Agricultural trench depth sensing systems, methods, and apparatus

• US 10,455,756 B2
• Filed: 09/01/2017
• Issued: 10/29/2019
• Est. Priority Date: 10/24/2012
• Status: Active Grant

• Current Assignee: Precision Planting LLC (AGCO Corporation)
• Original Assignee: Precision Planting LLC (AGCO Corporation)
• Inventors: Sauder, Derek, Stoller, Jason, Radtke, Ian, Levy, Kent
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Greene, Daniel L
• Application Number:
  US15/694,432
• Publication Number:
  US 20170359944A1
• Time in Patent Office: 788 Days
• CPC Class Codes: A01B 63/111 regulating working depth of implements
• CPC Class Codes: A01B 71/02 Setting or adjusting mechanisms
• CPC Class Codes: A01B 76/00 Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: A01C 5/064 with rotating tools
• CPC Class Codes: A01C 5/068 Furrow packing devices, e.g. press wheels
• CPC Class Codes: A01C 7/203 comprising depth regulation means
• CPC Class Codes: G01B 21/18 for measuring depth
• CPC Class Codes: G01D 5/142 using Hall-effect devices measuring magnetic variables using Hall-effect or other galvanomagnetic devices G01R33/06

Abstract

Systems, methods and apparatus are provided for determining the depth of a trench opened by an agricultural planter. Sensors are provided for detecting the position of a ground-engaging element of the planter such as a gauge wheel or seed firmer of a row unit of the planter. Apparatus and methods are provided for installing such sensors onto a row unit of the planter. Systems, methods and apparatus are provided for controlling downpressure on a row unit based on the trench depth. Methods are provided for mapping trench depth measured by the depth sensors.

Claims

1. A method of measuring actual depth of a trench opened in a soil surface of a field by an opening disc of agricultural row unit, the agricultural row unit including a gauge wheel, the gauge wheel supported by a gauge wheel arm pivotally mounted to a frame of the agricultural row unit, a depth adjustment assembly having a plurality of selectable positions, each of the selectable positions establishing a selected trench depth by limiting an amount of upward travel of the gauge wheel relative to the opening disc, the method of measuring the actual trench depth comprising:

as the agricultural row unit traverses the field with the depth adjustment assembly in one of the selectable trench depth positions, generating a trench depth signal related to an actual trench depth opened in the soil surface by the opening disc;

determining a measured trench depth value based on said trench depth signal;

determining a location of the agricultural row unit in the field based on a GPS signal;

associating said measured trench depth value with said location; and

generating a trench depth map spatially relating a plurality of locations in the field with the measured trench depth at each of said plurality of locations.

2. The method of claim 1, further comprising:

comparing said measured trench depth to the selected trench depth; and

modifying a position of a depth actuator to bring said measured trench depth closer to the selected trench depth.

3. The method of claim 1, further comprising:

comparing said measured trench depth to the selected trench depth; and

modifying a configuration of a downpressure valve to bring said measured trench depth closer to the selected trench depth.

4. The method of claim 1, further comprising:

comparing said measured trench depth to a full depth; and

if said measured trench depth is not equal to a full depth, adjusting the pressure of a downpressure actuator, said downpressure actuator disposed to modify a downpressure applied to the agricultural row unit.

5. The method of claim 4, further comprising:

determining whether said measured depth is less than a zero depth;

if said measured depth is less than the zero depth, adjusting downpressure by a first increment; and

if said measured depth is not less than the zero depth, adjusting downpressure by a second increment, wherein said first increment is different in value from said second increment.

6. The method of claim 1, further comprising:

displaying on a display viewable to a user, said trench depth map.

7. The method of claim 6, wherein said step of determining a measured trench depth value comprises looking up said first depth signal in a calibration dataset.

8. The method of claim 7, wherein said calibration dataset is updated by a calibration process, said calibration process comprising:

recording a first calibration signal while the first gauge wheel arm is in a first known position; and

modifying said calibration dataset based on said first calibration signal.

9. The method of claim 8, wherein said calibration process further comprises:

recording a second calibration signal while said first gauge wheel arm is in a second known position; and

selecting a subset of said calibration dataset based on said second calibration signal.

10. The method of claim 8, wherein said first gauge wheel arm is placed in said first known position by lowering the agricultural row unit onto a surface, wherein said surface is not penetrated by the opening disc of the agricultural row unit.