of process 400, a corresponding force signal is obtained, measured by a strain cell within a traveled distance window.

[0112] In step 404, the corresponding force signal is compared to a force threshold.

[0113] In the next step 406, occurrences are detected where the corresponding force signal is below the force threshold.

[0114] In the next step 408, the number of occurrences of the corresponding below-threshold force signal is related to the number of occurrences of the corresponding above-threshold force signal.

[0115] A percentage of ground contact for the traveled distance window is calculated in step 410. And an adjustment of the target force according to the calculated percentage is performed in step 412. If the percentage of ground contact for the traveled distance window is less than 95%, then the target force is increased. And, if the percentage of ground contact for the traveled distance window remains at 100%, then the target force is reduced.

[0116] Process 400 additionally comprises step 414, which involves repeating steps 402 through 412.

[0117] The 400 process is particularly advantageous because it allows for automatic adjustment of the target force applied based on real-time data on soil contact. This dynamic adjustment ensures that the contact force is constantly optimized, leading to more precise and uniform force application. This results in better planting quality, with seeds deposited at the correct depth and a lower risk of soil compaction or planting failures, as well as increased operational efficiency and reduced need for manual intervention.

[0118] Another process that occurs in parallel with the others is process 500, which calculates a ground contact signal in an agricultural planting implement 10, where in step 502 the ground contact force is measured in predetermined distance windows, as shown in Figure 6.

[0119] Distance windows are pre-determined distances, set by the factory or the user, to be covered by the agricultural planting implement 10 during planting. Each crop has its own speed. In terms of planting speed, for example, corn is planted at a speed of 4 to 6 km / h, while soybeans or beans are planted at a speed of 6 to 8 km / h.

[0120] Therefore, measuring the ground contact force in distance windows is more efficient than measuring the ground contact force in time windows, since within the same time window, the agricultural planting implement 10 may have exerted more or less force depending on the crop and soil type.

[0121] In step 504, for each of the ground contact force measurements, an evaluation is performed to verify if the value is greater than a predetermined minimum threshold. The minimum threshold value can be predetermined at the factory or by the user.

[0122] In step 506, process 500 counts the measurements that are above the predetermined minimum threshold. Then, in step 508, the number of measurements counted above the minimum threshold is divided by the total number of samples measured.

[0123] Finally, in step 510, a percentage of contact with the ground is generated.

[0124] The 500 process is particularly advantageous due to its ability to precisely quantify and monitor the effectiveness of contact between the agricultural implement and the soil. By continuously measuring the contact force and comparing it to a minimum threshold, the process allows for the identification of areas where contact is insufficient, ensuring a more uniform and effective application of force. This results in improved planting quality, as it ensures that seeds are deposited at the correct depth and that the soil is not improperly compacted, leading to more efficient performance.

[0125] Along with the other processes 100, 200, 300, 400, and 500, a process 600 to calculate a fluctuation signal in an agricultural planting implement 10 is performed, as shown in Figure 7. The signal The floating state indicates that the planting implement 10 is on the verge of floating, is floating, or is too low to cut the soil. Process 600 includes step 602, in which the contact force with the ground is measured at predetermined distance windows.

[0126] Next, in step 604, an evaluation is performed for each of the ground contact force measurements to check if the value is greater than a predetermined minimum threshold.

[0127] In step 606, process 600 counts the measurements that are below the predetermined minimum threshold. Then, in step 608, the number of measurements counted below the minimum threshold is divided by the total number of samples measured. And finally, in step 610, a percentage of fluctuation relative to the ground is generated.

[0128] Process 600 in Figure 7 is particularly advantageous in terms of precision in monitoring and controlling the contact force with the soil. By continuously measuring and evaluating the contact force and comparing it to a predetermined threshold, the process allows for the precise identification of areas where the force is insufficient, enabling quick and efficient adjustments. This results in a more uniform and appropriate application of seeds, improving planting quality and optimizing the use of agricultural resources.

[0129] The present invention also relates to a calibration system for controlling downward force for an agricultural planting implement 10. Wherein the agricultural planting implement 10 comprises a main seed hopper 12 and a plurality of planting rows 11, each planting row 11 comprising a seed metering device 13, which in turn is equipped with an auxiliary seed hopper associated with a main seed box to maintain a constant quantity of seeds as the seeds are planted.

[0130] It should be noted that the main seed reservoir 12 provided for in the present invention may be a central seed box or a gravity seed box, both fixed outside the planting rows 11.

[0131] The calibration system of the present invention comprises a calibration mechanism and a plurality of downward force adjustment mechanisms. The calibration mechanism is associated with all rows of the plurality of rows, and each downward force adjustment mechanism is associated respectively and individually with one row of the plurality of planting rows 11.

[0132] The calibration mechanism described includes an actuation system, which can be a hydraulic or pneumatic actuator with a control valve, or an electric actuator. Furthermore, the invention provides that the hydraulic or pneumatic actuator can be manually adjusted via a control valve. This manual adjustment allows for the simultaneous raising and adjustment of the position of multiple planting rows 11, providing precise and efficient control of the calibration mechanism.

[0133] Furthermore, each downforce adjustment mechanism also comprises an actuating mechanism, wherein the actuating mechanism is either a hydraulic or pneumatic actuator with a control system or an electric actuator. Additionally, each of the downforce adjustment mechanisms individually controls the actuating mechanism of one planting row 11 from the plurality of planting rows 11.

[0134] Furthermore, each downforce adjustment mechanism also includes an actuation system, which can be a hydraulic or pneumatic actuator with a control system, or an electric actuator. The difference is that these downforce adjustment mechanisms individually control the actuation system of each planting row 11 within the Multiple planting rows (11). This allows for precise and specific adjustment of the downward force applied to each row.

[0135] The present invention further provides that, in conjunction with the other processes 100, 200, 300, 400, 500 and 600, a calibration process 700 can be carried out for controlling the downward force of an agricultural implement.

[0136] In step 702, a pre-calibration of an upward force mechanism applied to all row units is defined before any operation of the agricultural implement.

[0137] The pre-defined calibration is adjusted before any operation of the agricultural implement, and can be performed manually or electronically. This calibration can be determined based on the weight of the planting row 11 or the fluctuation of the plurality of planting rows 11, ensuring that the necessary adjustments are made to optimize the equipment's performance.

[0138] It should be noted that the upward force mechanism can be actuated by mechanical, hydraulic, pneumatic, electrical means, or a combination thereof.

[0139] In step 704, a downward force mechanism 17 associated with each row of the plurality of rows is activated, with the activation taking place during the operation of the agricultural implement.

[0140] Additionally, in step 704, the operation of the downward force mechanism 17 is based on parameters obtained during the operation of the agricultural implement; more precisely, the operation of the downward force mechanism 17 is responsive to data obtained by sensors relating to changes in terrain and soil hardness, and is adjusted by electronic means.

[0141] It should be noted that the downward force mechanism 17 can be actuated by mechanical, hydraulic, pneumatic, electrical means or a combination thereof.

[0142] In addition, the present invention also provides that, in conjunction with the other processes 100, 200, 300, 400, 500, 600 and 700, a fluctuation calibration process 800 can be performed. In which, in step 802, an upward force applied by an upward force mechanism applied to all lines is reduced. Sequentially, in step 804, the upward force is gradually increased until a predefined line position range is reached.

[0143] It should be noted that the predefined position range of the line is between the point of being lifted off the ground and being lifted tangent to the ground. More specifically, the predefined position range can be reached at 95% to 105% of the line weight, or the predefined position range can be reached when the reaction force of the depth-limiting wheel 16 is 294.2 N (30 kgf) above zero down to zero.

[0144] Furthermore, the reaction force is obtained by a sensing means associated with the depth limiting wheel 16, the sensing means being an instrumented stop. Thus, process 800 may include a step 806, in which the force applied to the instrumented stops of each planting row 11 is measured during the gradual increase of the upward force.

[0145] The 100, 200, 300, 400, 500, 600, 700, and 800 processes described here are advantageous because they allow the application to adapt to different types of crops and terrains, operating based on distance windows. Furthermore, these methods utilize simpler calculations that allow for more direct and faster responses, facilitating agile and efficient decision-making.

[0146] For figures 10A through 12C, schematic representations of the upward and downward forces applied to the planting lines 11 were used in the form of vertical arrows, where upward arrows (Fu) represent the upward force and downward arrows (Fd) represent the downward force. Furthermore, the presentation of arrows with different sizes represents different applied forces, with larger arrows representing more applied force and smaller arrows representing less applied force.

[0147] Figures 10A to 10C show three schematic representations of a prior art agricultural implement, equipped with an individual seed box 15, a depth limiting wheel 16 and a downward force mechanism 17. In these representations, the prior art agricultural implement is shown in sequential planting moments under different terrain conditions and respective response forces (Fu - upward force and Fd - downward force) of the downward force mechanism 17.

[0148] In Figure 10A, the agricultural implement is positioned in a region of terrain with low undulations, substantially flat. In this situation, the upward force (Fu) and the downward force (Fd) are in an initial equilibrium adjustment to maintain consistent contact of the depth-limiting wheel 16 with the soil, while the individual seed box 15 is full, with the maximum load.

[0149] In Figure 10B, the agricultural implement is positioned in an elevated area of ​​the terrain with half the seed load in the individual seed box 15. In this situation, the upward force (Fu) decreased to compensate for the decreased weight of the seeds and, consequently, the decreased total weight of the row, and the downward force (Fd) increased to balance the force that the soil exerts on the depth-limiting wheel 16.

[0150] In Figure 10C, the agricultural implement is positioned in a region of the terrain over a depression with the seed load in the individual seed box 15 almost empty. In this situation, the upward force (Fu) decreased even further to compensate for the weight of the seeds; consequently, the total weight of the row decreased, and the downward force (Fd) decreased to balance the force that the soil exerts on the depth-limiting wheel 16.

[0151] Figures 11A to 11C show three schematic representations of an agricultural implement of the planter type, equipped with a main seed hopper 12 and an auxiliary seed hopper, a depth limiting wheel 16 and a downward force mechanism 17.

[0152] Figures 12A to 12C show three schematic representations of an agricultural implement of the seeder type, equipped with a main seed reservoir 12 (seed tank), a depth limiting wheel 16 and a downward force mechanism 17.

[0153] In these representations, the agricultural implements according to embodiments of the invention are shown in sequential planting moments under different terrain conditions and respective response forces (Fu - upward force and Fd - downward force) of the downward force mechanism 17.

[0154] In Figure 11A, the agricultural implement is positioned in a region of terrain with low undulations, substantially flat. In this situation, the upward force (Fu) and the downward force (Fd) are in an initial equilibrium adjustment to maintain consistent contact of the depth-limiting wheel 16 with the soil, while the main seed hopper 12 and the auxiliary seed hopper 14 are full, with the maximum load.

[0155] In Figure 11B, the agricultural implement is positioned in an elevated area of ​​the terrain, with half of the seed load in place. main seed hopper 12 and with maximum load in auxiliary seed hopper 14. In this situation the upward force (Fu) is kept constant, since the auxiliary seed hopper 14, which is supported on the planting row 11, maintains the same weight and, consequently, does not alter the total weight of the planting row 11. The downward force (Fd) increased to balance the force that the soil exerts on the depth limiting wheel 16.

[0156] In Figure 11C, the agricultural implement is positioned in a depression in the terrain with the seed load in the main seed hopper 12 almost empty and the auxiliary seed hopper 14 at maximum load. In this situation, the upward force (Fu) remains constant, since the auxiliary seed hopper 14, which is supported on the planting row 11, maintains the same weight and, consequently, does not alter the total weight of the planting row 11. The downward force (Fd) decreased to balance the force that the soil exerts on the depth limiting wheel 16.

[0157] Thus, the present invention is capable of optimizing downforce in no-till planting conditions, both in temperate and tropical and subtropical regions, with or without the use of track cleaners. Furthermore, it seeks to maintain efficiency even in conventional planting conditions, where there is no straw present.

[0158] In view of the above, the present invention also advantageously allows for optimization of the frequency of operation of the downward force system, since it is able to compensate for the weight of the rows with the prior calibration of an upward force, positioning the planting rows 11 in an ideal position to optimize the downward forces in each row.

[0159] Therefore, it can be concluded that the systems and methods of the present invention offer several significant advantages. especially when considering the variables of the application site and environmental conditions.

[0160] One advantage of the present invention is the reduction in the actuator frequency, which minimizes equipment wear, extending its service life and reducing maintenance needs.

[0161] Another advantage is the improved efficiency when planting is done in soils with significant variations and, especially, with mulch between the depth-limiting wheel and the soil. This is a very common situation in temperate, tropical, and subtropical regions, where no-till farming is conventional.

[0162] Furthermore, the present invention offers the advantage of simplifying downward force control and optimizing actuator performance in systems with constant weight planting lines, eliminating the need to compensate for variations in planting line weight during planting. This facilitates operation, making the planting process more efficient and less complex.

[0163] These advantages, taken together, result in more productive and sustainable planting, highlighting the technological innovation applied in agriculture.

[0164] The present invention has been described using examples to divulge the technology, including the best method, and also to enable any person skilled in the art to practice the present invention. The patentable scope of the present invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples shall be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.

Claims

CLAIMS 1. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT (100), wherein the planting implement comprises a plurality of planting rows equipped with a mulch device and a main seed reservoir associated with each planting row of the plurality of planting rows, wherein the method is characterized by comprising the steps of: (a) obtain, through a strain cell, a signal corresponding to a work force measured by a strain sensor (102); (b) filter the signal corresponding to the work force, through a processing unit (104); (c) obtain, through the processing unit, an initial target force value (106); (d) compare, through the processing unit, the corresponding filtered work force signal with the target force (108); (e) adjust, through the processing unit, the work force to approximate the target force (110); and (f) automatically readjust the target force value based on a calculated ground contact parameter (112).

2. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 1, characterized in that step (b) filtering the signal corresponding to the work force is calculated by a moving average.

3. A METHOD FOR CONTROLLING A DOWNWARD FORCE ON A PLANTING IMPLEMENT, according to claim 1, characterized by using a Proportional Integral Derivative (PID) control to achieve the target force.

4. A METHOD FOR CONTROLLING A DOWNWARD FORCE ON A PLANTING IMPLEMENT, according to claim 1, characterized in that the parameter is a percentage of contact with the soil.

5. METHOD FOR CONTROLLING A DOWNWARD FORCE ON A PLANTING IMPLEMENT, according to claim 1, characterized by comprising, prior to step (a), a float calibration step.

6. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 1, characterized in that the planting implement is a planter, wherein each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir.

7. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 1, characterized in that the planting implement is a seeder, wherein the main seed hopper is associated with a seed metering device with a conduit for each planting row.

8. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT (200), wherein the planting implement comprises a plurality of planting rows equipped with a mulch device and a main seed reservoir associated with each planting row of the plurality of planting rows, wherein the method is characterized by comprising the steps of: (a) receive a target force value to use in a control logic (202); (b) read a value from a strain sensor to obtain a working force (204); (c) feed the control logic with a target value and with a workforce (206); (d) automatically readjust the target force value based on a calculated ground contact parameter (208); (e) actuate a valve with a control signal calculated by the control logic to change the applied work force (210); and (f) return to (a) (212).

9. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 8, characterized by further comprising the step of automatically calculating and adjusting the range of values ​​for a control signal generated by the processing unit based on a supply voltage applied to the processing unit, prior to step (c).

10. A METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 8, characterized in that the control logic is a Proportional Integral Derivative (PID) control.

11. METHOD FOR CONTROLLING A DOWNWARD FORCE ON A PLANTING IMPLEMENT, according to claim 8, characterized by comprising, prior to step (a), the float calibration step.

12. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 8, characterized in that the planting implement is a planter, wherein each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir.

13. METHOD FOR CONTROLLING A DOWNWARD FORCE ON A PLANTING IMPLEMENT, according to claim 8, characterized in that the planting implement is a seeder, wherein the The main seed hopper is connected to a seed metering system with a delivery duct for each planting row.

14. METHOD FOR ADJUSTING A DOWNWARD FORCE IN A PLANTING IMPLEMENT (300), wherein the planting implement comprises a plurality of planting rows equipped with a mulch device and a main seed reservoir associated with each planting row of the plurality of planting rows, in which the method is characterized by comprising the steps of: (a) receive a target force value through a processing unit (302); (b) calculate a ground contact parameter from a corresponding work force signal (304); (c) if the ground contact parameter is within a contact tolerance range, return to (a) (306); (d) if the parameter is below the contact tolerance range for a time window and the target force remains below or equal to a user-defined target force limit when applying a force increment, increment the target force by a percentage of the target force previously sought by control logic, and return to (a) (308); (e) if the parameter is at the maximum ground contact value for a time window and the target force remains above the user-defined target force limit when applying a force decrement, decrement the target force by a percentage of the target force previously sought by the control logic, and return to (a) (310).

15. METHOD FOR ADJUSTING A DOWNWARD FORCE ON A PLANTING IMPLEMENT, according to claim 14, characterized in that the tolerance range is between 75% and 99%, and more preferably between 95% and 99%.

16. METHOD FOR ADJUSTING A DOWNWARD FORCE ON A PLANTING IMPLEMENT, according to claim 14, characterized in that the increase / decrease value is a percentage between 0 and 20% of the target force, preferably the increases are made at a percentage of 5% of the target force and the decreases at 3% of the target force.

17. METHOD FOR ADJUSTING A DOWNWARD FORCE ON A PLANTING IMPLEMENT, according to claim 14, characterized by comprising, prior to step (a), the float calibration step.

18. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 14, characterized in that the planting implement is a planter, wherein each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir.

19. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 14, characterized in that the planting implement is a seeder, wherein the main seed reservoir is associated with a seed metering device with a conduit for each planting row.

20. METHOD FOR ADJUSTING A TARGET FORCE SIGNAL IN A PLANTING IMPLEMENT (400), wherein the planting implement comprises a plurality of planting rows equipped with a mulch device and a main seed reservoir associated with each planting row of the plurality of planting rows, wherein the method is characterized by comprising the steps of: (a) obtain a corresponding force signal measured by a strain cell in a traveled distance window (402); (b) compare with a force threshold (404); (c) detect occurrences where the corresponding strength signal is below the threshold (406); (d) relate the number of occurrences of the corresponding below-threshold force signal to the number of occurrences of the corresponding above-threshold force signal (408); (e) calculate a percentage of contact with the ground for the traveled distance window (410); and (f) adjust the target force according to the calculated percentage (412).

21. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 20, characterized in that the planting implement is a planter, wherein each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir.

22. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 20, characterized in that the planting implement is a seeder, wherein the main seed hopper is associated with a seed metering device with a conduit for each planting row.

23. METHOD FOR CALCULATING A GROUND CONTACT SIGNAL IN A PLANTING IMPLEMENT (500), wherein the planting implement comprises a plurality of planting rows equipped with a mulch device and a main seed reservoir associated with each planting row of the plurality of planting rows, wherein the method is characterized by comprising the steps of: a) measuring the ground contact force in predetermined distance windows (502); b) for each of the measurements assessing whether the value is greater than a predetermined minimum threshold (504); c) count the measurements above the minimum threshold (506); d) divide the number of measurements counted above the minimum threshold by the total number of samples (508); ee) generate a percentage of contact with the soil (510).

24. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 23, characterized in that the planting implement is a planter, wherein each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir.

25. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 23, characterized in that the planting implement is a seeder, wherein the main seed hopper is associated with a seed metering device with a conduit for each planting row.

26. METHOD FOR CALCULATING A FLUCTUATION SIGNAL IN A PLANTING IMPLEMENT (600), wherein the planting implement comprises a plurality of planting rows equipped with a mulch device and a main seed reservoir associated with each planting row of the plurality of planting rows, wherein the method is characterized by comprising the steps of: a) measuring the contact force with the soil in predetermined distance windows (602); b) for each of the measurements assessing whether the value is greater than a predetermined minimum threshold (604); c) counting the measurements below the minimum threshold (606); d) dividing the number of measurements counted below the minimum threshold by the total number of samples (608); e) generating a fluctuation percentage (610).

27. METHOD FOR CALCULATING A FLUCTUATION SIGNAL IN A PLANTING IMPLEMENT (600), according to claim 26, characterized in that the planting implement is a planter, wherein each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir.

28. METHOD FOR CALCULATING A FLUCTUATION SIGNAL IN A PLANTING IMPLEMENT (600), according to claim 26, characterized in that the planting implement is a seeder, wherein the main seed reservoir is associated with a seed metering device with a conducting duct for each planting row.

29. CALIBRATION SYSTEM FOR DOWNTIME FORCE CONTROL FOR A PLANTING IMPLEMENT, wherein the planting implement comprises a plurality of planting rows equipped with a straw device and a main seed reservoir associated with each planting row of the plurality of planting rows, the system characterized by comprising: a calibration mechanism associated with all rows of the plurality of rows; a plurality of downward force adjustment mechanisms, wherein each downward force adjustment mechanism is associated respectively with one row of the plurality of rows.

30. CALIBRATION SYSTEM FOR DOWNWARD FORCE CONTROL, according to claim 29, characterized in that the calibration mechanism comprises an actuating mechanism.

31. CALIBRATION SYSTEM FOR DOWNWARD FORCE CONTROL, according to claim 30, characterized in that the actuation mechanism of the calibration mechanism is a hydraulic or pneumatic actuator with a control valve or an electric actuator.

32. CALIBRATION SYSTEM FOR DOWNWARD FORCE CONTROL, according to claim 31, characterized in that the hydraulic or pneumatic actuator of the actuation mechanism is adjustable by a manual control valve.

33. CALIBRATION SYSTEM FOR DOWNWARD FORCE CONTROL, according to claim 31, characterized in that the actuator of the actuation mechanism is adjustable to raise multiple lines simultaneously.

34. CALIBRATION SYSTEM FOR DOWNWARD FORCE CONTROL, according to claim 29, characterized in that each downward force adjustment mechanism comprises an actuating mechanism.

35. CALIBRATION SYSTEM FOR DOWNWARD FORCE CONTROL, according to claim 34, characterized in that the actuation mechanism of each downward force adjustment mechanism is a hydraulic or pneumatic actuator with a control system or an electric actuator.

36. CALIBRATION SYSTEM FOR DOWNWARD FORCE CONTROL, according to claim 35, characterized in that each of the downward force adjustment mechanisms individually controls the actuation mechanism of one line from the plurality of lines.

37. CALIBRATION SYSTEM FOR DOWNWARD FORCE CONTROL, according to claim 29, characterized in that the planting implement is a planter, wherein each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir.

38. CALIBRATION SYSTEM FOR DOWNWARD FORCE CONTROL, according to claim 29, characterized by The planting implement is a seeder, in which the main seed hopper is associated with a seed metering device with a delivery duct for each planting row.

39. CALIBRATION METHOD FOR DOWNWARD FORCE CONTROL OF A PLANTING IMPLEMENT (700), wherein the planting implement comprises a plurality of planting rows equipped with a straw device and a main seed reservoir associated with each planting row of the plurality of planting rows, characterized by comprising the steps of: defining a prior calibration of an upward force mechanism applied to all row units before any operation of the planting implement (702); and actuating a downward force mechanism associated with each row of the plurality of rows (704).

40. CALIBRATION METHOD FOR DOWNWARD FORCE CONTROL, according to claim 39, characterized in that the calibration definition is based on the line weight.

41. CALIBRATION METHOD FOR DOWNWARD FORCE CONTROL, according to claim 39, characterized in that the calibration definition is based on the fluctuation of a plurality of lines.

42. A calibration method for controlling downward force, according to claim 39, characterized in that the calibration is adjusted by either manual or electronic means.

43. A calibration method for controlling downward force, according to claim 39, characterized in that the upward force mechanism is actuated by mechanical, hydraulic, pneumatic, electrical means, or a combination thereof.

44. CALIBRATION METHOD FOR DOWNWARD FORCE CONTROL, according to claim 39, characterized by The step of activating the downward force mechanism must be performed during the operation of the planting implement.

45. CALIBRATION METHOD FOR DOWNWARD FORCE CONTROL, according to claim 39, characterized in that the step of actuating the downward force mechanism is based on parameters obtained during the operation of the planting implement.

46. ​​A calibration method for controlling downward force, according to claim 45, characterized in that the step of actuating the downward force mechanism is responsive to data obtained from sensors relating to changes in terrain and soil hardness.

47. A calibration method for controlling downward force, according to claim 39, characterized in that the step of actuating the downward force mechanism is adjusted by electronic means.

48. A calibration method for controlling downward force, according to claim 39, characterized in that the downward force mechanism is actuated by mechanical, hydraulic, pneumatic, electrical means, or a combination thereof.

49. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 39, characterized in that the planting implement is a planter, wherein each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir.

50. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 39, characterized in that the planting implement is a seeder, wherein the main seed hopper is associated with a seed metering device with a conduit for each planting row.

51. FLOAT CALIBRATION METHOD (800), of a planting implement, wherein the planting implement comprises a plurality of planting rows equipped with a straw device and a main seed reservoir associated with each planting row of the plurality of planting rows, characterized by comprising the steps of: reducing an upward force applied by an upward force mechanism applied to all row units (802); and gradually increasing the upward force until reaching a predefined position range (804).

52. A method for calibrating the float of a planting implement, according to claim 51, characterized by the predefined position range being between the point of being about to lift off the ground and being lifted tangent to the ground.

53. A method for calibrating the float of a planting implement, according to claim 51, characterized in that the predefined position range is reached in the range of 95% to 105% of the weight of the row units.

54. A method for calibrating the float of a planting implement, according to claim 51, characterized in that the predefined position range is reached when a reaction force of the depth-limiting wheel is 294.2 N above zero down to zero.

55. A method for calibrating the float of a planting implement, according to claim 54, characterized in that the reaction force is obtained by a sensing means associated with the depth-limiting wheel.

56. A method for calibrating the fluctuation of a planting implement, according to claim 54, characterized in that the sensing means is an instrumented stop.

57. A method for calibrating the fluctuation of a planting implement, according to claim 51, characterized by further comprising the step of: measuring the force applied to instrumented stops of each row during the gradual increase of the upward force.

58. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 51, characterized in that the planting implement is a planter, wherein each of the planting rows comprises a seed metering device equipped with an auxiliary seed reservoir associated with the main seed reservoir.

59. METHOD FOR CONTROLLING A DOWNWARD FORCE IN A PLANTING IMPLEMENT, according to claim 51, characterized in that the planting implement is a seeder, wherein the main seed reservoir is associated with a seed metering device with a conduit for each planting row.

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