Method of operating a seedbed preparation or seeding implement coupled to a tractor and related systems

Abstract

A method of operating a seedbed preparation or seeding implement coupled to a tractor includes receiving at least one of as-applied product data and an as-applied map while traversing a field with the tractor and the implement. The method includes determining the at least one of the as-applied product data and the as-applied map for a location of the field in front of the implement and based on the at least one of the as-applied product data and the as- applied map for the location, causing at least one actuator coupled to a toolbar of the implement to lift or lower at least a section of the toolbar at least a preselected time prior to the implement traversing the location. Related systems including an implement coupled to a tractor, and related control systems are also disclosed.

Description

TITLEMETHOD OF OPERATING A SEEDBED PREPARATION OR SEEDING IMPLEMENT COUPLED TO A TRACTOR AND RELATED SYSTEMSCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of the filing date of U.S. Provisional Patent Application 63 / 701,320, "Systems Including Agricultural Implements and Related Methods and Control Systems," filed September 30, 2024, the entire disclosure of which is incorporated herein by reference.FIELD

[0002] Embodiments of the present disclosure relate generally to machines and methods for working agricultural fields. More particularly, embodiments relate to systems including agricultural implements (e.g., planters), to methods of controlling such agricultural implements, and to related control systems.BACKGROUND

[0003] Planting an agricultural field may be performed with a planter including an agricultural implement having planter row units configured to deposit seeds in trenches formed by discs or other mechanisms. The agricultural implement may be towed behind a primary vehicle, such as a tractor. The agricultural implement may include a frame section operably coupled to the tractor with a tow hitch.

[0004] Row units are typically spaced along a toolbar of a planter, which may include multiple sections. For example, a 3-section planter has a center section, a left wing section, and a right wing section, each having several ground-engaging row units. A 3-section planter may have a nominal working width from about 30 feet (9.1 m) to about 40 feet (12.2 m), but can be wider or narrower.

[0005] To transport such a planter along roads, it is helpful to fold the wing sections. For example, the left and right wing sections may each rotate upward from the center section, as depicted in U.S. Patent 11,229,152, "Ground-engaging Implement with Lateral PositionAdjustment," granted January 25, 2022. As another example, the left and right wing sections may fold horizontally rearward of the center section, as depicted in U.S. Patent 4,646,851, "Bi-fold Toolbar," granted March 3, 1987. Furthermore, the left and right wing sections may fold to be above the center section, as shown in U.S. Patent 8,807,236, "Agricultural Implement Incorporating Stack-fold Planter," granted August 19, 2014.

[0006] When the planter enters a field after transport, the wing sections are extended prior to starting planting operations. Similarly, when the planter leaves the field after planting operations, the wing sections are generally folded prior to road transportation. If the agricultural implement is manufactured by a different manufacturer than the tractor, control of certain functions of the agricultural implement from the tractor may be difficult.BRIEF SUMMARY

[0007] According to an aspect of the disclosure, a method of operating a seedbed preparation or seeding implement coupled to a tractor, wherein the implement comprises a frame, a toolbar coupled to the frame and carrying a plurality of row units, and at least one actuator operably coupled to the toolbar. The method comprises, with a task controller carried by the tractor: generating as-applied product data while traversing a field with the tractor and the implement, the as-applied product data indicative of areas of the field to which product has previously been applied; and determining the as-applied product data for a location of the field in front of the implement; and communicating a signal to the implement, the signal based on the as-applied product data generated while traversing the field for the location. The method comprises, with the implement, causing the at least one actuator to lift or lower at least a section of the toolbar responsive to the signal a preselected period of time prior to the implement traversing the location, the preselected period of time corresponding to at least a duration for the at least a section of the toolbar to move from one of a lifted position or a lowered position to the other of the lifted position or the lowered position.

[0008] The method may further include storing the preselected period of time in a memory of the task controller carried by the tractor.

[0009] In some embodiments, the method further comprises receiving section control instructions with the implement after causing the at least one actuator to lift or lower the atleast a section of the toolbar, the section control instructions including instructions to start a planting operation or stop a planting operation at the location.

[0010] In some aspects, generating the as-applied product data comprises generating an as-applied map.

[0011] Communicating the signal to the implement may comprise communicating the signal to the implement based on the as-applied product data. Some embodiments further comprise determining the preselected period of time based on a velocity of the implement.

[0012] Causing the at least one actuator to lift or lower the at least a section of the toolbar may include causing the at least one actuator to lift or lower a wing toolbar and / or causing a first wing toolbar to lift or lower while a second wing toolbar does not lift or lower. In some embodiments, causing the at least one actuator to lift or lower the at least a section of the toolbar comprises causing the at least one actuator to lift or lower an entirety of the toolbar.

[0013] In some embodiments, causing the at least one actuator to lift or lower the at least a section of the toolbar comprises causing the at least one actuator to lift the at least a section of the toolbar when the location comprises a headlands or a boundary of the field.

[0014] In some aspects, causing the at least one actuator to lift or lower the at least a section of the toolbar comprises lifting or lowering a section the toolbar carrying a group of row units.

[0015] Communicating the signal to the implement may include communicating the signal to the implement based on a topography of the location.

[0016] The method may further include causing a seed meter of at least one row unit carried by the toolbar to actuate to start a planting operation.

[0017] In some embodiments, a system for performing an agricultural operation comprises a tractor comprising a task controller, and a seedbed preparation or seeding implement towed by the tractor. The implement comprises a frame, a toolbar coupled to the frame, the toolbar carrying a plurality of row units, at least one actuator operably coupled to the toolbar and configured to control a position of at least a section of the toolbar, and an implement control system. The task controller is configured to generate as-applied productdata of a location of a field in front of the agricultural implement, and communicate a signal to the implement, the signal based on the as-applied product data generated while traversing the field for the location. The implement control system is configured to cause the at least one actuator to lift or lower the at least a section of the toolbar responsive to the signal from the task controller a preselected period of time prior to the implement traversing the location, the preselected period of time corresponding to at least a duration for the at least a section of the toolbar to move from one of a lifted position or a lowered position to the other of the lifted position or the lowered position.

[0018] In some embodiments, the implement control system is configured to cause the implement to start a planting operation or stop a planting operation at the location.

[0019] The implement control system may be configured to cause the implement to start the planting operation or stop the planting operation after causing the at least one actuator to lift or lower the at least a section of the toolbar.

[0020] In some embodiments, causing the at least one actuator to lift or lower the at least a section of the toolbar comprises receiving, at a hydraulic controller, instructions to control a hydraulic fluid pressure of a hydraulic line operably coupled to the at least one actuator.

[0021] The as-applied product data may comprise an as-applied map.

[0022] The implement control system may be configured to cause a seed meter to actuate to start a planting operation.

[0023] In some embodiments, the at least a section of the toolbar comprises a first wing toolbar and a second wing toolbar, and the implement control system is configured to cause the at least one actuator to lift or lower the first wing toolbar and not the second wing toolbar.

[0024] The implement control system may be configured to cause the at least one actuator to lift or lower an entirety of the toolbar.

[0025] In some aspects, the implement control system is configured to cause the at least one actuator to lift or lower the at least a section of the toolbar based, at least in part, on a ground speed of the tractor.

[0026] The system may further include a location sensor in operable communication with the tractor, the location sensor configured to generate location data indicative of a location of the tractor and the implement.BRIEF DESCRIPTION OF THE DRAWINGS

[0027] While the specification concludes with claims particularly pointing out and distinctly claiming what are regarded as embodiments of the present disclosure, various features and advantages may be more readily ascertained from the following description of example embodiments when read in conjunction with the accompanying drawings, in which:

[0028] FIG. 1 is a simplified perspective top-down view of a tractor pulling an agricultural implement;

[0029] FIG. 2 is a simplified side view of a row unit that may be carried by the agricultural implement of FIG. 1;

[0030] FIG. 3 is a simplified side view of another row unit that may be carried by the agricultural implement of FIG. 1;

[0031] FIG. 4 is a simplified rear view of the implement of FIG. 1 in a folded position;

[0032] FIG. 5 is a simplified flow chart illustrating a method of operating the agricultural implement of FIG. 1; and

[0033] FIG. 6 is a schematic of a computer-readable storage medium including processor-executable instructions configured to embody one or more of the methods of controlling a position of a toolbar of the agricultural implement of FIG. 1.DETAILED DESCRIPTION

[0034] The illustrations presented herein are not actual views of any agricultural machine or portion thereof, but are merely idealized representations to describe example embodiments of the present disclosure. Additionally, elements common between figures may retain the same numerical designation.

[0035] The following description provides specific details of embodiments. However, a person of ordinary skill in the art will understand that the embodiments of the disclosure may be practiced without employing many such specific details. Indeed, the embodiments of thedisclosure may be practiced in conjunction with conventional techniques employed in the industry. In addition, the description provided below does not include all elements to form a complete structure or assembly. Only those process acts and structures necessary to understand the embodiments of the disclosure are described in detail below. Additional conventional acts and structures may be used. The drawings accompanying the application are for illustrative purposes only, and are thus not drawn to scale.

[0036] As used herein, the terms "comprising," "including," "containing," "characterized by," and grammatical equivalents thereof are inclusive or open-ended terms that do not exclude additional, unrecited elements or method steps, but also include the more restrictive terms "consisting of" and "consisting essentially of" and grammatical equivalents thereof.

[0037] As used herein, the term "may" with respect to a material, structure, feature, or method act indicates that such is contemplated for use in implementation of an embodiment of the disclosure, and such term is used in preference to the more restrictive term "is" so as to avoid any implication that other, compatible materials, structures, features, and methods usable in combination therewith should or must be excluded.

[0038] As used herein, the term "configured" refers to a size, shape, material composition, and arrangement of one or more of at least one structure and at least one apparatus facilitating operation of one or more of the structure and the apparatus in a predetermined way.

[0039] As used herein, the singular forms following "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0040] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0041] As used herein, spatially relative terms, such as "beneath," "below," "lower," "bottom," "above," "upper," "top," "front," "rear," "left," "right," and the like, may be used for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Unless otherwise specified, the spatially relative termsare intended to encompass different orientations of the materials in addition to the orientation depicted in the figures.

[0042] As used herein, the term "substantially" in reference to a given parameter, property, or condition means and includes to a degree that one of ordinary skill in the art would understand that the given parameter, property, or condition is met with a degree of variance, such as within acceptable manufacturing tolerances. By way of example, depending on the particular parameter, property, or condition that is substantially met, the parameter, property, or condition may be at least 90.0% met, at least 95.0% met, at least 99.0% met, or even at least 99.9% met.

[0043] As used herein, the term "about" used in reference to a given parameter is inclusive of the stated value and has the meaning dictated by the context (e.g., it includes the degree of error associated with measurement of the given parameter).

[0044] As used herein, the term "seedbed preparation or seeding implement" means and includes any implement that, when coupled to a tractor, is configured to prepare an agricultural field and / or plant seeds in an agricultural field. Such implements include tillage implements, strip-till implements, planters, seeders, air seeders, etc.

[0045] As used throughout, ranges are used as shorthand for describing each and every value that is within the range. Any value within the range can be selected as the terminus of the range.

[0046] FIG. 1 illustrates a system 100 that includes a tractor 102 drawing an agricultural implement 104 with row units 200 in a field along a forward direction F. The agricultural implement 104 is pictured as a planter, but may be any seedbed preparation or seeding implement. The agricultural implement 104 may have a frame 106 supported by one or more wheels 108, and a tongue 110 connected at the forward end to a tow hitch 112 of the tractor 102. The frame 106 may carry a material hopper 114 configured to provide material (e.g., product, such as seeds, fertilizer, etc.) to the row units 200. In some embodiments, the material hopper 114 carries seeds.

[0047] The wheels 108 may support substantially all of the weight of the agricultural implement 104, including material in the material hopper 114. In some embodiments, thetractor 102 may support all or a portion of the weight of the agricultural implement 104 via the tow hitch 112 thereon, and the wheels 108 may be omitted. Typically, the row units 200 do not support significant weight of the agricultural implement 104, though the row units 200 may exert a force on the ground during operation. In certain embodiments, the weight of the agricultural implement 104 may be borne by the tow hitch 112 (e.g., if the tow hitch 112 is a 3-point hitch).

[0048] The agricultural implement 104 has a toolbar 115 carrying the row units 200. In the embodiment shown in FIG. 1, the toolbar 115 is divided into three sections: a center toolbar 116 connected to the frame 106, and two wing toolbars 118 connected to opposite lateral ends of the center toolbar 116. In other embodiments, there may be two wing toolbars on the left of the center toolbar 116 and two wing toolbars on the right (i.e., one toolbar connected to the end of another on each side). Each wing toolbar 118 may be coupled to the center toolbar 116 by an intermediate member 124 between the wing toolbar 118 and the center toolbar 116.

[0049] The center toolbar 116 may be configured to move relative to the frame 106 to adjust the position of row units 200 carried by the center toolbar 116 relative to a ground surface. For example, the center toolbar 116 may be connected to the frame 106 as described in U.S. Patent 11,665,989, "Implement Contouring Toolbar," granted June 6, 2023. In some embodiments, actuators 125 couple the frame 106 to the toolbar 115. By way of non-limiting example, the actuators 125 may be coupled to the frame 106 and to the center toolbar 116 and configured to move the center toolbar 116 (and the wing toolbars 118 by extension) relative to the frame 106.

[0050] In addition, the agricultural implement 104 may include at least one actuator configured to facilitate moving a position of one or more sections of the toolbar 115 relative to at least one of the ground, the frame 106, the tongue 110, the tow hitch 112, the tractor 102, and / or one another. The actuators may be configured to lift and lower the toolbar 115 and / or one or more sections of the toolbar 115 independently of one another. Such actuators 125 and motion are described, for example, in International Patent Publication W02023 / 007311 Al, "Planter Implement," published February 2, 2023.

[0051] The actuators may include, for example, an inner actuator 126 coupled to the center toolbar 116 and the intermediate member 124; and outer actuator 128 coupled to one of the wing toolbars 118 and the intermediate member 124. Although FIG. 1 illustrates that the agricultural implement 104 includes a particular configuration of actuators, the disclosure is not so limited. In other embodiments, the agricultural implement 104 includes actuators configured to move at least a section of the toolbar 115 relative to another portion of the agricultural implement 104, the tractor 102, and / or the ground. The actuators 125, 126, 128 may include single rod hydraulic actuators (e.g., a linear-acting, piston and rod assembly), double rod hydraulic cylinders, rotary actuators, or other types of actuators. The actuators 125, 126, 128 may be pneumatic, electric, magnetic, or electromagnetic actuators.

[0052] The row units 200 may be any type of ground-engaging device for planting, seeding, fertilizing, tilling, or otherwise working crops or soil, typically in rows. For example, the row units may be similar to the row units described in U.S. Patent Application 2024 / 0188472 Al, "Agricultural Implements Having Row Unit Position Sensors and at Least One Adjustable Wheel, and Related Control Systems and Methods," published June 13, 2024. As an example, FIG. 2 is a simplified side view illustrating a single row unit 200 in the form of a planter row unit. Each row unit 200 has a body 202 connected to the toolbar 115 (e.g., the center toolbar 116 or one of the wing toolbars 118) by a parallel linkage 204, enabling the row unit 200 to move vertically independent of the toolbar 115. In some embodiments, the body 202 of the row unit 200 may be connected to the toolbar 115 by another structure, such as a rotating arm. The body 202 may be a unitary member, or may include one or more members coupled together (e.g., by bolts, welds, etc.). The body 202 operably supports one or more of a hopper 206, a seed meter 208, a product delivery mechanism 210 (e.g., a seed delivery mechanism), a trench opening assembly 212, a trench closing assembly 214, and / or any other components as known in the art. The row unit 200 shown in FIG. 2 may optionally be a part of a central fill planter, in which case the hopper 206 may be one or more mini-hoppers fed by the material hopper 114 (FIG. 1) carried by the agricultural implement 104. In other embodiments, the material hopper 114 may be omitted, and each row unit 200 may simply use its own hopper 206 alone.

[0053] At least some of the row units 200 may include at least one sensor 216 configured to determine a position of the row unit 200 relative to the ground surface 220 or the toolbar 115. A sensor 218 may be coupled to the parallel linkage 204 and configured to determine the position of the row unit 200 based on the angular rotation of the parallel linkage 204 determined by the sensor 218. As shown in FIG. 2, the sensor 216, 218 may be carried on the body 202 of the row unit 200 itself. In other embodiments, the sensor 216, 218 may be carried by the toolbar 115, the frame 106 of the agricultural implement 104, the tractor 102, or even by another vehicle (e.g., another ground vehicle, an unmanned aerial vehicle, etc.). The sensor 216 may include a non-contact depth sensor, for example, an optical sensor, an ultrasonic transducer, an RF (radio frequency) sensor, lidar, radar, etc. Such sensors are described in, for example, U.S. Patent 10,874,042, "Seed Trench Depth Detection Systems," granted December 29, 2020. The sensors 216, 218 may provide information that can be used to adjust the position of the toolbars 116, 118. In some embodiments, an additional sensor 222 may be configured to detect the position of the toolbar 116, 118 relative to the ground surface 220.

[0054] The agricultural implement 104 traveling through a field in the forward direction F may encounter variations in field elevation and / or slope. The sensors 216, 222, detect the position of the row units 200 and / or the toolbars 116, 118, relative to the ground surface 220, and send signals to the task controller 120 (FIG. 1).

[0055] In use and operation, a supply of seeds is communicated to the seed meter 208. The seed meter 208 discharges individual seeds into the product delivery mechanism 210 at spaced intervals based on the seed population desired and the speed at which the agricultural implement 104 (and the row unit 200) is drawn through the field. The seed drops from the end of the product delivery mechanism 210 into a furrow formed by the trench opening assembly 212. The seeds are then covered with soil by the trench closing assembly 214.

[0056] In some embodiments, the row unit 200 includes a seed sensor 224 configured to determine when a seed passes through the product delivery mechanism 210 and generate a signal indicative of the seed passing through the product delivery mechanism 210. As each seedpasses through the product delivery mechanism 210 past the seed sensor 224, the seed sensor 224 may send a signal (e.g., a pulse) to the task controller 120.

[0057] The row unit 200 may further include a variable rate drive 226 configured to control the rate of seed delivery from the seed meter 208 to the product delivery mechanism 210. The variable rate drive 226 may be controlled based on, for example, a desired seed population and / or the ground speed of the row unit 200.

[0058] While the row units 200 have been described as being configured to provide seeds to the field, the disclosure is not so limited. In some embodiments, the row units 200 are configured to provide solid fertilizer to the field. In addition, while the row units 200 have been described and illustrated as including a particular type of row unit, the disclosure is not so limited. FIG. 3 is an example of another row unit 300 configured to provide product (e.g., seed, fertilizer) to the field. The row unit 300 may be substantially similar to the row unit 200, but may include a first conduit 310 and a second conduit 322 extending through a body 302 of the row unit 300. The first conduit 310 may be configured to carry a solid product (e.g., seeds, solid fertilizer) and provide the solid product to the field. The second conduit 322 may be configured to carry a liquid, such as liquid fertilizer, and provide the liquid to the field through a fluid outlet line 324. A flow sensor 326 may be coupled to the second conduit 322 and configured to measure a flow rate of product flowing through the second conduit 322. The row unit 300 may be coupled to the toolbar 115 by a parallel linkage 304, as described above with reference to the row unit 200.

[0059] With reference back to FIG. 1, a task controller 120, which may include a central processing unit ("CPU"), memory, and graphical user interface ("GUI") (e.g., a touchscreen interface), may be located in the cab of the tractor 102. A global positioning system ("GPS") receiver 122 may be mounted to the tractor 102 and connected to communicate with the task controller 120. The task controller 120 may be configured to control one or more operations of the tractor 102 and / or the agricultural implement 104. The task controller 120 may be configured to communicate with the agricultural implement 104 and / or with each individual row unit 200, such as by wired or wireless communication. In some embodiments,the task controller 120 is in operable communication with the seed sensor 224 and / or the variable rate drive 226.

[0060] The task controller 120 may be in operable communication with an agricultural implement control system 130, such as by wired or wireless communication. The agricultural implement control system 130 may also be referred to herein as an "electronic control unit" (ECU), an "implement controller," or simply a "control system" of the agricultural implement 104). The task controller 120 and the agricultural implement control system 130 may together form a control system 150 configured to facilitate operation of the agricultural implement 104 and the tractor 102. The agricultural implement control system 130 may be configured to control one or more operations of the agricultural implement 104, such as operations of the agricultural implement 104 not directly controlled by the task controller 120. The agricultural implement control system 130 may include and / or be in operable communication with, for example and without limitation, control valves, air valves, electronic control components, magnetic control components, and / or electromagnetic control components. In some embodiments, the agricultural implement control system 130 receives one or more control instructions for controlling one or more operations of the agricultural implement 104 from the task controller 120.

[0061] In some embodiments, the task controller 120 is configured to facilitate control of one or more functions of the agricultural implement 104 based on planned tasks, such as during planting operations. By way of non-limiting example, the task controller 120 may facilitate at least one of section control (also referred to as "swath control"), variable rate seeding (VRS), mapping and data logging, and other functions. In some embodiments, the agricultural implement control system 130 receives one or more of section control instructions, VRS instructions, mapping and data logging instructions, and / or mapping data from the task controller 120.

[0062] In some embodiments, the task controller 120 is configured to facilitate section control, which may reduce overplanting (i.e., planting more seeds than the prescription dictates) and underplanting (i.e., planting fewer seeds than the prescription dictates) during planting operations. Section control may reduce product overlap by reducing or minimizingdouble application of product (e.g., seeds, fertilizer) in areas that have already been covered or are not intended for product, such as waterways, areas outside of field boundaries, or headlands. The section control may facilitate automatic application of product to individual row units 200, 300 and or sections of row units 200, 300 based on an as-applied coverage map and / or data from a guidance system based on the GPS receiver 122.

[0063] In some embodiments, the task controller 120 includes a section controller, such as the system and method for monitoring and controlling seed placement described in U.S. Patent 9,955,625, "Seeding Control System and Method," granted May 1, 2018. By way of non-limiting example, the task controller 120 may be configured to generate an as-applied map of product (e.g., seed, fertilizer) applied to the field (e.g., a seed placement map; also referred to as an "as-applied product map") and / or as-applied product data of locations within the field where product has previously been applied. For example, during planting operations, the task controller 120 may receive location data from the GPS receiver 122 as the tractor 102 and agricultural implement 104 traverse the field. The seed sensor 224 may generate a signal as each seed passes through the product delivery mechanism 210. The task controller 120 may receive the signal from the seed sensor 224 and correlate the signal to the location data from the GPS receiver 122 to determine the geographic location of each seed planted in the field. As each seed passes through the product delivery mechanism 210, the task controller 120 receives a signal (e.g., a pulse) from the seed sensor 224 and location data from the GPS receiver 122 to determine a location of the seed in the field. The location may be determined based on the location data received from the GPS receiver, and the geometry of the tractor 102 and agricultural implement 104, such as the longitudinal distance of the row unit 200, 300 behind the tractor 102 and / or the GPS receiver 122, and the lateral distance of the row unit 200, 300 from the centerline of the tractor 102 and / or from the GPS receiver 122. In some embodiments, the geographic location of each seed in the field may be determined based on the speed of the agricultural implement 104 and / or the row unit 200, 300 and may account for the height of the outlet of the product delivery mechanism 210 and the speed of the agricultural implement 104 and / or the speed of the tractor 102.

[0064] While the task controller 120 has been described as generating the as-applied map and / or the as-applied product data while traversing the field, the disclosure is not so limited. In other embodiments, the task controller 120 receives as-applied data and / or an as-applied map from another location (e.g., a remote location) and / or from another system, and performs section control based on the received as-applied data and / or as-applied map.

[0065] Accordingly, by correlating the signals from the seed sensors 224 of each row unit 200, 300 to the location data from the GPS receiver 122, the task controller 120 may generate the as-applied map and / or as-applied product data during planting operations and / or during fertilization operations. Based on the as-applied map and / or the as-applied product data, the task controller 120 may perform section control wherein the task controller 120 determines locations in in the field in front of the agricultural implement 104 (in the forward direction F) where planting and / or fertilization operations should be performed, task controller 120 may cause the agricultural implement 104 to continue, discontinue, or stop planting or fertilization operations (if already planting or fertilizing) and / or to start planting or fertilization operations (if not already planting or fertilizing). For example, where the task controller 120 determines that a particular section or row unit 200, 300 of the agricultural implement 104 will cross (traverse) an area or section of the field to which product has already been applied and / or an area that falls outside of planting or fertilization boundaries, the task controller 120 may generate a signal, which may be received by the agricultural implement control system 130, to stop planting and / or fertilization operations. In some embodiments, the task controller 120 determines whether a planting and / or fertilization operation performed by each individual row unit 200, 300 and / or by sections (groups) of row units 200, 300 should be continued, stopped, or started depending the location of the respective individual row unit 200 and / or sections of row units 200, 300 relative to the locations of the field to be planted and / or fertilized.

[0066] The task controller 120 and / or the agricultural implement control system 130 may cause individual sections and / or rows (row units 200, 300) of the agricultural implement 104 to turn on or off depending on whether or not product has already been applied to sections of the field to be traversed by the individual sections and / or rows (such as during a previous pass of the agricultural implement 104), whether the individual sections and / or rows willtraverse a boundary of the field, or whether the individual sections and / or rows will enter a headland.

[0067] In some embodiments, the task controller 120 includes a memory including instructions therein, configured to cause the task controller 120 to generate an instruction to start or stop a planting and / or fertilization operation depending on a delay between the row unit 200, 300 receiving the instruction to start and / or stop the operation and starting and / or stopping the operation. In addition, the memory may include instructions to determine the velocity (speed) of the agricultural implement 104. The delay may depend on, for example, the geometry and operation of the row units 200, 300. In some embodiments, the agricultural implement control system 130 receives the instruction from the task controller 120 and causes the variable rate drive 226 or another mechanism of at least one row unit 200, 300 to change an operation thereof. In some embodiments, the agricultural implement control system 130 generates the instruction.

[0068] The agricultural implement control system 130 may include a hydraulic controller 132 configured to control at least one hydraulic line and at least one actuator 125, 126, 128 of the agricultural implement 104. The hydraulic controller 132 may be in operable communication with and configured to control an operation of each of the actuators 125, the inner actuators 126, and the outer actuators 128. In some embodiments, the hydraulic controller 132 includes a power-beyond system. The power-beyond system may include a hydraulic system that facilitates the transfer of hydraulic power from a main hydraulic system of the tractor 102 to the agricultural implement 104. For example, the hydraulic controller 132 may operably connect a primary hydraulic system of the tractor 102 to a hydraulic system and / or hydraulic lines of the agricultural implement 104. In some embodiments, the hydraulic controller 132 includes a hydraulic outlet that is configured to transfer hydraulic power (e.g., hydraulic fluid) to the agricultural implement 104 such as by a hydraulic line.

[0069] In some embodiments, the control system 150 (e.g., the task controller 120 and / or the agricultural implement control system 130) is configured to control a position of at least a portion of the toolbar 115 relative to at least one of the ground, the frame 106, and / or another portion of the toolbar 115. The task controller 120 and / or the agricultural implementcontrol system 130 may control the position of the toolbar 115 based, at least in part, on the current location of the agricultural implement 104 (determined by the GPS receiver 122 and the geometry of the system 100), and at least one of the as-applied map and as-applied product data. In some embodiments, the agricultural implement control system 130 receives instructions from the task controller 120 to control the position of the toolbar 115. For example, the task controller 120 may provide an instruction to the agricultural implement control system 130 to control the position of the toolbar 115, which instruction may be based on the location of the agricultural implement 104 and at least one of the as-applied map and as-applied product data. In some embodiments, the agricultural implement control system 130 receives the location data of the agricultural implement 104 and at least one of the as-applied map and as-applied product data from the task controller 120, and controls the position of the toolbar 115 based on the location of the agricultural implement 104 and at least one of the as- applied map and as-applied product data.

[0070] One or more conditions of the field may be stored in memory of control system 150 (such as in memory of the task controller 120 and / or the agricultural implement control system 130). For example, the memory may include information about the boundaries of the field, locations of headlands, and other properties of the field (e.g., previous as-applied maps and as-applied data, topography of the field, other data). Based on the conditions of the field ahead of the agricultural implement 104, the location of the agricultural implement 104, and the at least one of the as-applied map and / or the as-applied data, the control system 150 (the task controller 120 and / or the agricultural implement control system 130) may determine whether a planting and / or fertilization operation is to be performed at individual sections of the field ahead of the agricultural implement 104 (prior to the agricultural implement 104 traversing such sections). For example, the control system 150 (e.g., the task controller 120 and / or the agricultural implement control system 130) may be configured to "look ahead" and determine whether sections of the field in front of the agricultural implement 104 should be planted and / or fertilized based on the as-applied map and / or the as-applied data. Based on whether different sections of the field ahead of the agricultural implement 104 should be planted and / or fertilized, the agricultural implement control system 130 may control thevertical position of at least a section of the toolbar 115 prior to the agricultural implement 104 traversing the sections of the field. Accordingly, the agricultural implement control system 130 may control the vertical position of at least a section of the toolbar 115 based on the location of the agricultural implement 104 and at least one of the as-applied map and as-applied data of the section of the filed ahead of the agricultural implement 104.

[0071] The agricultural implement control system 130 may be configured to control a vertical position of the at least one the toolbar 115, the frame 106, and / or at least one row unit 200, such as by controlling at least one of the actuators 125, 126, 128. In some embodiments, the agricultural implement control system 130 causes the hydraulic controller 132 to control the position of the toolbar 115. The agricultural implement control system 130 may cause the hydraulic controller 132 to control the operation of the at least one actuator to cause at least a section of the toolbar 115 to lift or lower. The instructions may be based, at least in part, on the current location of the agricultural implement 104 and the as-applied product data and / or the as-applied map for the section of the field ahead of the agricultural implement 104.

[0072] The task controller 120 may be configured to provide the instructions, the as-applied map, and / or the as-applied data to the agricultural implement control system 130 at or before a time prior by a preselected period to the time the agricultural implement 104 traverses a location of the field in the forward direction F of the agricultural implement 104. In other words, the task controller 120 may provide the instructions, the as-applied map, and / or the as-applied data to the agricultural implement control system 130, at or before a time prior to the agricultural implement 104 traversing a location in the filed in the forward direction F of the agricultural implement 104 by a preselected period of time. In some embodiments, the agricultural implement control system 130 receives the instructions, the as-applied map, and / or the as-applied data to control the operation of the at least one actuator before receiving the section control instructions. In some embodiments, the task controller 120 and / or the agricultural implement control system 130 determines whether a location of the field ahead of the agricultural implement 104 should be planted and / or fertilized based on the as-applied data and / or the as-applied map; and the agricultural implement control system 130 causes the toolbar 115 to lift and / or lower (e.g., provide the instructions to the hydraulic controller 132) ator before a time prior to the agricultural implement 104 traversing the location of the field ahead of the agricultural implement 104 by a preselected period of time.

[0073] The preselected period of time may correspond to at least the duration needed for the at least a section of the toolbar 115 to lift or lower. For example, the preselected period of time may correspond to the duration for the at least a section of the toolbar 115 to move from one of a lifted position or a lowered position to the other of the lifted position or the lowered position. The preselected period of time may depend on, for example, the hydraulics of the agricultural implement 104 and the hydraulic load of the hydraulic system of the agricultural implement 104. The preselected period of time may be longer than a delay between the row unit 200, 300 receiving a section control instruction to start and / or stop a planting and / or fertilization operation and execution of the section control instruction. In some such embodiments, the agricultural implement control system 130 causes the toolbar 115 to be lifted or lowered before receiving section control instructions. The preselected period of time may further be based, at least in part, on the velocity (the ground speed) of the agricultural implement 104. For example, the preselected period of time may be greater than the time for the agricultural implement 104 to travel from a current location to the location of the field ahead of the agricultural implement 104 where a planting and / or fertilization operation is to be started and / or stopped.

[0074] In some embodiments, the task controller 120 includes memory including instructions therein to provide the control instructions, the as-applied map, and / or the as- applied data to the agricultural implement control system 130 before the agricultural implement 104 traverses the location. The control instructions may be provided at or before a time prior by the preselected period to the time the agricultural implement 104 traverses the location. In other words, the control instructions may be provided to the agricultural implement control system 130 at least the preselected prior of time before the agricultural implement 104 traverses over the location of the field. The preselected period of time may be stored in the memory of the task controller 120.

[0075] In some embodiments, responsive to determining that the agricultural implement 104 will traverse a location of the field previously treated or a location of the fieldnot to be treated, the agricultural implement control system 130 may receive instructions from the task controller 120 to cause the toolbar 115 to be lifted. Responsive to determining that the agricultural implement 104 will traverse a headland area, the agricultural implement control system 130 may cause the toolbar 115 to be lifted. Similarly, responsive to determining that the agricultural implement 104 will traverse a location of the field that has not previously been treated, the agricultural implement control system 130 may cause the toolbar 115 to lower.

[0076] The agricultural implement control system 130 may be configured to facilitate lifting and / or lowering particular sections of the toolbar 115 including different groups of row units 200, 300. For example, the agricultural implement control system 130 may be configured to independently control the position of each actuator 125, 126, 128 such that different sections of the toolbar 115 are independently lifted and / or lowered. By way of non-limiting example, the agricultural implement control system 130 may be configured cause one wing toolbar 118 to lift and another wing toolbar 118 to lower, such as where one wing toolbar 118 will traverse an area of the field to be treated and another wing toolbar 118 will traverse an area of the field not to be treated. In some embodiments, the agricultural implement control system 130 causes the entire toolbar 115 to lift or lower.

[0077] Responsive to receiving instructions to lift and / or lower at least a section of the toolbar 115, the agricultural implement control system 130 may cause the hydraulic controller 132 to control an operation of at least one actuator (e.g., at least one of the actuator 125, at least one of the inner actuators 126, and / or at least one of the outer actuators 128) to cause at least a section of the toolbar 115 to lift or lower. The hydraulic controller 132 may control a pressure of hydraulic fluid in hydraulic lines operably coupled to the actuator(s) to control a position of the actuator(s) and the position of at least one section of the toolbar 115.

[0078] In some embodiments, the agricultural implement control system 130 is further configured to control the operation of the at least one actuator 125, 126, 128 based on additional map data. The additional map data may include, for example, topographical data of the field. For example, where the agricultural implement 104 and / or a portion of the agricultural implement 104 will traverse a location having a relatively higher topography thanthe toolbar 115, the agricultural implement control system 130 may cause the toolbar 115 and / or a portion of the toolbar 115 to be lifted.

[0079] Accordingly, control system 150 (the task controller 120 and / or the agricultural implement control system 130) may determine the as-applied map data and / or the as-applied data of a location of the field ahead of the agricultural implement 104. Based on the as-applied map data and / or the as-applied data of location, at least a portion of the toolbar 115 may be lifted and / or lowered prior to the at least a portion of the toolbar 115 traversing the location. In some embodiments, after lifting or lowering the at least a portion of the toolbar 115 and prior to the agricultural implement 104 traversing the location of the field, the control system 150 (the task controller 120 and / or the agricultural implement control system 130) may be configured to perform section control. For example, the task controller 120 of the control system 1550 may be configured to cause a row unit 200, 300 to start or stop a planting and / or fertilization operation at the location of the field when the location of the field is traversed by the agricultural implement 104. Individual row units 200, 300 and / or sections of row units 200, 300 may be controlled individually by the task controller 120 and / or the agricultural implement control system 130.

[0080] The task controller 120 and the agricultural implement control system 130 may be configured to facilitate automated control of an agricultural implement, even when the agricultural implement 104 is manufactured by a different manufacturer than the tractor 102. For example, during calibration, the task controller 120 may be programmed to provide the control instructions to the agricultural implement control system 130 to lift and / or lower the at least a portion of the toolbar 115 at or before the time the agricultural implement 104 traverses a location of the field in the forward direction F of the agricultural implement 104 by the preselected period of time. Automatically controlling the lifting and / or lowering of the toolbar 115 may reduce inputs required by the operator of the agricultural implement 104 and the tractor 102, allowing the operator to monitor other operations and performance of the agricultural implement 104.

[0081] FIG. 4 is a simplified rear view of the toolbars 116, 118 in a transport position.Note that because the tractor 102 and the frame 106 of the agricultural implement 104 areomitted from view, the row units 200 are depicted as floating above the ground surface 220. The toolbars 116, 118, are in fact supported by the frame 106 (which is itself supported by the wheels 108 (if present) and / or the tractor 102). In the embodiment shown, the inner actuators 126 rotate the intermediate members 124 to move the wing toolbars 118 over the center toolbar 116. Thus, the vertical position of the toolbar 115 may be controlled by the actuators 126, 128.

[0082] FIG. 5 is a simplified flow chart illustrating a method 500 of operating the agricultural implement. The method 500 includes at least one of receiving and generating at least one of as-applied product data and an as-applied map while traversing a field with an agricultural implement operably coupled to a tractor, as shown in act 502. The agricultural implement may be towed by a tractor, as described above with reference to the agricultural implement 104. In some embodiments, act 502 includes generating an as-applied map as the agricultural implement traverses the field.

[0083] The method 500 may further include providing, to a control system (e.g., task controller 120) of the tractor, a preselected period of time corresponding to the time needed for lifting and / or lowering a toolbar of the agricultural implement, as shown in act 504. The preselected period of time may depend on the particular configuration of the agricultural implement. For example, the preselected period of time may be based on the period of time required for the toolbar move from one of a lifted position or a lowered position to the other of the lifted position or the lowered position.

[0084] The method 500 may further include determining the at least one of the as- applied product data and the as-applied map for a location of the field ahead of the agricultural implement, as shown in act 506. In some embodiments, the control system is configured to determine the at least one of the as-applied product data and the as-applied map for locations of the field that are ahead of the agricultural implement and will not be traversed by the agricultural implement at least for the preselected period of time.

[0085] The method 500 may further include causing at least one actuator operably coupled to the toolbar to lift or lower at least a section of the toolbar based on the location of the agricultural implement, the preselected period of time, and at least one of the as-appliedproduct data and the as-applied map, as shown in act 508. For example, as described above, the position of the toolbar may be changed at or before a time prior to the agricultural implement traversing a location of the field in front of the agricultural implement where a planting or fertilization operation is to be started or stopped by the preselected period of time. In some embodiments, the preselected period of time is longer than a delay to cause a planting or fertilization operation to start or stop.

[0086] In some embodiments, the method 500 optionally further includes performing at least one section control operation, as shown in act 510. The section control operation may be performed after lifting or lowering the at least a section of the toolbar. In some embodiments, the section control operation includes causing the variable rate drive 226 to disperse product to the field at a desired rate.

[0087] Accordingly, the task controller 120 and the agricultural implement control system 130 may facilitate automatic lifting and lowering of the toolbar 115 based on the location of the agricultural implement 104 and at least one of the as-applied map and the as-applied data. Automating the lifting and lowering of the toolbar 115 may allow the operator of the tractor 102 to monitor other aspects of the planting and / or fertilization operation. Furthermore, automating the lifting and lowering of the toolbar 115 may enable to operator to maintain a higher ground speed near boundaries because the operator need not also control the position of the toolbar 115 manually.

[0088] FIG. 6 is a schematic view of a computer device 602. In some embodiments, the task controller 120 and / or the agricultural implement control system 130 includes a computer device such as the computer device 602 of FIG. 6. The computer device 602 may include a communication interface 604, at least one processor 606, a memory 608, a storage device 610, an input / output device 612, and a bus 614. The computer device 602 may be used to implement various functions, operations, acts, processes, and / or methods disclosed herein, such as the method 500.

[0089] The communication interface 604 may include hardware, software, or both. The communication interface 604 may provide one or more interfaces for communication (such as, for example, packet-based communication) between the computer device 602 and one ormore other computing devices or networks (e.g., a server). As an example, and not by way of limitation, the communication interface 604 may include a network interface controller (NIC) or network adapter for communicating with an Ethernet or other wire-based network or a wireless NIC (WNIC) or wireless adapter for communicating with a wireless network, such as a Wi-Fi.

[0090] The at least one processor 606 may include hardware for executing instructions, such as those making up a computer program. By way of non-limiting example, to execute instructions, the at least one processor 606 may retrieve (or fetch) the instructions from an internal register, an internal cache, the memory 608, or the storage device 610 and decode and execute them to execute instructions. In some embodiments, the at least one processor 606 includes one or more internal caches for data, instructions, or addresses. The at least one processor 606 may include one or more instruction caches, one or more data caches, and one or more translation look aside buffers (TLBs). Instructions in the instruction caches may be copies of instructions in the memory 608 or the storage device 610.

[0091] The memory 608 may be coupled to the at least one processor 606. The memory 608 may be used for storing data, metadata, and programs for execution by the processor(s). The memory 608 may include one or more of volatile and non-volatile memories, such as Random-Access Memory ("RAM"), Read-Only Memory ("ROM"), a solid state disk ("SSD"), Flash, Phase Change Memory ("PCM"), or other types of data storage. The memory 608 may be internal or distributed memory.

[0092] The storage device 610 may include storage for storing data or instructions. As an example, and not by way of limitation, storage device 610 may include a non-transitory storage medium described above. The storage device 610 may include a hard disk drive (HDD), Flash memory, an optical disc, a magneto-optical disc, magnetic tape, or a Universal Serial Bus (USB) drive or a combination of two or more of these. The storage device 610 may include removable or non-removable (or fixed) media, where appropriate. The storage device 610 may be internal or external to the storage device 610. In one or more embodiments, the storage device 610 is non-volatile, solid-state memory. In other embodiments, the storage device 610 includes read-only memory (ROM). Where appropriate, this ROM may be mask programmedROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or Flash memory or a combination of two or more of these.

[0093] The storage device 610 may include machine-executable code stored thereon. The storage device 610 may include, for example, a non-transitory computer-readable storage medium. The machine-executable code includes information describing functional elements that may be implemented by (e.g., performed by) the at least one processor 606. The at least one processor 606 is adapted to implement (e.g., perform) the functional elements described by the machine-executable code. In some embodiments the at least one processor 606 may be configured to perform the functional elements described by the machine-executable code sequentially, concurrently (e.g., on one or more different hardware platforms), or in one or more parallel process streams.

[0094] When implemented by the at least one processor 606, the machine-executable code is configured to adapt the at least one processor 606 to perform operations of embodiments disclosed herein. For example, the machine-executable code may be configured to adapt the at least one processor 606 to perform at least a portion or a totality of the method 500 of FIG. 5. As another example, the machine-executable code may be configured to adapt the at least one processor 606 to perform at least a portion or a totality of the operations discussed for the agricultural implement 104 of FIG. 1. As a specific, non-limiting example, the machine-executable code may be configured to adapt the at least one processor 606 to cause the actuators 125, 126, 128 to lift and / or lower the toolbar 115.

[0095] The input / output device 612 may correspond to the input / output device 616 of FIG. 1 and may allow an operator of the agricultural implement 104 to provide input to, receive output from, the computer device 602. The input / output device 612 may include a mouse, a keypad or a keyboard, a joystick, a touch screen, a camera, an optical scanner, network interface, modem, other known I / O devices, or a combination of such I / O interfaces.

[0096] In some embodiments, the bus 614 (e.g., a Controller Area Network (CAN) bus, an ISOBUS (ISO 11783-10 Compliant Implement Control)) may include hardware, software, orboth that couples components of computer device 602 to each other and to external components.

[0097] All references cited herein are incorporated herein in their entireties. If there is a conflict between definitions herein and in an incorporated reference, the definition herein shall control.

[0098] While the present disclosure has been described herein with respect to certain illustrated embodiments, those of ordinary skill in the art will recognize and appreciate that it is not so limited. Rather, many additions, deletions, and modifications to the illustrated embodiments may be made without departing from the scope of the disclosure as hereinafter claimed, including legal equivalents thereof. In addition, features from one embodiment may be combined with features of another embodiment while still being encompassed within the scope as contemplated by the inventors. Further, embodiments of the disclosure have utility with different and various machine types and configurations.

Claims

CLAIMSWhat is claimed is:

1. A method of operating a seedbed preparation or seeding implement coupled to a tractor, the implement comprising a frame, a toolbar coupled to the frame and carrying a plurality of row units, and at least one actuator operably coupled to the toolbar, the method comprising: with a task controller carried by the tractor: generating as-applied product data while traversing a field with the tractor and the implement, the as-applied product data indicative of areas of the field to which product has previously been applied; determining the as-applied product data for a location of the field in front of the implement; and communicating a signal to the implement, the signal based on the as-applied product data generated while traversing the field for the location; and with the implement: causing the at least one actuator to lift or lower at least a section of the toolbar responsive to the signal a preselected period of time prior to the implement traversing the location, the preselected period of time corresponding to at least a duration for the at least a section of the toolbar to move from one of a lifted position or a lowered position to the other of the lifted position or the lowered position.

2. The method of claim 1, further comprising storing the preselected period of time in a memory of the task controller carried by the tractor.

3. The method of claim 1 or claim 2, further comprising receiving section control instructions with the implement after causing the at least one actuator to lift or lower the at least a section of the toolbar, the section control instructions including instructions to start a planting operation or stop a planting operation at the location.

4. The method of any one of claims 1 through 3, wherein generating the as-applied product data comprises generating an as-applied map.

5. The method of any one of claims 1 through 4, wherein communicating the signal to the implement comprises communicating the signal to the implement based on the as- applied product data.

6. The method of any one of claims 1 through 5, further comprising determining the preselected period of time based on a velocity of the implement.

7. The method of any one of claims 1 through 6, wherein causing the at least one actuator to lift or lower the at least a section of the toolbar comprises causing the at least one actuator to lift or lower a wing toolbar.

8. The method of any one of claims 1 through 7, wherein causing the at least one actuator to lift or lower the at least a section of the toolbar comprises causing a first wing toolbar to lift or lower while a second wing toolbar does not lift or lower.

9. The method of any one of claims 1 through 7, wherein the causing the at least one actuator to lift or lower the at least a section of the toolbar comprises causing the at least one actuator to lift or lower an entirety of the toolbar.

10. The method of any one of claims 1 through 9, wherein causing the at least one actuator to lift or lower the at least a section of the toolbar comprises causing the at least one actuator to lift the at least a section of the toolbar when the location comprises a headlands or a boundary of the field.

11. The method of any one of claims 1 through 10, wherein causing the at least one actuator to lift or lower the at least a section of the toolbar comprises lifting or lowering a section the toolbar carrying a group of row units.

12. The method of any one of claims 1 through 11, wherein communicating the signal to the implement comprises communicating the signal to the implement based on a topography of the location.

13. The method of any one of claims 1 through 12, further comprising causing a seed meter of at least one row unit carried by the toolbar to actuate to start a planting operation.

14. A system for performing an agricultural operation, the system comprising: a tractor comprising a task controller; a seedbed preparation or seeding implement towed by the tractor, comprising: a frame; a toolbar coupled to the frame, the toolbar carrying a plurality of row units; and at least one actuator operably coupled to the toolbar and configured to control a position of at least a section of the toolbar; an implement control system; wherein the task controller is configured to: generate as-applied product data of a location of a field in front of the agricultural implement; and communicate a signal to the implement, the signal based on the as-applied product data generated while traversing the field for the location; and wherein the implement control system is configured to cause the at least one actuator to lift or lower the at least a section of the toolbar responsive to the signal from the task controller a preselected period of time prior to the implement traversing the location, the preselected period of time corresponding to at least a duration for the at least asection of the toolbar to move from one of a lifted position or a lowered position to the other of the lifted position or the lowered position.

15. The system of claim 14, wherein the implement control system is configured to cause the implement to start a planting operation or stop a planting operation at the location.

16. The system of claim 15, wherein the implement control system is configured to cause the implement to start the planting operation or stop the planting operation after causing the at least one actuator to lift or lower the at least a section of the toolbar.

17. The system of any one of claims 14 through 16, wherein causing the at least one actuator to lift or lower the at least a section of the toolbar comprises receiving, at a hydraulic controller, instructions to control a hydraulic fluid pressure of a hydraulic line operably coupled to the at least one actuator.

18. The system of any one of claims 14 through 17, wherein the as-applied product data comprises an as-applied map.

19. The system of any one of claims 14 through 18, wherein the implement control system is configured to cause a seed meter to actuate to start a planting operation.

20. The system of any one of claims 14 through 19, wherein: the at least a section of the toolbar comprises a first wing toolbar and a second wing toolbar; and the implement control system is configured to cause the at least one actuator to lift or lower the first wing toolbar and not the second wing toolbar.

21. The system of any one of claims 14 through 19, wherein the implement control system is configured to cause the at least one actuator to lift or lower an entirety of the toolbar.

22. The system of any one of claims 14 through 21, wherein the implement control system is configured to cause the at least one actuator to lift or lower the at least a section of the toolbar based, at least in part, on a ground speed of the tractor.

23. The system of any one of claims 14 through 22, further comprising a location sensor in operable communication with the tractor, the location sensor configured to generate location data indicative of a location of the tractor and the implement.

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