Note: Descriptions are shown in the official language in which they were submitted.
CA 02247788 1998-09-22
MODULAR AGRICULTURAL IMPLEMENT CONTROL SYSTEM
FIELD OF THE INVENTION
The present invention generally relates to control
systems for agricultural implements. In particular, the
invention relates to a modular application control system
for an implement (e.g., planter, conventional drill, air
drill) wherein a first control module monitors the rates
at which a product is applied to an agricultural field by
a product metering device and a removable second control
module controls the application rates of the product.
BACKGROUND OF THE INVENTION
Implements such as planters, conventional drills and
air drills are used to plant seed in agricultural fields.
Planting implements typically include a frame with one or
more sections. Each section supports multiple row units
configured to apply seeds to a field as the implement is
pulled by a vehicle (e. g., wheeled or tracked tractor).
Seeds are stored in one or more seed bins located on or
pulled behind the implement. Planters and drills often
include systems configured to apply granular or liquid
fertilizer, insecticide or herbicide.
Planters include meters configured to dispense or
meter individual seeds to row units. Drills use fluted
rolls to meter a mass or volume of seed. Metering and
placement accuracy is typically higher for planters than
drills. Seeds of crop (e. g., corn) requiring relatively
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accurate metering and placement for efficient growth are
typically planted using planters, and seeds of crop which
grow efficiently in more varied environments (e. g., oats;
wheat) are planted by less accurate and expensive drills.
Many planters and drills are made by Case Corp., the
assignee of this invention. For example, the 955 Series
EARLY RISER CYCLO AIR~ Planters include central-fill seed
bins for storing seed, pressurized air metering systems
for metering seed, and air distribution systems for
delivering seeds to row units. Planters in this series
plant different numbers of rows at different row widths.
For example, a 12/23 solid row crop (SRC) cyclo planter
plants 23 narrow rows or 12 wide rows when every other
row unit is locked up. Case Corp. also makes the 900
Series EARLY RISER Plate Planters. Conventional drills
include 5300, 5400 and 5500 grain drills which include
different numbers of openers, opener spacings and seeding
widths. For example, a 5500 Soybean Special Grain Drill
has 24 openers, 5 inch spacings and a 30 foot width. A
family of Concord air drills is available from Case Corp.
Under conventional agricultural practices, fields
are treated (e. g., planted) as having uniform parameters.
However, crop production may be optimized by taking into
account spatial variations often existing within fields.
By varying inputs applied to a field according to local
conditions within the field, the yield as a function of
the inputs applied can be optimized while environmental
damage is prevented or minimized. Farming inputs which
have been applied according to local conditions include
herbicides, insecticides and fertilizers. The practice
of farming according to local field conditions has been
called precision, site-specific or prescription farming.
To fully realize the benefits of precision farming,
planting implements are needed which can monitor rates at
which farming inputs are applied and which can control
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the rates of application on a site-specific basis. The
control requirements for such planting implements would
be more sophisticated than for conventional implements.
Thus, it would be desirable to have planting implements
(e. g., planters, conventional or air drills) equipped
with control systems for monitoring rates at which inputs
are applied to a field by row units, and for controlling
the rates at which metering devices dispense the inputs.
Planting implements further include "global" output
devices which perform global implement functions such as
frame lighting control, frame position control and marker
position control. These global functions are performed
for the whole implement, rather than for each section or
row unit. Frame lights are controlled to warn following
motorists when the implement turns. The frame of the
implement is controlled to raise and lower the implement,
and to fold and unfold the frame wings. Markers attached
to either side of the implement are raised and lowered to
indicate the centerline of the next pass through a field.
The current standard for implement frame lighting
includes tail lamp, right turn and left turn signal lamps
controlled by a three-signal vehicle connector. However,
implements will be required to meet an enhanced lighting
standard (i.e., ASAE 5279) which will include additional
enhanced left and right turn signal lamps. The new lamps
will enhance the turn warning signals. The enhanced
lamps will perform the same functions as the current left
and right turn lamps except the opposite turn signal lamp
will not light steadily when making a turn.
Additionally, neither lamp will flash during a regular
transport mode. To accommodate the use of implements
compatible with the new standard with today's vehicles,
it would be desirable to provide a control system which
receives standard lighting signals, converts them to
enhanced lighting signals, and uses the enhanced lighting
signals to control the enhanced lamps.
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It would further be desirable to provide a control
system for an implement which provides a central control
console for the operator. This console, which would be
located at the operator station (e. g., in the cab), would
generate global command signals for the global implement
functions and rate commands for local product metering
devices mounted on each section of the implement. To
reduce wiring requirements, it would also be desirable to
provide an implement bus running between the cab and the
implement for sending global and local commands to the
implement, and for receiving monitored feedback signals.
The number of global output devices for performing
global implement functions will generally be known since
these functions are performed for the whole implement.
Thus, the control requirements for a global control unit
will be known. An implement, however, can include one,
two, three or more sections, with each section having one
or more product metering devices. It would be difficult
to ascertain the control requirements for a single local
implement controller. Thus, it would be desirable to
provide a control system for a planting implement wherein
one global controller controls global functions, while a
plurality of distributed local controllers control the
product application rates for the plurality of sections.
The movement from conventional to precision farming
practices will take significant time as farmers evaluate
the technology, learn to use it, study its economic and
environmental costs and benefits, and upgrade equipment.
To help make the transition, it would be desirable to
provide an implement with a modular control system which
can be upgraded over time by adding controllers with
added functionality. The initial control system would
provide monitoring and global control functions, with
application rates being controlled conventionally. Such
a control system could then be upgraded to provide
variable-rate control capabilities. These capabilities
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would be controlled manually, or automatically based upon
the position of the implement and geo-referenced maps.
SUMMARY OF THE INVENTION
One embodiment of the invention provides a modular
application control system for an agricultural implement.
The implement includes row units supported by a support
structure for applying a product to rows in a field, and
a device for metering the product to the row units. The
system includes product sensors for sensing the rates at
which the product is applied and for generating product
signals representative thereof. A first control module
supported by the support structure monitors the rates at
which the product is applied and generates a multiplexed
output signal representative thereof. A second control
module supported by the structure generates rate control
signals in response to rate command input signals and
applies the control signals to the metering device to
cause the metering device to meter the product to the row
units at commanded rates.
Another embodiment of the invention provides a
method of reconfiguring a product application control
system for such an implement. The method includes
providing a first control module mounted on the support
structure for monitoring the rates at which the product
is applied using signals generated by product sensors.
The method includes attaching a second control module on
the support structure to generate rate control signals in
response to command signals and to apply the rate control
signals to the metering device to cause the metering
device to meter the product at commanded rates.
Another embodiment of the invention provides a
modular application control system for such an implement
coupled to a vehicle including an operator station such
as a cab. A data bus provides communication between the
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operator station and implement. A display control module
located in the operator station includes a command device
and a display. The display control module transmits rate
command signals on the bus in response to actuations of
the command device. Sensors sense rates at which the
product is applied and generate rate signals therefrom.
One control module supported by the support structure
monitors the rates at which the product is applied and
transmits rate feedback data on the bus to the display
control module for display. A second control module
supported by the support structure is configured, when
installed, to receive the rate command signals from the
display control module, generate rate control signals in
response thereto, and apply the rate control signals to
the metering device to cause the metering device to meter
the product to the row units at commanded rates.
Another embodiment of the invention provides a kit
for providing variable-rate control when combined with a
control system for an implement. The implement includes
a support structure, row units supported thereby to apply
the product to rows in a field, and a metering device to
meter the product to the row units. The control system
includes rate sensors for sensing the rates at which the
product is applied to the rows and for generating rate
signals representative thereof, a meter status sensor for
sensing a parameter of the metering device and generating
signals representative thereof, and a monitoring control
module for monitoring the rates at which the product is
applied and the parameter of the metering device. The
kit includes a control module removably supported by the
support structure for generating rate control signals in
response to rate command signals and for applying the
rate control signals to the metering device to cause the
metering device to meter the product at commanded rates.
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BRIEF DESCRIPTION OF THE DRAWINGS
The invention will become more fully understood from
the following detailed description, taken in conjunction
with the accompanying drawings, wherein like reference
numerals refer to like parts, in which:
FIG. 1 is a top view of a planting implement (e. g.,
a 12/23 solid row crop (SRC) cyclo planter);
FIG. 2a shows single-stage markers in their fully
folded and unfolded states; FIG. 2b shows dual-stage
markers in their fully, partially and unfolded states;
FIG. 3 is a block diagram of the control system for
an agricultural work vehicle and planting implement which
includes a vehicle data bus and an implement data bus;
FIG. 4 is a block diagram of the cab display unit
(CDU) of FIG. 3, and the interfaces between the CDU and
other components of the control system;
FIG. 5 is a block diagram of the monitor interface
unit (MIU) of FIG. 3, and the interfaces between the MIU
and other components of the control system;
FIG. 6 is a block diagram of a control system for a
planter (e.g., 12/23 SRC cyclo planter) including an MIU
for monitoring sensors and controlling global functions;
FIG. 7 is an electrical block diagram showing the
MIU and the interfaces between the MIU and the lighting,
frame and marker systems of the planter in FIG. 6;
FIG. 8 is a hydraulic schematic showing interfaces
between the hydraulic valves and cylinders of the frame
and marker control systems of the planter in FIG. 6;
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FIG. 9 is a block diagram of a control system for a
conventional drill (e. g., a soybean special grain drill)
including an MIU for monitoring sensors and controlling
global functions;
FIG. 10 is an electrical block diagram showing the
MIU and the interfaces between the MIU and the lighting,
frame and marker systems of the drill shown in FIG. 9;
FIG. 11 is a block diagram of a control system for
an air drill (e.g., Concord air drill) including an MIU
for monitoring sensors and controlling global functions;
FIG. 12 is an electrical block diagram showing the
MIU and the interfaces between the MIU and the lighting,
frame and marker systems of the drill shown in FIG. 11;
FIG. 13 is a block diagram of one multi-channel
controller (MCC) of FIG. 3, and the interfaces between
the MCC and other components of the control system;
FIG. 14 is a block diagram of a control system for a
planter as in FIG. 6 which further includes local MCCs to
control the seed rates of each section;
FIG. 15 is an electrical block diagram showing the
MCC and interfaces between the MCC and metering systems
(seed, chemical, fertilizer) of the planter in FIG. 14;
FIG. 16 is a hydraulic schematic showing interfaces
between the hydraulic valves and motors (seed, blower,
chemical, fertilizer) of the planter shown in FIG. 14;
FIG. 17 is a block diagram of a control system for a
conventional drill as in FIG. 9 which further includes
local MCCs to control the seed rates of each section;
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FIG. 18 is an electrical block diagram showing the
MCC and the interfaces between the MCC and the metering
systems (bins 1 and 2) of the drill shown in FIG. 17;
FIG. 19 is a block diagram of a control system for
an air drill as in FIG. 11 (e. g., Concord air drill)
further including a local MCC to control the seed rates
of the implement sections; and
FIG. 20 is an electrical block diagram showing the
MCC and the interfaces between the MCC and the metering
systems (bins 1-3 and anhydrous) of the drill of FIG. 19
(e. g., Concord air drill).
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
Referring to FIG. 1, a planting implement 10 (e. g.,
12/23 SRC cyclo planter) is shown. Implement 10 includes
a frame 12, row units 14 mounted beneath frame 12, and
seed modules 16 supported on frame 12. Frame 12 includes
a middle section 18, two wing sections 20 mounted for
rotation on either side of section 18, and a drawbar 22
extending forward from section 18. Wing sections 20 are
horizontally rotatable in towards drawbar 22 to decrease
implement width for transport. An eye 24 extends from
drawbar 22 for connection to a vehicle. There are 23 row
units 14 configured to plant seed in 23 rows of a field
when all 23 row units 14 are down, or in 12 rows when
every other row unit 14 is locked up. Each seed module
16 meters seeds for one section. The sections include 8,
8 and 7 row units 14, respectively. The metered seeds
travel through seed tubes (not shown) to row units 14.
Implement l0 also supports bins 25 storing other products
(e. g., fertilizer) along with metering devices therefore.
Referring to FIGS. 1 and 2, markers attached to ends
26 of wing sections 20 on both sides of frame 12 are used
to mark the centerline of the next pass through a field.
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A particular implement may use single-stage markers 50
(FIG. 2a). Other implements, such as the planter, use
dual-stage markers 52 (FIG. 2b). FIG. 2a shows single
stage marker 50 in its fully folded and unfolded states.
Marker 50 includes a pivot assembly 52 mounted to end 26
of wing section 20 and a marker rod 54 connected between
assembly 52 and a disk 56. Disk 56 marks the field when
marker 50 is unfolded. Marker 50 is actuated by an outer
cylinder assembly 58 pivotally coupled between a support
member 60 extending from end 26 and a bracket 62 attached
to rod 54. Marker 50 is folded when cylinder assembly 58
is extended and unfolded when assembly 58 is retracted.
Referring to FIG. 2b, dual-stage marker 52 is shown
in its fully, partially, and unfolded states. Marker 52
includes a first pivot assembly 64 mounted to end 26 of
wing section 20, a second pivot assembly 66, and a first
marker rod 68 connected between assemblies 64 and 66. A
second marker rod 70 is connected between assembly 66 and
a marker disk 72. Disk 72 marks the field when marker 52
is unfolded. Marker 52 is actuated by inner and outer
cylinder assemblies 74 and 76. Assembly 74 is pivotally
coupled between a first support member 78 extending from
end 26 and second support member 80 attached to assembly
66. Assembly 76 is pivotally coupled between member 80
and a bracket 82 attached to rod 70. Marker 52 is folded
when assemblies 74 and 76 are extended, partially folded
with assembly 74 retracted and assembly 76 extended, and
unfolded with assemblies 74 and 76 retracted.
Referring to FIG. 3, a control system 100 is shown
for an agricultural vehicle 102 (e. g., a tractor) pulling
implement 10 (e. g., planter, conventional or air drill).
System 100 includes electronic control units (ECUs) in
communication with each other across a vehicle data bus
104. Bus 104 includes a tractor bus segment 106 to pass
data throughout vehicle 102, and an implement bus segment
108 to communicate between vehicle 102 and implement 10.
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Bidirectional data passes between busses 106 and 108 via
a network interconnection ECU 110 (e.g., a gateway). Bus
104 preferably conforms to the "Recommended Practice for
a Serial Control and Communications Vehicle Network" (SAE
J-1939) which uses Controller Area Network (CAN) protocol
for low-layer communications. ECU 110 performs network
functions as described in the Network Layer specification
of J-1939 by acting as a repeater for forwarding messages
between segments 106 and 108, a bridge for filtering out
messages not needed by the receiving segment, a message
router for remapping addresses and a gateway to repackage
messages for increased efficiency. Other bus formats,
however, may also be used and ECU 110 may perform all or
only a subset of the above-listed network functions.
Other ECUs coupled to tractor bus 106 include an
armrest control unit (ARU) 112, instrument cluster unit
(ICU) 114, auxiliary valve control unit (AUX) 116,
electronic draft control unit (EDC) 118, transmission
control unit (TCU) 120, power take-off control unit (PTO)
122, and engine governor control unit (GOV) 124. ICU 114
receives signals from a true ground speed sensor 126
(e. g., a radar) mounted to the body of vehicle 102.
Ground speed sensor 126 (e.g., a radar) may also be in
direct communication with a cab-mounted display unit
(CDU) 140. A service tool 130 can be coupled to busses
106 and 108 via a diagnostic connector 132 for use during
diagnostics and maintenance.
The ECUs coupled to tractor bus 106 are illustrative
and other control units such as a performance monitor
control unit or steering control unit could also be
connected to bus 106. Further, the use of gateway 110
for communications between busses 106 and 108 allows a
higher level of integration in tractors equipped with a
tractor data bus. However, implement bus 108 and its
associated ECUs may also be used to control implements
pulled by other tractors which have no tractor data bus.
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Implement bus 108 includes first and second segments
134 and 136 coupled via a connector 138 at the rear of
vehicle 102. Segment 134 passes through vehicle 102 and
segment 136 provides a communication pathway to implement
10. Thus, implement bus 108 reduces wiring needs between
implement 10 and vehicle 102. Besides gateway ECU 110,
ECUs coupled to segment 134 include cab-mounted display
unit (CDU) 140. CDU 140 provides an operator interface,
a serial interface (e. g., RS-232) to receive positioning
signals from a DGPS receiver 142, and an interface for a
memory card 144 (e.g., a PCMCIA card). Receiver 142
receives GPS and DGPS signals from antennas 146 and 148.
Memory card 144 transfers geo-referenced map data (e. g.,
prescription and application rate maps defined by GIS or
Global Information System databases) between control
system 100 and an external computer 150. Prescription
maps include application rate commands, and application
rate maps record actual (i.e., sensed) application rates.
ECUs coupled to segment 136 of implement bus 108 are
mounted to frame 12 of implement 10. These ECUs include
a monitor interface unit (MIU) 152 and one or more multi-
channel control units (MCCs) 154. Each implement section
typically includes one "local" MCC 154 to control product
application rates. MIU 152 monitors application rates of
products (e. g., seeds) to rows and other parameters
(e. g., bin level, ground speed, wheel speed, meter
pressure) based on signals generated by monitoring
sensors 156, implement status devices 158 and a wheel
speed sensor 128 (e. g., inductance magnetic pickup
sensor) coupled to the vehicle's wheels. MIU 152 also
receives global commands from CDU 140 via bus 108,
generates global control signals using the global
commands, and applies the global control signals to
global output devices 160 to perform global implement
functions (e. g., lighting, frame, marker control). MCCs
154 receive local product application rate commands from
CDU 140 based on signals generated by application sensors
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161, generate local control signals for local product
metering devices 162, and apply the local control signals
to metering devices 162. Further, MCCs 154 may generate
control signals for a variety or type switch 164 which
selects the variety or type of farming inputs applied.
MCCs 154 may also generate control signals for a section
control switch 165 which selects which sections are
enabled or disabled.
Referring to FIG. 4, CDU 140 is an ECU mounted in
the cab of vehicle 102. CDU 140 includes a display unit
200 including a touch screen 202 (e. g., a TFT 10.4" color
display with digital touch screen), system touch screen
switches 204, reconfigurable touch screen switches 206
and system reset switch 208. A 1/2 VGA monochrome DMTN
display with LED backlighting could also be used. CDU
140 has interfaces 210-224 for implement bus 108, a
remote keypad 226, DGPS receiver 142, digital inputs
(e. g., an in-cab remote switch 228), frequency inputs
such as radar 126, memory card 144 and tractor bus 106.
CDU 140 includes an audible alarm 230. A processor
(e. g., ARM LH74610 RISC processor) coupled to memory
circuits (e. g., RAM, EEPROM, Flash EPROM) provides
control for CDU 140.
Control system 100 can control different planting
implement applications. An operator uses touch screen
202 to navigate and perform common functions within each
application. System touch screen switches 204 include a
MODE switch for toggling between applications, a
CALIBRATE switch for performing configuration and
calibration functions, and a UTILITY switch for
performing file transfers on card 144. Touch screen
switches 206 select between items on reconfigurable menus
to control the operations of control system 100. Reset
switch 208 resets control system 100. Remote keypad 226,
mounted via a cable near the operator when CDU 140 is
mounted elsewhere in the cab, duplicates touch screen
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switches 206. In-cab remote switch 228 allows the
operator to remotely start and stop product metering.
Alarm 230 is used to alert the operator to error and
alarm conditions.
Both global and local operations of implement 10 are
controlled by actuations of touch screen switches 204-
206. The global functions include lighting control
(e. g., turning on and off lights attached to frame 12),
frame control (e.g., raising and lowering frame 12;
folding and unfolding wings 20) and marker control (e. g.,
alternately raising and lowering markers 50 or 52 on both
sides of implement 10 to mark the centerline of the next
pass). Actuations needed to control the global functions
depend on the particular implement. When switch
actuations relate to lighting, frame or marker control,
CDU 140 generates global command signals which are
communicated to MIU 152 via bus 108 for controlling
global output devices 160.
The local implement functions include variable-rate
application of products to a field. Touch screen
switches 204-206 are actuated to control the rates in a
manual or an automatic mode. In manual mode, the
actuations set, increase or decrease the desired
application rates for one or more products applied by
each section. In automatic mode, the actuations select
between one or more prescription maps stored on card 144.
The maps include geo-referenced data representing desired
application rates of one or more products at positions
throughout a field. Desired rates are determined, for
example, off-line using computer 150. The selected maps
are indexed using positioning signals received by DGPS
receiver 142 to determine the desired application rates
which are then used to generate local product rate
commands transmitted to MCCs 154.
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Referring to FIG. 5, MIU 152 is an ECU supported on
frame 12 Which includes interfaces 250-262 for implement
bus 108, frame/marker outputs 264 (e.g., markers 50, 52;
wings 20), lighting outputs 266, frequency inputs 268,
digital inputs 270, analog inputs 272 and sensor bus 274.
Interfaces 250-262 include spares such that MIU 152 can be
used in multiple applications. MIU 152 is connected in
control system 100 as shown below. Sensor bus 274 is
coupled to seed rate sensors 276, a blockage module 278
coupled to blockage sensors 280, and a gateway module 282.
Optical seed rate sensors 276 detect seeds passing through
seed tubes to row units 14. Module 282 receives signals
from optical bin level sensors 284, a meter speed sensor
286, and bin pressure or material flow sensor 288 or 290.
Signals from bin level sensors 284 indicate when the bins of
seed modules 16 are 75~ full, 50~ full, 25~ full, and Empty.
Sensor bus 274 is preferably an RS-485 network as described
in U.S. Pat. No. 5,635,911. MIU 152 is controlled by a
processor 314 (FIG. 7; e.g., an AN80C196CB processor)
coupled to memory (e. g., RAM, EEPROM, Flash EPROM).
Control system 100 is a modular application control
system Which can be upgraded with additional controllers for
expanded functionality. Initially, control system 100
includes CDU 140, implement bus 108 and MIU 152 which
provide monitoring and global control functions. In the
initial system, product application rates are controlled
conventionally (e. g., by driving product metering devices
using gears coupled to the implement wheels). FIGs. 6-12
show control system 100 in embodiments which provide for
monitoring and global control functions for implements.
Control system 100, however, can later be upgraded with MCCs
154 to provide variable-rate control. FIGs. 14-20 show
upgraded control system 100 for the same implements.
Referring to FIG. 6, control system 100 controls a
12/23 SRC cyclo planter implement 10 which includes three
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sections 300, each supporting multiple (e.g., 8, 8 and 7)
row units 14 configured to apply seeds to a field. Seeds
are metered by a seed module 16 on each section 300. MIU
152 receives global command signals via bus 108 from CDU
140, and sends back monitored data. MIU 152 receives
speed signals used to calculate seeding data (e. g., area
seeded) from a sensor 302 coupled to the planter wheels.
MIU 152 receives signals indicating whether implement 10
is up or down from a status sensor 304. The application
of products is disabled when implement 10 is raised.
Sensor bus 274 is connected to a seed rate sensor
276 associated with each row unit 14. MIU 152 monitors
seed application rates using signals received from seed
rate sensors 276, and sends seed rate data to CDU 140 via
bus 108. Bus 274 is coupled to a gateway module 282 for
each section 300 which monitors the status of each seed
module 16 using signals received from bin level sensors
284, meter speed sensor 286, and bin pressure sensor 288.
MIU 152 transmits meter status to CDU 140. Connectors
separate MIU 152, sensors 276 and gateway modules 282.
Referring to FIG. 7, MIU 152 controls the planter's
lighting, frame and marker systems. The lighting system
commands include right turn, left turn, and tail lamp
signals received on conductors 306-310 from a connector
312 at the rear of vehicle 102. Processor 314 reads the
signals on conductors 306-310, converts these standard
signals to enhanced lighting commands based on the ASAE
5279 standard, and applies these commands to drivers 254
to generate enhanced control signals applied to left and
right enhanced signal lamps including turn/flash lamps
316, tail lamps 318, and enhanced turn lamps 320. Lamps
316-320 enhance the turn signals warning motorists that
vehicle 102 and implement 10 are turning. In contrast to
current turn signal lamps, neither of the enhanced lamps
will flash when implement 10 is in transport mode only.
Additionally, the opposite turn signal lamp will not
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light steadily when making a turn. Thus, the lighting
system of MIU 152 allows an implement which is compatible
with the enhanced lighting standard to be connected
directly to connector 312 of existing tractors.
Commands for the frame control system are received
by processor 314 from CDU 140 via bus 108. Based on the
commands, processor 314 commands drivers 252 to generate
frame control signals applied to a solenoid circuit 322.
Circuit 322 includes valve coils which control the flow
of hydraulic fluid to actuators which move frame members
such as wings 20. The coils include left and right tuck
wheel solenoids 324, raise limit solenoids 326, marker
isolation solenoids 328, and slave return solenoids 330.
Circuit 322 uses relay circuits 332-338 to apply power
simultaneously to each pair (left and right) of solenoids
324-330. There is one fold solenoid 340. Solenoids 324-
330, 340 are connected to frame actuators as shown below.
Processor 314 also receives commands for the marker
control system from CDU 140 via bus 108. Based upon the
commands, processor 314 commands drivers 252 to generate
marker control signals applied to a marker circuit 342.
Circuit 342 includes coils which control fluid applied to
marker actuators. The coils include left and right inner
and outer marker solenoids 344 and 346 turned on and off
by grounding the low-sides, thereby selectively supplying
hydraulic fluid to the marker actuators as shown below.
Referring to FIG. 8, frame solenoids 324-328, 340
and marker solenoids 344-346 control the flow of fluid
through hydraulic cartridge valves 348-360, respectively.
Valves 348-360, made by Hydraforce, check flow in both
directions and are located within a composite valve block
362 having a fluid supply line 364 and return line 366.
Valves made by Vickers may also be used, but two Vickers
valves are needed to check the flow in both directions.
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Implement 10 includes, for example, left and right
wing wheels (LWW, RWW), left and right center wheels
(LCW, RCW), and left and right inner wheels (LIW, RIW).
Fluid from tuck valves 348 is supplied to left and right
wing wheels (LWW, RWW), and is cross-linked to the right
and left center wheels (RCWX, LCWX). Fluid from raise
limit and marker/isolation valves 350 and 352 is supplied
to the left and right center and inner wheels (LCW, RCW,
LIW and RIW). Fluid from fold valve 356 is supplied to
left and right fold members (LWF, RWF). Fluid from inner
and outer marker valves 358 and 360 is supplied to left
and right outer and inner markers (LOM, ROM, LIM, RIM).
Fluid from tuck valves 348 is received by the piston
end of first slave cylinders 368, passed from the rod end
of cylinders 368 to the piston of second slave cylinders
370, and returned via slave return valves 354 from the
rod end of cylinders 370 to return line 366. Fluid from
raise limit and marker/isolation valves 350 and 352,
which check flow in opposite directions, is received by
piston ends of master and assist cylinders 372 and 374.
Fluid from the rod end of master cylinders 372 crosses to
the piston end of opposite slave cylinders 368 and fluid
from the rod end of cylinders 370 returns on line 366.
Thus, master cylinders 372 are connected in master-slave
arrangements to opposite slave cylinders 368 and 370 to
coordinate movement of center and wing wheels LCW, RCW,
LWW, RWW such that each pair of wheels extends the same
amount, thereby evenly raising and lowering implement 10.
Master cylinders 372, slave cylinders 368 and 370, and
assist cylinders 374 form a lift circuit. Fluid from
fold valve 356 is received by the piston end of fold
cylinders 376 and is returned to return line 366. Fluid
from marker valves 358 and 360 is received by the piston
end of outer and inner marker cylinders 74 and 76, and
returned from the rod end of cylinders 74 to line 366.
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Thus, tuck and slave return solenoids 324 and 330
control the flow to slave cylinders 368 and 370 to tuck
wing wheels LWW and RWW. Energizing solenoids 324 and
330 (while de-energizing raise limit and marker/isolation
solenoids 326 and 328) causes fluid to flow from supply
line 364 through tuck valves 348 to slave cylinders 368
and 370 and through slave return valves 354 to line 366.
This flow extends cylinders 368 and 370 to tuck the wing
wheels during transport. After tucking the wing wheels,
slave return solenoids 330 are de-energized to prevent
fluid loss and to prevent the wheels from sagging down.
Once implement 10 reaches a predetermined height,
raise limit solenoids 326 shut off the flow to the lift
circuit including cylinders 368-374 to prevent implement
10 from being raised higher. Because raise limit valves
350 check flow in only one direction, implement 10 can
still be lowered while solenoids 326 remain energized.
When implement 10 is raised with markers 52 down,
the weight of implement 10 causes pressure in hydraulic
lines which can unexpectedly cause the markers to raise.
To prevent this, marker isolation solenoids 328 are de-
energized such that valves 352 check flow from the lift
circuit to markers 52. Thus, the markers are prevented
from being raised unexpectedly if implement 10 is raised.
Markers 52 (or 50) are controlled to indicate the
centerline of the next implement pass. Marker status is
displayed on display unit 200 of CDU 140. For example,
an icon for each marker 52 indicates whether the marker
is active or inactive. Touching the inactive marker's
icon causes CDU 140 to communicate a message to MIU 152
to cause MIU 152 to advance markers 52. Markers 52 can
also be advanced automatically by alternating from left
to right with each raise/lower cycle of implement 10
based upon the implement status input 304. Single-stage
markers 50 move to fully-folded states during transport,
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and alternate between fully-folded and unfolded states
for field operations. Dual-stage markers 52 move to
fully folded states for transport, and alternate between
partially folded and unfolded states during operations.
Referring to FIG. 9, another embodiment of control
system 100 is configured to control a conventional 5500
Soybean Special grain drill including two sections 300.
Each section 30o supports multiple (e.g., 12 and 12) row
units 14 configured to apply seeds to a field. Seeds are
metered by a seed module 16 on each section 300. MIU 152
receives global command signals from CDU 140, and returns
monitored data. MIU 152 receives speed signals used to
calculate seeding data from sensor 302 coupled to the
drill's wheels, and receives signals indicating whether
implement 10 is up or down from sensor 304. Application
of products is disabled when implement 10 is raised.
Sensor bus 274 connects to a seed rate sensor 276
associated with each row unit 14. MIU 152 monitors seed
application rates using signals received from sensors
276, and sends seed rate data to CDU 140. Bus 274 is
also coupled to bin level gateway modules 305 which
monitor and receive bin level signals from bin level
sensors 284 on each section 300. Bin status data is
transmitted to CDU 140 and connectors separate MIU 152
and sensors 276 and 284.
Referring to FIG. 10, MIU 152 controls the lighting,
frame and marker systems of the conventional grain drill.
The lighting control system is as described in relation
to FIG. 7. The frame control system includes a solenoid
circuit 400 including coils controlling fluid applied to
frame actuators. The coils include a fold lock solenoid
(lower) 402, left-hand gauge cylinder solenoids (lower,
raise) 404 and 406, right-hand gauge cylinder solenoids
(raise, lower) 408 and 410, cart and gauge cylinder
solenoids (lower) 412 and 414, and relays 416 and 418 for
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applying power to electric clutches 420 and 422 for two
bins. The marker control system has a marker circuit 424
with left and right marker solenoids 344 for controlling
single-stage markers 50. Frame and marker control system
commands are received by MIU 152 from CDU 140, and are
used to generate frame and marker control signals which
are applied to circuits 400 and 424 by drivers 252.
Referring to FIG. 11, another embodiment of control
system 100 is configured to control a Concord air drill
including six sections 300. Each section 300 supports a
blockage module 278 coupled to 12 blockage sensors 280.
Seeds are metered by a seed or seed/fertilization module
16 or 426 for each section 300. MIU 152 receives global
command signals from CDU 140 and returns monitored data.
MIU 152 receives speed signals used to calculate seeding
data from wheel speed sensor 302. MIU 152 also receives
signals indicating whether implement 10 is up or down
from sensor 304, and wheel speed signals from wheel speed
sensor 302. Product application is disabled with
implement 10 raised.
Sensor bus 274 is connected to a blockage module 278
associated with each section 300. MIU 152 monitors seed
blockages based on signals received from modules 278, and
sends blockage data to CDU 140 via bus 108. Bus 274 is
also coupled to a gateway module 282 on each section 300
which receives product meter status signals from bin
level sensors 284 and meter blockage sensors 290. Meter
status data is transmitted back to CDU 140 via bus 108.
Referring to FIG. 12, MIU 152 controls the lighting,
frame and marker systems of the Concord air drill. The
lighting and marker control systems are as described in
relation to FIGs. 7 and 10. The frame control system
includes a solenoid circuit 432 with coils controlling
the fluid applied to frame actuators. The coils include
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relays 434-440 to apply power to a main electric clutch
442 and clutches 444-448 coupled to three product bins.
Control system 10o may be upgraded by installing a
removable MCC 154 on each frame section 300 to provide
local variable-rate control. Referring to FIG. 13, each
MCC 154 includes interfaces 500-510 for implement bus
108, on/off outputs 512 for driving valves, PWM outputs
514 for driving local product metering devices, frequency
inputs 516, digital inputs 518, and analog inputs 520.
Spare interfaces allow MCC 154 to be used in multiple
applications. Connections between MCC 154 and control
system 100 are shown below. MCC 154 is controlled by a
processor 522 (FIG. 15; e.g., AN80C196CB) coupled to
memory circuits (e. g., RAM, EEPROM, Flash EPROM).
Referring to FIG. 14, another embodiment of control
system 100 also controls the cyclo planter. In contrast
to FIG. 6, however, MCCs 154 control the seed application
rates of each section 300 based on rate command signals
received from CDU 140 via bus 108. Each MCC 154 converts
the rate command signals into control signals which are
applied to a cyclo seed meter 522 (i.e., drum) on seed
module 16. MCC 154 receives meter feedback speed signals
from meter 522, and communicates meter speed data back to
CDU 140 for display. MCC 154 can also use the meter
speed feedback signals for closed-loop metering control.
Each MCC 154 also applies control signals to bin pressure
or material flow sensor 288, receives pressure feedback
signals from sensor 288, and communicates bin pressure
data back to CDU 140 for display.
Referring to FIG. 15, when installed, each local MCC
154 controls product application rates for one section of
implement 10. The controlled products may include seeds,
granular chemicals and liquid fertilizers. Commands for
each product being applied are received by MCC processor
524 from CDU 140. Processor 524 commands drivers 504 to
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generate PWM control signals based on the commands which
are applied to a cyclo seed meter solenoid 526, a blower
motor solenoid 528, a chemical meter solenoid 530 and a
liquid fertilizer meter solenoid 532. Feedback signals
are received from a cyclo seed meter speed sensor 534, a
cyclo meter pressure sensor 536, a chemical meter speed
sensor 538, and a fertilizer meter speed sensor 540.
Processor 524 may also control the variety of seeds
to being applied by generating variety control signals based
upon command signals received from CDU 140. The control
signals are applied to a relay circuit 542 which applies
power to a variety selection switch 544 to select between
two varieties of seeds. Processor 524 further controls a
relay circuit 546 configured to open and shut a liquid
fertilizer control valve for the local section 300.
Referring to FIG. 16, solenoids 526-532 control the
flow of fluid from a pressurized hydraulic fluid source
548 through valves 550-556 to a seed drum motor 558, a
blower motor 560, chemical motors 562 and a fertilizer
motor 564. These motors control the seeding rate, fan
speed, and chemical and fertilizer application rates.
Referring to FIG. 17, another embodiment of control
system 100 controls a conventional drill. In contrast to
the control system of FIG. 9, however, MCCs 154 control
the rates at which seeds are applied by the sections 300
using seed rate command signals received from CDU 140.
Each MCC 154 converts the rate command signals into rate
control signals which are applied to a seed meter 522 on
each seed module 16. MCCs 154 receive feedback speed
signals from meter 522, and communicate meter speed data
back to CDU 140 for display. MCCs 154 can also use the
speed feedback signals for closed-loop metering control.
Referring to FIG. 18, when installed, each local MCC
154 controls product application rates for one section
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300 of the conventional drill. Commands for each product
being applied are received by MCC processor 524 from CDU
140. Based on the commands, drivers 504 are commanded to
generate PWM control signals which are applied to
metering device solenoids 566 and 568 for bins 1 and 2.
Solenoids 566 and 568 control valves configured to supply
fluid to hydraulic motors which dispense seeds from bins.
Feedback signals are received from bin 1 and bin 2 meter
speed sensors 570 and 572. These signals are sent to CDU
140 for display, or can be used for closed-loop control.
Referring to FIG. 19, another embodiment of control
system 100 is configured to control a Concord air drill.
In contrast to the control system of FIG. 1l, however, a
local MCC 154 controls the seed application rates of the
implement's six sections 300 based upon seed rate command
signals received from CDU 140. MCC 154 converts the rate
command signals into control signals applied to meter 522
on seed module 16 or seed/fertilizer module 426. MCC 154
receives feedback speed signals from meter 522, and sends
meter speed data back to CDU 140 for display. Feedback
signals may also be used for closed-loop control. MCC
154 also applies control signals to fan speed sensor 428,
receives speed feedback signals from sensor 428, and
communicates fan speed data back to CDU 140 for display.
Referring to FIG. 20, when installed, local MCC 154
controls the product application rates for the air drill.
Commands for each product being applied are received by
MCC processor 524 from CDU 140. Processor 524 commands
drivers 504 based on the commands to generate PWM control
signals applied to bin 1, bin 2 and bin 3 metering device
solenoids 574-578. Solenoids 574-578 control hydraulic
valves configured to supply fluid to motors to dispense
seeds or seeds/fertilizer from bins. Feedback signals
are received from bin 1, 2 and 3 meter speed sensors 580-
584. Processor 524 further controls a relay circuit 584
which applies power to an anhydrous control valve. An H-
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bridge driver 586 drives an anhydrous flow control valve
588, and feedback signals are provided by a sensor 590.
A switch 592 is provided to turn on and off the flow.
While the embodiments illustrated in the FIGURES and
described above are presently preferred, it should be
understood that these embodiments are offered by way of
example only. The control system disclosed herein may be
modified for use on other planters, conventional or air
drills, other planting implements with variable-rate
control, controlled plows, balers, material spreaders and
other electronically-controlled implements. The present
invention is not intended to be limited to any particular
embodiment, but is intended to extend to modifications
that nevertheless fall within the scope of the claims.
