• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    SYSTEM TO REDUCE THE VIBRATION OF A ROW UNIT IN AN AGRICULTURAL IMPLEMENT AND METHOD TO CONTROL THE PERFORMANCE OF AN AGRICULTURAL IMPLEMENT IT IS ABOUT A METHOD AND A SYSTEM TO CONTROL THE OPERATION OF A TRACTOR AND / OR A AGRICULTURAL TRACTOR IMPLEMENT. A VIBRATION SENSOR IS ASSEMBLED IN THE AGRICULTURAL IMPLEMENT TO DETECT THE MAGNITUDE OF VIBRATION OR REBATE, IN THE AGRICULTURAL IMPLEMENT. DUE TO THE FACT THAT THE MAGNITUDE OF VIBRATION IS A FUNCTION OF DIFFERENT OPERATING PARAMETERS THAT INCLUDES, BUT WITHOUT LIMITATION, THE SPEED AT WHICH THE TRACTOR IS ON THE ROUTE AND THE DOWN PRESSURE APPLIED TO THE AGRICULTURAL IMPLEMENT, ONE OR MORE SENSORS TO MONITOR THESE OPERATING PARAMETERS. EACH OF THE SENSORS GENERATES A SIGNAL FOR REPAIR AND TRANSMITS THE SAME TO THE CONTROLLER. THE CONTROLLER IS CONFIGURED TO GENERATE A REFERENCE SIGNAL TO CONTROL AN ACTUATOR AS A FUNCTION OF THE VIBRATION MAGNITUDE AND THE MEASURED OPERATION PARAMETER. THE ACTUATOR THAT RECEIVES THE REFERENCE SIGNAL IS CONFIGURED TO CONTROL THE OPERATION OF THE TRACTOR OR THE AGRICULTURAL IMPLEMENT TO REDUCE THE MAGNITUDE OF VIBRATION.
    公开号:BR112015016311B1
    申请号:R112015016311-4
    申请日:2013-09-20
    公开日:2020-12-08
    发明作者:Trevor Kowalchuk
    申请人:CNH Industrial Canada, LTD；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION
    [001] The matter disclosed in this document refers, in general, to agricultural implements towed behind a tractor and, in particular, to the automatic control of the tractor and / or the agricultural implement as a function of the vibration detected in the fixed implement. BACKGROUND OF THE INVENTION
    [002] A type of planting implement, sometimes called a pneumatic drill, is towed behind a tractor and is commonly equipped with one or more row units. The row units are attached to the pneumatic drill frame by individual connections or arms that allow the row units to operate independently of each other. This “independence” allows the row unit to respond independently to changes in terrain and field obstructions, for example, by moving in a vertical direction.
    [003] Each row unit includes, for example, a grounding device such as a point, a rod or a coulter disk to make a groove in a field, a product distribution system for distributing the product to the field and a closing system to put dirt on the product in the field. The grounding device opens a groove or ditch in the soil in which seed and / or fertilizer is deposited. The seed and / or fertilizer is measured from an air cart, also towed behind the tractor and powered by a pneumatic system for the pneumatic drill. In the pneumatic drill, the seed is distributed in individual rows and poured through a tube in the open trench by the grounding device. Each row unit may additionally include closing discs to push the soil displaced by the earth plugging device back into the ditch, covering the seed and / or fertilizer, as the closing discs pass. A bypass wheel or a grouped packing wheel set then packs the soil above the seed and / or fertilizer. The amount of packing pressure applied to the drag wheel (packer) can be adjusted by a spring that influences the drag wheel (packer) against the field.
    [004] When the grounding device is a coulter disk, each coulter disk in the row unit generally has a flat construction that is rotated a few degrees, for example, 7 degrees, around a geometric axis vertical. As the coulter disk is pulled through the soil, the main surface of the coulter disk displaces the soil and creates a groove in the soil. Downward pressure on the coulter disk is provided by a spring, an air pocket or a hydraulic cylinder to retain the coulter disk at a desired furrow depth, for example, desired seeding depth. The depth at which the coulter disc grooves in the ground is controlled by a regulating wheel that works relatively close to the coulter disc. In addition to its depth control function, for some disc drills, placing the regulating wheel close to the coulter disc also helps to keep the disc surface clean from soil, mud or accumulation of debris. The regulating wheel passes over the soil displaced by the coulter disk as the groove is opened to prevent the displaced soil from being released.
    [005] The document US2011184551A1 describes an agricultural implement system with a row unit that is configured to deposit seeds inside the soil. The farm implement system also includes a bounce sensor sensor rigidly attached to the row unit and is configured to emit a signal that indicates the bounce magnitude, the bounce direction, or the combination of these row unit parameters.
    [006] It is desirable to maintain a uniform distribution of seed and / or fertilizer. The operator sets up the metering system to deliver the seed from the air cart at a desired rate of distribution to achieve a desired seed spacing in each row. However, it is known that rough or uneven ground can cause vibration or rebound in row units, resulting in uneven seed distribution or excessive variation in the depth of the furrow and / or the amount of soil packed over the furrow. Thus, it is desirable to control the operation of the tractor and the towed implement to minimize the amount of vibration in the row units. DESCRIPTION OF THE INVENTION
    [007] The present invention provides a method for controlling the operation of a tractor and / or an agricultural implement that is towed by the tractor to improve the performance of the agricultural implement. The agricultural implement has a first frame member coupled to a hitch member and a plurality of row units are pivotally connected to the first frame member. A vibration sensor is rigidly mounted in the respective row units of the plurality of row units of the agricultural implement to detect the vibration magnitude of the respective row unit, or rebate, present in the agricultural implement. The vibration sensor generates a feedback signal corresponding to the vibration magnitude and transmits it to a controller. Due to the fact that the vibration magnitude is a function of several operating parameters, including, but not limited to, the tractor's engine speed, the speed at which the tractor is traveling and the downward pressure applied to the implement, one or more additional sensors are provided to monitor these operating parameters. Each additional sensor generates a feedback signal corresponding to the operating parameter that is monitored and transmits it to the controller. The controller is configured to generate a reference signal used to control an actuator as a function of the magnitude of vibration and the operating parameter. The actuator is operationally connected to the controller and the engine, and is configured to control the engine speed and additional aspects of the tractor and / or implement operation to reduce the magnitude of vibration in the implement.
    [008] In accordance with an embodiment of the invention, a method for controlling the performance of an agricultural implement is disclosed. The farm implement has a plurality of row units and is configured to be towed behind a tractor. The method includes the steps of receiving an initial command on a controller from one of an operator and a parameter stored on a memory device, generating a reference signal from the controller to an actuator configured to control at least one parameter of operation of the implement as a function of the initial reference command, receiving a first feedback signal to the controller from a vibration sensor mounted in one of the row units, receiving a second feedback signal to the controller from a sensor process corresponding to the operation parameter of the agricultural implement that is controlled by the initial reference command and generate a modified reference signal from the controller to the actuator. The reference signal is transmitted to an actuator to control the operating parameter.
    [009] According to the invention, the controller can be mounted on the tractor. The process sensor is configured to generate the second feedback signal corresponding to a speed at which the implement is moving, and the actuator is a regulator member that controls the speed of an engine on the tractor. Optionally, the controller is mounted on the implement. Each row unit includes both a hydraulic cylinder and a pneumatic cylinder that apply downward pressure on the corresponding row unit. The process sensor is configured to generate the second feedback signal corresponding to the down pressure, and the actuator is a solenoid that controls the operation of the pneumatic cylinder or hydraulic cylinder.
    [010] Other objectives, resources, aspects and advantages of the invention will become more apparent to those skilled in the art from the detailed description and attached drawings below. It should be understood, however, that the detailed description and specific examples, while indicating preferred embodiments of the present invention, are given by way of illustration and not by way of limitation. Many changes and modifications can be made within the scope of the present invention without departing from its spirit and the invention includes all of these modifications. BRIEF DESCRIPTION OF THE DRAWINGS
    [011] Preferred exemplary embodiments of the invention are illustrated in the accompanying drawings in which similar reference numerals represent similar parts throughout the description.
    [012] In the drawings: Figure 1 is an illustrated view of an agricultural system comprised, generally, of a tractor, an air cart and a pneumatic drill; Figure 2 is an isometric view of an exemplary planter row unit for the pneumatic drill of Figure 1 that incorporates an accelerometer, according to an embodiment of the invention; Figure 3 is a partial perspective view of the exemplary row unit in Figure 2; Figure 4 is a block diagram representation of an exemplary tractor control system and the pneumatic drill of Figure 1, according to an embodiment of the invention; and Figure 5 is a flow chart illustrating the steps to control the operation of a portion of the agricultural system, according to the method according to an embodiment of the invention.
    [013] The drawings provided with this document illustrate a preferred construction of the present invention in which the above advantages and features are clearly revealed as well as others that will be readily understood from the following description of the illustrated embodiment. DESCRIPTION OF ACCOMPLISHMENTS OF THE INVENTION
    [014] The various details of the advantages and resources of the material disclosed in this document are explained more fully with reference to the non-limiting achievements described in detail in the description below.
    [015] Referring now to the drawings and, more particularly, to Figure 1, an agricultural seeding system 10 is shown and is generally comprised of a towing vehicle, such as a tractor 12, an air cart 14 and a pneumatic drill 16. The air cart 14 is attached to the tractor 12 and the pneumatic drill 16 is attached to the air cart 14 by means of a suitable coupling member, such as a ball, hook or other coupling. The pneumatic drill 16 includes at least one frame member, such as a tool bar 18, which is coupled to the coupling member and a plurality of row units 20 coupled to the tool bar 18. According to an embodiment of the invention , each row unit 20 is configured to open a furrow in the soil, distribute the product, such as seed and / or fertilizer, in the furrow, and to close the furrow over the distributed product. As used in this document, a row unit is any plug-in unit of an agricultural implement. Variant numbers and configurations of row unit 20 can be used without departing from the scope of the invention. Similarly, each row unit 20 can be attached both rigidly and pivotally to the frame of the pneumatic drill 16.
    [016] Next, referring to Figure 2, the row unit 20 includes multiple arms 21 of a link assembly 19 configured to mount the row unit 20 to the toolbar 18. The link assembly 19 is configured to allow vertical movement of each row unit 20 to account for uneven terrain while maintaining a desired downward force so that row unit 20 remains in contact with the ground. A tilt member 23 extends between a mounting bracket 22 and a lower arm 21 of the link assembly 19 which establishes downward force on the row unit 20. As shown, the tilt member 23 is a spring, which exerts a constant downward force. An adjustment bracket (not shown) can be used to partially compress the spring to vary the amount of downward force applied by the spring. Optionally, the tilt member 23 may include a hydraulic cylinder or pneumatic cylinder used instead of, or in cooperation with, the spring. The hydraulic cylinder or pneumatic cylinder can be dynamically controlled to vary the downward force applied to the row unit 20.
    [017] The row unit 20 is configured to support various elements of the row unit 20 according to the configuration of the implement being towed. A chassis 24 and a frame 26 are pivotally mounted on the link assembly 19 and configured to receive the various elements of the row unit 20. As shown, each row unit 20 includes a coulter set 28, a seed tube 42, a ground closure assembly 30 and packaging assembly 32. It is contemplated that various other configurations of the row unit 20 can be used without departing from the scope of the invention. Coulter set 28 includes a regulator wheel 34 connected to the chassis 24 by means of an arm 36. Referring also to Figure 3, coulter set 28 also includes a coulter disk 48 configured to excavate a groove, or a ditch, in the ground. The regulator wheel 34 engages the surface with the field and the height of the coulter disk 48 is adjusted in relation to the position of the regulator wheel 34 to define the desired depth of the groove that is excavated. The coulter assembly additionally includes a stabilization point 50 and a scraper 51. The stabilization point 50 is configured to be extracted through the groove created by the coulter disk 48, to press the soil at the bottom of the groove and to establish a shape in V consistent in which the seeds are placed. The scraper 51 engages the coulter disk 48 to remove the soil attached to the disk 48, as the coulter disk 48 rotates beyond the scraper 51.
    [018] The seed tube 42 receives the product, such as a seed and / or fertilizer, measured from the air cart 14 for distribution in the grooves created by the coulter set 28. A pneumatic distribution system blows the product from the air cart 14 to the pneumatic drill 16 using a hose set 15 (see Figure 1). Hoses 15 can be rotated directly to each row unit 20 or by means of one or more collectors and additional distribution hoses on the pneumatic drill 16. The product is delivered to the inlet 52 of each seed tube 42 and dispensed at the outlet 56 of each seed tube 42 in the groove created by the coulter assembly 28. Optionally, an optical sensor 60 can detect the delivered product via the seed tube. Optical sensor 60 generates a signal corresponding to the product that passes through sensor 60, which is transmitted via a communication bus back to a controller 70 (see also Figure 4) on tractor 12. The communication bus is established through of a network medium, or a cable, 44 routed between each row unit 20 and back to controller 70.
    [019] After placing the seed in each groove, the closing assembly 30 and the packaging assembly 32 move the soil back over the planted seed. The closing discs 38 of the closing assembly 30 are configured to push the excavated soil back over the groove dug by the coulter assembly 28. The packaging wheel 40 of the packaging assembly 32 repackages the soil over the seed. Thus, the illustrated row unit 20 is configured to distribute seeds and / or fertilizer evenly in rows in the field.
    [020] Next, referring to Figure 4, a realization of a control system for tractor 12 and pneumatic drill 16 is revealed. Tractor 12 includes a first controller 70 configured to execute one or more program modules stored in a memory device 72. Controller 70 provides information to an operator, and receives information from it, through a user interface 74, such as a touchscreen display. Optionally, user interface 74 may refer to one or more other devices that include, but are not limited to, a keyboard, joystick, pedals, push buttons, switches, displays or combinations thereof. Controller 70 is configured to communicate with other devices via a network interface 76 and the network means 44 associated with the network. Tractor 12 can include a number of process sensors that provide feedback signals to controller 70 corresponding to various tractor operating parameters. A speed sensor 82, such as a tachometer on the engine or a wheel speed sensor is illustrated as a representative process sensor. Controller 70 generates a reference signal 77 for an actuator 78 that controls the speed of motor 80. Actuator 78 can be, for example, a regulator connection that increases or decreases the revolutions per minute (RPM) of motor 80. O speed sensor 82 monitors the speed of tractor 12 and transmits a feedback signal 84 corresponding to the speed of the tractor to controller 70.
    [021] Pneumatic drill 16, which represents an exemplary agricultural implement, includes a second controller 100. Controller 100 on the pneumatic drill is similarly configured to run one or more program modules stored in memory device 102. Controller 100 is configured to communicate with each row unit 20 by means of appropriate network means 44. The pneumatic drill 16 and / or each row unit 20 may include numerous process sensors that provide feedback signals to controller 100 corresponding to various parameters of operation of pneumatic drill 16 and / or each row unit 20. A pressure sensor 114 is illustrated as a representative process sensor. Controller 100 generates a reference signal, transmitted via network means 44 to an actuator 110 that controls the operation of a hydraulic cylinder or pneumatic cylinder 112. Actuator 110 can be, for example, a solenoid that opens or closes a valve to supply air or hydraulic fluid to the cylinder112. The pressure sensor 114 detects the pressure of air or hydraulic fluid supplied to the cylinder, which corresponds to a downward force applied by the cylinder that engages the row unit 20 to the ground. A vibration sensor 65, such as an accelerometer, is mounted on each row unit 20 to detect a magnitude of vibration, or rebound, present in each row unit 20. Optionally, a single vibration sensor 65 can be mounted on the pneumatic drill 16, for example, on tool bar 18. According to yet another embodiment of the invention, the multiple vibration sensors 65 can be separated into selected row units 20 to detect vibration in various sections of the pneumatic drill 16 instead to be mounted on each row unit 20. As shown, the individual devices are connected to the network means 44 in a daisy-chain configuration. It is contemplated that a star topology, individual conductors or a combination thereof can be used without departing from the scope of the invention. It is further contemplated that numerous configurations of controllers 70 and 100, memory 72 and 102, network interfaces 76 and 104 and network means 44 can be deployed without departing from the scope of the invention. For example, a single controller 70 can be provided on tractor 12 and communicate directly with vibration sensor 65, process sensor 114 and actuator 110 on pneumatic drill 16. Still according to another embodiment, each row unit 20 it may include a separate network interface 104, a controller 100 and a memory 102.
    [022] During operation, the tractor 12 pulls the air cart 14 and the pneumatic drill 16 to distribute the product, such as the seed and / or fertilizer, in a field. As the pneumatic drill 16 is pulled through the field, each row unit 20 may vibrate, or bounce, when it encounters stones, anterior grooves, roots or other obstacles in the field. As the speed of the tractor 12 increases, the row unit 20 encounters each obstacle at a higher rate of speed, increasing the magnitude of vibration in the row unit. If the magnitude of vibration is very large, the variation in the depth of grooves or in the product distribution by exceeds a desired level. Vibration sensor 65 monitors the vibration magnitude and transmits a feedback signal back to controller 70 corresponding to that vibration magnitude.
    [023] Controller 70 executes a program, stored in memory 72, to monitor and reduce, if necessary, the vibration magnitude. Referring further to Figure 5, controller 70 receives an initial command for an operating parameter, such as the desired speed of tractor 12 or a desired downward pressure applied to each row unit 20, as illustrated in step 140. In step 142, controller 70 additionally executes a portion of the program configured to control the operation of the operating parameter to generate an initial reference signal as a function of the initial command. In steps 144 and 146, controller 70 receives the feedback signal corresponding to a vibration magnitude from vibration sensor 65 and reads a preset value corresponding to a maximum vibration magnitude. The preset value can be entered, for example, by an operator via user interface 74 and stored in memory 72. In step 148, the controller compares the feedback signal to the preset value. If the feedback signal from vibration sensor 65 exceeds the preset value, controller 70 performs a routine to adjust the command for the operating parameter in step 150. The command is adjusted to control the operation of tractor 12 and / or pneumatic drill 16 so that the magnitude of the vibration is reduced. If the feedback signal from vibration sensor 65 is less than the preset value, controller 70 obtains a feedback signal from a process sensor, such as a speed sensor 82 or a pressure sensor 114 , as shown in step 152. In step 154, the feedback signal is compared to the command value. If the feedback signal is equal to, or within an acceptable range of the command value, the program module can resume execution to obtain the vibration magnitude of step 144. If the feedback signal is not equal, or is outside Within an acceptable range of the command value, the reference value is adjusted, as shown in step 156, to achieve the desired control of the operating parameter before returning to step 144.
    [024] According to one aspect of the invention, controller 70 is configured to adjust the speed of tractor 12 as a function of the feedback signal from vibration sensor 65. Controller 70 receives an initial command for tractor speed 12, for example, from an operator who presses a regulator pedal. Controller 70 generates a reference signal 77 for an actuator 78, which controls the speed of the tractor 12, as a function of the operator pressing the regulator pedal. Actuator 78 can be, for example, a regulator connection that adjusts the amount of air and / or fuel supplied to engine 80, which in turn varies the revolutions per minute (RPM) at which engine 80 is operating. As engine RPM 80 increases or decreases and is absent from other variable conditions, the speed of tractor 12 increases or decreases. Controller 70 receives feedback signals from a speed sensor 82 and vibration sensor 65. The feedback signal 84 from speed sensor 82 can correspond, for example, to the RPM of engine 80 or the RPM detected on the wheels of the tractor 12 The controller 70 executes a program that monitors the magnitude of vibration detected by the vibration sensor 65 and, if the magnitude exceeds a first predetermined value, the controller 70 modifies the reference signal 77 emitted to the actuator 78. The controller 70 can suppress, for example, the speed commanded by the operator as a function of the operator pressing the regulator pedal and reducing the value of the reference signal 77 emitted to the regulator connection, thereby reducing the speed of the tractor 12. Alternatively, if the controller 70 detect that the magnitude of the vibration falls below a second predetermined value, controller 70 can increase the value of reference signal 77 emitted to the regulator connection, d this mode, increasing the speed of tractor 12. Thus, controller 70 can decrease the speed of tractor 12 if the surface of the field is too rough and causes excessive vibration while increasing the speed of tractor 12, if the surface of the field is relatively smooth and cause little vibration. Optionally, actuator 78 can be a clutch and shifter to select various gear ratios in a transmission. Alternatively, still other devices for adjusting the speed of the tractor 12 that can be controlled electronically can be used. Variation in tractor speed maximizes planting efficiency while maintaining uniform product distribution. It is further contemplated that the limits in the amount that the controller 70 can vary the reference signal 77 can be stored in memory 72. Each of the limits, the first predefined value and the second predefined value are configurable by the operator through the interface of user 74.
    [025] According to another aspect of the invention, the controller 100 is configured to adjust the pressure supplied to a hydraulic cylinder or pneumatic cylinder 112 that functions as the tilt member 23 to provide a downward force on each row unit 20. Controller 100 receives an initial command for the pressure supplied, for example, from an operating parameter stored in memory 102. Controller 100 generates a reference signal sent to an actuator 110 that controls the pressure supplied to cylinder 112. O actuator 110 can be, for example, a solenoid that controls a valve that adjusts the air or hydraulic fluid supplied to cylinder 112 which in turn varies the downward pressure applied to each row unit 20. As the pressure supplied to cylinder 112 increases or decreases and is absent from other variable conditions, the downward pressure applied to each row unit 20 increases or decreases. Controller 100 receives feedback signals from a pressure sensor 114 and vibration sensor 65. Controller 100 executes a program that monitors the magnitude of pressure applied by each cylinder 112 and modifies the reference signal sent to actuator 110. Case the magnitude of the vibration exceeds a first predefined value, controller 100 increases the value of the reference signal sent to actuator 110, thereby increasing the air or hydraulic fluid supplied to cylinder 112. Alternatively, if controller 100 detects that the magnitude of vibration falls below a second preset value, controller 100 can decrease the value of the reference signal sent to actuator 110, thereby decreasing the air or hydraulic pressure fluid supplied to cylinder 112. Thus, controller 100 can increase the downward pressure applied to each row unit 20, if the field surface is too rough, while the downward pressure applied to each unit decreases row 20 if the field surface is relatively smooth and causes little vibration. The downward pressure variation in each row unit 20 maximizes planting efficiency while maintaining uniform product distribution. It is further contemplated that the limits on the amount by which controller 100 can vary the reference signal can be stored in memory 72. Each of the limits, the first preset value and the second preset value are configurable by the operator via the interface of user 74.
    [026] According to another aspect of the invention, a single vibration sensor 65 can be applied to the agricultural implement. The vibration sensor 65 can be rigidly mounted, for example, on the toolbar 18 of the pneumatic drill 16. A single feedback signal corresponding to the general vibration of the pneumatic drill 16 is provided to controller 100 on the pneumatic drill 16 and / or to controller 70 on tractor 12. The feedback signal from that single vibration sensor 65 can be used as described above for multiple vibration sensors 65 mounted on individual row units 20.
    [027] In accordance with yet another aspect of the invention, controller 70 on the tractor can receive feedback signals from multiple vibration sensors 65. If a vibration sensor 65 is mounted on each row unit 20, controller 70 can determine an average value of the feedback signals and use the average value to control the speed of the tractor 12. Optionally, a maximum vibration setting can be stored in memory 72 and the controller 70 can reduce the speed of the tractor 12, if any of the vibration signals exceed the maximum vibration setting. It is also contemplated that other operating parameters of the tractor 12 and / or the agricultural implement can be similarly monitored and controlled as a function of the detected vibration magnitude.
    [028] It should be understood that the invention is not limited, in this application, to the details of construction and component layouts presented in this document. The invention is capable of other realizations and can be practiced or carried out in several ways. The variations and modifications of the above are within the scope of the present invention. It is also understood that the invention disclosed and defined in the present document extends to all alternative combinations of two or more individual resources mentioned or evident from the text and / or the drawings. All of these different combinations constitute several alternative aspects of the present invention. The achievements described in this document explain the best known ways to practice the invention and will enable others skilled in the art to use the invention.
    权利要求:
    Claims (6)
    [0001]
    1. METHOD TO CONTROL THE PERFORMANCE OF AGRICULTURAL IMPLEMENTATION, in which the agricultural implement (16) has a plurality of row units (20) and is configured to be towed behind a tractor (12), the method being characterized by understand the steps of: receiving an initial command on a controller (70) from one of an operator and a parameter stored on a memory device (72); generating a reference signal transmitted from the controller (70, 100) to an actuator (78, 110) configured to control at least one operating parameter of the implement (16) as a function of the initial reference command; receiving a first feedback signal to the controller (70, 100) from a vibration sensor (65) mounted on one of the row units (20); receiving a second feedback signal to the controller (70, 100) from a process sensor (60, 82, 114) corresponding to the operating parameter of the agricultural implement (16) which is controlled by the initial reference command; and generating a modified reference signal transmitted from the controller (70, 100) to the actuator (78, 100), wherein the reference signal is transmitted to the actuator (78) to control the operating parameter.
    [0002]
    2. METHOD, according to claim 1, characterized by the fact that it additionally comprises the step of comparing the first feedback signal to a pre-adjusted value corresponding to a maximum vibration magnitude, in which when the first feedback signal exceeds the preset value, the modified reference signal controls the operating parameter to reduce the magnitude of vibration.
    [0003]
    3. METHOD, according to claim 1, characterized by the fact that the controller (70) is mounted on the tractor (12).
    [0004]
    4. METHOD, according to claim 3, characterized by the fact that the process sensor (60, 82, 114) is configured to generate the second feedback signal corresponding to a speed at which the agricultural implement (16) is moving , and the actuator (78) is a regulator member that controls the speed of an engine (80) on the tractor (12).
    [0005]
    5. METHOD, according to claim 1, characterized by the fact that the controller (100) is mounted on the agricultural implement (16).
    [0006]
    6. METHOD according to claim 5, characterized by the fact that: each row unit (20) includes one of a hydraulic cylinder and a pneumatic cylinder (112) that applies downward pressure to the corresponding row unit (20) ; the process sensor (60, 82, 114) is configured to generate the second feedback signal corresponding to the down pressure, and the actuator (110) is a solenoid that controls the operation of the pneumatic cylinder or hydraulic cylinder (112).
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    同族专利:
    公开号 | 公开日
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    法律状态:
    2018-03-06| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2018-03-13| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2018-03-20| B06I| Publication of requirement cancelled [chapter 6.9 patent gazette]|Free format text: ANULADA A PUBLICACAO CODIGO 6.6.1 NA RPI NO 2462 DE 13/03/2018 POR TER SIDO INDEVIDA. |
    2019-06-11| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application [chapter 6.1 patent gazette]|
    2019-10-08| B07A| Technical examination (opinion): publication of technical examination (opinion) [chapter 7.1 patent gazette]|
    2020-02-04| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application [chapter 6.1 patent gazette]|
    2020-09-08| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-12-08| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 20/09/2013, OBSERVADAS AS CONDICOES LEGAIS. |
    2021-06-15| B17A| Notification of administrative nullity (patentee has 60 days time to reply to this notification)|Free format text: REQUERENTE DA NULIDADE: STARA S/A. INDUSTRIA DE IMPLEMENTOS AGRICOLAS - 870210051516 - 08/06/2021 |
    优先权:
    申请号 | 申请日 | 专利标题
    US13/739,394|2013-01-11|
    US13/739,394|US9664249B2|2013-01-11|2013-01-11|System and method of tractor control based on agricultural implement performance|
    PCT/IB2013/002082|WO2014108722A1|2013-01-11|2013-09-20|System and method for controlling vibration on agricultural implement|
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