Controlling an agricultural vehicle based on sensed inputs

• US 9,883,626 B2
• Filed: 10/02/2015
• Issued: 02/06/2018
• Est. Priority Date: 10/02/2015
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Heim, Brianna L., Graham, Charles T., Peterson, James R., Landphair, Donald, Liu, James Z.
• Primary Examiner(s): Dager, Jonathan M
• Application Number:
  US14/874,211
• Publication Number:
  US 20170094894A1
• Time in Patent Office: 858 Days
• Field of Search: None
• CPC Class Codes: A01C 21/005 Following a specific plan, e.g. pattern
• CPC Class Codes: A01C 5/064 with rotating tools
• CPC Class Codes: A01C 7/102 Regulating or controlling the seed rate
• CPC Class Codes: A01C 7/105 Seed sensors
• CPC Class Codes: A01C 7/203 comprising depth regulation means
• CPC Class Codes: A01C 7/205 comprising pressure regulation means
• CPC Class Codes: B60W 2300/152 Tractors
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/18 Propelling the vehicle

Abstract

A variable is sensed that is indicative of a performance of a machine. A rate of change of the sensed variable is determined, and a control signal is generated for controlling an agricultural vehicle, based upon the rate of change in the value of the sensed variable.

Claims

1. A control system for controlling an agricultural machine, comprising:

a rate of change identifier component that receives a force sensor signal from a force sensor on a machine, the received force sensor signal being indicative of a sensed variable force imparted by the machine, and wherein the rate of change identifier component is configured to identify a rate of change of the sensed variable force, wherein the rate of change is identified based on a first received force sensor signal received at a first time and a second received force sensor signal received at a second time, wherein the second time is different from the first time, and the rate of change is based on a difference between the first and second received force sensor signals; and

a control signal generator component that generates a set of control signals that control a subsystem on the agricultural machine, wherein the set of control signals is generated based on the identified rate of change of the sensed variable force.

2. The control system of claim 1 wherein the machine that has the force sensor comprises the agricultural machine and comprises a self-propelled agricultural machine with a propulsion subsystem, the control signal generator component generating the set of control signals to control the propulsion subsystem on the self-propelled agricultural machine.

3. The control system of claim 1 wherein the machine that has the force sensor comprises a towed implement, towed by a towing vehicle, and wherein the agricultural machine comprises the towing vehicle.

4. The control system of claim 3 wherein the control system is located on the towed implement and has a communication link with a subsystem controller on the towing vehicle, the subsystem controller controlling the subsystem on the towing vehicle based on the set of control signals.

5. The control system of claim 3 wherein the control signal generator generates a speed control signal to control a propulsion subsystem of the towing vehicle to control a speed of the towing vehicle based on the identified rate of change of the sensed variable force.

6. The control system of claim 3 wherein the towed implement comprises a planting machine comprising:

a row unit that has a set of gauge wheels and wherein the force sensor signal is indicative of a characteristic of contact between the set of gauge wheels and ground over which they are traveling.

7. The control system of claim 6 wherein the row unit comprises:

a down force actuator that applies a down force to the row unit, and wherein the force sensor signal is indicative of the down force applied by the down force actuator, the rate of change identifier component identifying the rate of change of the down force applied by the down force actuator.

8. The control system of claim 3 wherein the towed implement comprises a planting machine and further comprising:

a seed sensor system that generates a seed sensor signal indicative of a seed spacing of seed being planted by the planting machine, the rate of change identifier component identifying a rate of change of the seed spacing.

9. The control system of claim 3 wherein the towed implement comprises a planting machine that generates a seed trench, and further comprising:

a seed trench depth sensor that generates a seed depth sensor signal indicative of a depth of the seed trench, the rate of change identifier component identifying a rate of change of the sensed depth of the seed trench.

10. The control system of claim 3 wherein the towed implement comprises a planting machine that plants seeds in soil, and wherein the sensor comprises:

a seed-to-soil contact sensor that generates the force sensor signal indicative of a variable indicative of a characteristic of seed-to-soil contact, the rate of change identifier component identifying a rate of change of the sensed variable.

11. The control system of claim 10 wherein the planting machine comprises:

a closing wheel that exerts a closing wheel down force on soil over which it is traveling to close a seed trench, and wherein the seed-to-soil contact sensor comprises a closing wheel down force sensor that generates the force sensor signal indicative of the closing wheel down force, the rate of change identifier component identifying a rate of change of the sensed closing wheel down force.

12. The control system of claim 1 and further comprising:

a soil moisture sensor that generates a moisture sensor signal indicative of soil moisture, the rate of change identifier component identifying a rate of change of the sensed soil moisture.

13. The control system of claim 3 wherein the towed implement comprises a planting machine and wherein the towing vehicle has an operator input mechanism that receives an operator override input overriding the set of control signals, the control signal generator component being configured to generate a set of planting machine control signals to control a subsystem on the planting machine based on the operator override input.

14. The control system of claim 3 wherein the control system is located on the towing vehicle.

15. A computer implemented method of controlling a towing vehicle that tows a planting machine, the method comprising:

receiving an acceleration sensor signal indicative of a sensed acceleration of a portion of the planting machine from an acceleration sensor;

identifying a rate of change of the sensed acceleration based on a first received acceleration sensor signal received from the acceleration sensor at a first time and a second received acceleration sensor signal received from the acceleration sensor at a second time, wherein the second time is different from the first time, and the rate of change is based on a difference between the first and second received acceleration sensor signals;

generating a set of control signals based on the identified rate of change of the sensed acceleration; and

controlling a subsystem on the towing vehicle based on the set of control signals.

16. The computer implemented method of claim 15 wherein generating a set of control signals comprises:

generating a speed control signal, and wherein controlling comprises controlling a propulsion subsystem of the towing vehicle to control a speed of the towing vehicle based on the identified rate of change of the sensed acceleration.

17. The computer implemented method of claim 16 wherein the planting machine includes a row unit with a down force actuator that applies a down force to the row unit, and further comprising receiving a force sensor signal indicative of the down force applied by the down force actuator;

and

identifying a rate of change of the down force applied by the down force actuator.

18. The computer implemented method of claim 15 wherein the planting machine comprises a closing wheel that exerts a closing wheel down force on soil over which it is traveling to close a seed trench, and further comprising receiving a force sensor signal indicative of the closing wheel down force and wherein identifying a rate of change further comprises:

identifying a rate of change of the sensed closing wheel down force.

19. An agricultural machine, comprising:

a propulsion system that drives the agricultural machine at a controllable travel speed; and

a control system comprising;

a rate of change identifier component that receives a seed spacing sensor signal from a seed sensor, the received seed spacing sensor signal being indicative of a sensed seed spacing, and wherein the rate of change identifier component is configured to identify a rate of change of the sensed seed spacing based on a first received seed spacing sensor signal received from the seed sensor at a first time and a second received seed spacing sensor signal received from the seed sensor at a second time, wherein the second time is different from the first time, and the rate of change is based on a difference between the first and second received seed spacing sensor signals; and

a control signal generator component configured to, based on the identified rate of change of the sensed seed spacing, generate a speed control signal that controls the propulsion system to control travel speed of the agricultural machine, such that the travel speed is, at least in part, based on the identified rate of change of the sensed seed spacing.

20. The agricultural machine of claim 19 wherein the rate of change identifier component is configured to receive a trench depth sensor signal indicative of a sensed trench depth of a trench into which seeds are placed and to identify a rate of change of the sensed trench depth based on the trench depth sensor signal, the control signal generator being configured to generate a control signal based, at least in part, on the rate of change of the sensed trench depth.