BR102018009630B1 - IMPLEMENT SYSTEM, AND, SUPPORT ADJUSTMENT SET - Google Patents

Abstract

A support adjustment assembly for coupling to a frame member of an implement includes a laterally adjustable support configured to be coupled to an opener and a first outlet that provides at least one nutrient. The assembly further includes a plurality of side spacers positioned adjacent the bracket to laterally adjust the bracket and provide a plurality of adjustment positions. The support adjustment assembly facilitates lateral adjustment of the support by removing at least one captively held side spacer that adjusts the lateral adjustment of the support, a lateral adjustment of the first outlet, and an adjustment of a lateral separation between a row of seeds provided by a second outlet and a row of nutrients provided by the first outlet.

Description

Field of Invention

[001] The present invention generally relates to a system and method for a ground engagement implement with lateral position adjustment.

Fundamentals of Invention

[002] Some prior art implements dispense nitrogen or nutrients to crops on, within, or consistent with, the central zone or the central strip between adjacent crop rows. Plants in the crop row may not have the opportunity to absorb some of the nitrogen or nutrients that are dispensed in alignment with the central zone between adjacent crop rows. Higher dosages or concentrations of nutrients may be required to obtain desired results from placing nutrients in the central zone between adjacent rows. Certain producer costs may increase to acquire greater quantities or concentrations of nutrients, fertilizer, or nitrogen to compensate for nutrient placement in the core zone. Producers have an opportunity to reduce the amounts of nutrients, fertilizer, or nitrogen applied to crops, while maintaining or increasing yields per unit area of land, by dispensing nutrients, fertilizer, or nitrogen into a target application zone closer to a row of plants or plant stems in relation to the central zone. Therefore, there is a need for a ground engagement implement with lateral position adjustment.

Summary of the Invention

[003] According to one aspect of the present invention, an implement system is provided. The implement system includes a first outlet configured to deliver at least one nutrient, a second outlet configured to deliver seed, wherein the first outlet and the second outlet are laterally separated during simultaneous provision of seed and nutrients, an opener configured to open the ground, a frame member configured to support the opener and the first outlet, and a laterally adjustable bracket coupled to the opener and the first outlet and having a plurality of adjustment positions such that lateral adjustment of the bracket results in an adjustable side of the first outlet and an adjustment of a lateral separation between the seed row provided by the second outlet and a nutrient row provided by the first outlet.

[004] According to one aspect of the present invention, a support adjustment assembly for coupling to a frame member of an implement is provided. The assembly includes a laterally adjustable bracket configured to be coupled to an opener and a first outlet that provides at least one nutrient, and a plurality of lateral spacers positioned adjacent the bracket for laterally adjusting the bracket and providing a plurality of adjustment positions. the support adjustment assembly facilitating lateral adjustment of the support by removing at least one captively held lateral spacer that adjusts the lateral adjustment of the support, a lateral adjustment of the first outlet, and an adjustment of a lateral separation between a row of seeds provided by a second outlet and a row of nutrients provided by the first outlet.

[005] Other features and aspects will become apparent by consideration of the detailed description and accompanying drawings.

Brief Description of the Drawings

[006] The detailed description of the drawings refers to the attached figures, in which: figure 1 is a perspective rear view of a vehicle towing an embodiment of a system of a ground hitch implement with lateral position adjustment to apply crop inlets with a lateral offset with respect to one or more plant rows, seed beds, drip tape, irrigation lines, or reference lines or curves.

[007] Figure 2 is a perspective front view of a system for a ground hitch implement with lateral position adjustment in an arrangement that is foldable to become more compact for transportation purposes.

[008] Figure 3 is an embodiment of a block diagram of a control system (e.g., electronic components and vehicle software) associated with a ground hitch implement with lateral position adjustment.

[009] Figure 4 is a plan perspective view of an embodiment of a ground engagement implement with lateral position adjustment.

[0010] Figure 5A is a side view of a first configuration of a row unit or ground hitch assembly for mounting on the implement.

[0011] Figure 5B is a side view of a second configuration of a row unit or ground hitch assembly for mounting on the implement.

[0012] Figure 5C is a side view of a third configuration of a row unit or the ground hitch assembly for mounting on the implement.

[0013] Figure 5D is a side view of a fourth configuration of a row unit or the ground hitch assembly for mounting on the implement.

[0014] Figure 5E is a side view of a fourth configuration of a row unit or the ground hitch assembly for mounting on the implement.

[0015] Figure 5F shows the fourth row unit configuration or ground engagement assembly along reference line 5F-5F of Figure 5E.

[0016] Figure 5G is a side view of a fifth configuration of a row unit or the ground hitch assembly for mounting on the implement.

[0017] Figure 5H is a side view of a fifth configuration of a row unit or the ground hitch assembly, when viewed along the reference line 5H-5H of Figure 5G.

[0018] Figure 6 is a perspective side and rear view of an embodiment of a ground hitch implement with lateral position adjustment.

[0019] Figure 7 is an embodiment of a block diagram of the control system (e.g., electronic components and vehicle software) associated with a ground hitch implement with traction position adjustment.

[0020] Figure 8 is an embodiment of a block diagram of the control system (e.g., electronic components and vehicle software) associated with a ground hitch implement with position adjustment of one or more side rows.

[0021] Figure 9A shows a plan view of a row of seeds planted in a generally linear row spaced from fertilizer or nutrient in the soil by a substantially uniform distance or separation.

[0022] Figure 9B shows a plan view of a row of seeds planted in a generally linear row with variable seed density and spaced from fertilizer or nutrient in the soil by a variable distance or separation.

[0023] Figure 9C shows a plan view of two adjacent rows of seed planted in generally linear rows with varying seed density and spaced from fertilizer or nutrient in the soil by a varying distance or separation, where the seed density and distance variable can be independent of each other in adjacent rows.

[0024] Figure 10 shows a plan view of two adjacent rows of seed, where the separation between seed and nutrient within a given row is fixed, and where the separation between adjacent rows is variable.

[0025] Figure 11 is an elevation view of an implement system in accordance with an embodiment of the present invention; Figure 12 is a perspective view of a support adjustment assembly in accordance with an embodiment of the present invention; Figure 13 is a perspective view of a support adjustment assembly in accordance with an embodiment of the present invention; Figure 14 is a perspective view of a cross-section of a support adjustment assembly in accordance with an embodiment of the present invention; and Figure 15 is a cross-sectional view of a support adjustment assembly in accordance with an embodiment of the present invention.

[0026] The same reference numbers in any set of drawings indicate the same features or elements.

Detailed Description of the Drawings

[0027] Figure 1 is a perspective rear view of a vehicle 13 towing an embodiment of a ground hitch implement 19 with lateral position adjustment along, or parallel to, the lateral geometric axis 21 for applying harvest inputs. with an adjustable lateral offset with respect to one or more plant rows, seed beds, drip tape, irrigation lines, reference lines or curves. The lateral axis 21 is substantially perpendicular to the vehicle longitudinal axis 23 of the vehicle, the implement longitudinal axis 25 of the implement 19, or both. Figure 1 shows that the ground hitch implement 19 has a tank 102 to support crop inputs, such as chemicals, nutrients, fertilizer, ammonia, nitrogen, potassium, phosphorus, minerals, or other crop input. In an alternative embodiment, the crop inputs may include fungicide, pesticide, herbicide, acaricide, or other crop treatment substances. In one embodiment, a spray pump 27 accepts an inlet from a crop inlet and pumps the crop inlet through a first manifold 29 and tubes 33 to a group of corresponding first nozzles or first nutrient knives for row application. harvesting plants or soil; Similarly, spray pump 27 accepts an inlet from a crop inlet and pumps the crop inlet through a second manifold 31 and tubes 33 to a group of corresponding second nozzles and second nutrient knives for application to crop rows. of plants or the soil.

[0028] In another configuration, tank 102 may contain pressurized ammonia, anhydrous ammonia, or other pressurized crop inlet that has pressure greater than atmospheric pressure so that spray pump 27 is not required, where tank 102 directly feeds a first collector 29, a second collector 31, and wherein the first collector 29 and the second collector 31 may be associated with the pressure regulator to regulate the pressure and flow of the pressurized harvest inlet.

[0029] In one embodiment, a ground hitch agricultural implement 19 comprises a front member 73 for coupling to a hitch 61. For example, the front member 73 may comprise a multi-section folding member, which includes multiple sections. In one embodiment, the front member 73 comprises a set of hinged sections that can be folded upward, wherein a central section (e.g., the front member 275) of the hinged sections is associated with a hitch 61 for attachment to a vehicle. to pull or tow the implement. For example, the front member 73 comprises a first front member 75 (e.g., the first section), a second front member 175 (e.g., second section), and a front member 275 (e.g., the third section). The first, second and third front members (75, 175, 275) may be articulated at joints or hinges 79 to allow the first front member 75 and the second front member 175 to fold upward with respect to the front member 275 ( e.g. central member) and inwards in the direction towards the longitudinal geometric axis of implement 25 for transport.

[0030] In one embodiment, a set of rear members 77 is associated with the front member 73, which comprises the first front member 75, the second front member 175 and the front member 275. As further illustrated in Figure 4 and Figure 6, four hind limbs 77 are shown, although virtually any number of hind limbs greater than or equal to two can be used in alternative embodiments. For example, the rear members 77 comprise a first rear member 84 associated with one or more corresponding first row units 93, a second rear member 184 associated with one or more second row units 193, a third rear member 284 associated with one or more more corresponding third row units 293 and a fourth rear member 384 associated with one or more corresponding fourth row units 393.

[0031] The ground engagement implement 19 can be considered as a set of trapezoidal sections (95, 195, 295, 395), wherein each section is formed by a segment or portion of the front member 73, a segment or portion of the rear member 77, and a pair of pivotable arms that pivotally interconnect corresponding segments of the front member 73 and the rear member 77. Although Figure 4 illustrates four trapezoidal sections, any number of trapezoidal sections greater than two may be used.

First Trapezoidal Section

[0032] As illustrated in Figure 4 with respect to a first trapezoidal section 95, a first rear member 84 is spaced from a segment or portion of the front member 73 and positioned generally parallel to a segment or portion of the front member 73. By For example, a first rear member 84 is spaced from a first front member 75 and positioned generally parallel to the first front member 75. A first pair of first pivot arms (76, 78) are generally parallel to each other. The first pair of first pivot arms (76, 78) are rotatably connected to the front member 73 or the first front member 75 at two front pivot points 82. The first pair of first pivot arms (76, 78) are rotatably connected to the first rear member 84 at two rear pivot points 85. As best illustrated in the plan view of Figure 4, the first front member 75, first pivotable arms (76, 78) and the first rear member 84 collectively form a pivotable trapezoidal structure that allows to the first rear member moving along, or parallel to, the lateral geometric axis 21, which allows the opener (e.g., nutrient knife 99) or first row units 93 to be laterally adjusted when the vehicle 13 traverses a path, width, a set of plant rows, a set of seed rows, or planted seed beds.

[0033] At least one first opener (e.g., the nutrient knife 99 or projecting ground engagement member in Figure 6) extends downwardly from, or with respect to, the first rear member 84. A first actuator 80 has a first end 87 and a second end 88 opposite the first end 87. The first end 87 is coupled to one of the first pivot arms (76, 78). In one embodiment, the second end 88 is coupled to the front member 73 or the first front member 75 to adjust the lateral position of the first row units 93 or the corresponding openers (e.g., nutrient knives 99 or other ground engagement members). ). However, in an alternative embodiment, the second end 88 may be coupled to a rear member or first rear member 84 to adjust the lateral position of the first row units 93 or corresponding openers (e.g., nutrient knives 99 or other hitch to the ground). The first actuator 80 increases or decreases the distance or extent between the first end 87 and the second end 88 to adjust the lateral position, such as the lateral position of the first rear member 84 with respect to the first front member 75. A first position sensor 68 is arranged to estimate a lateral position of the first row unit 93 with respect to the implement longitudinal axis 25 or any reference point on, or associated with, the front member 73, or the lateral position of the first opener (e.g., the nutrient knife 99) with respect to the implement longitudinal axis 25 or any reference point on, or associated with, the front member 73. For example, the first position sensor 68 (in Figure 3) can estimate the lateral position with base at an angle 90 between any first pivot arm (76, 78) and the first front member 75 or the first rear member 84.

Second Trapezoidal Section

[0034] In the second trapezoidal section 195, a second rear member 184 is spaced from the second front member 175 and positioned generally parallel to the second front member 175. The pivotable arms of a second pair of second pivotable arms (176, 178) are generally parallel to each other. The second pair of second pivot arms (176, 178) is rotatably connected to the second front member 175 at two front pivot points 182. The second pair of second pivot arms (176, 78) is rotatably connected to the second rear member 184 at two rear pivot points 185. As best illustrated in the plan view of Figure 4, the second front member 175, second pivot arms (176, 178) and the second rear member 184 collectively form a pivotable trapezoidal structure that allows the second rear member 184 to move along, or parallel to, the lateral axis 21, which allows the opener (e.g., the nutrient knife 99) or second row units 193 to be laterally adjusted to a second lateral position when the vehicle 13 traverses a path , width, a set of plant rows, a set of seed rows, or planted seed beds.

[0035] At least one first opener (e.g., the nutrient knife 99 or projecting ground engagement member) extends downwardly from, or with respect to, the second rear member 184. A second actuator 180 has a first end 187 and a second end 188 opposite the first end 187. The first end 187 is coupled to one of the second pivot arms (176, 178). In one embodiment, the second end 188 is coupled to the front member 73 or second front member 175 to adjust a second lateral position of the second row units 193 or the corresponding openers (e.g., nutrient knives 99 or other soil engagement members). ). However, in an alternative embodiment, the second end 188 may be coupled to a rear member or second rear member 184 to adjust the lateral position of second row units 193 or corresponding openers (e.g., nutrient knives 99 or other hitch to the ground).

[0036] The second actuator 180 increases or decreases the distance or extent between the first end 187 and the second end 188 to adjust the lateral position, such as the lateral position of the second rear member 184 with respect to the second front member 175. A second sensor position 168 is arranged to estimate a second lateral position of the second row unit 193 with respect to the longitudinal axis of implement 25 or any reference point on, or associated with, the front member 73 or the second front member 175; or the lateral position of the first opener (e.g., the nutrient knife 99) with respect to the longitudinal axis of implement 25 or any reference point on, or associated with, the front member 73. For example, the second position sensor 168 (in Figure 3) can estimate the lateral position based on an angle 90 between any first pivot arm (76, 78) and the second front member 175 or the second rear member 184.

Trapezoidal Third Section

[0037] In the trapezoidal third section 295, a third rear member 284 is spaced from the front member 275 and positioned generally parallel to the front member 275. A third pair of third pivot arms (276, 278) are generally parallel to each other. The third pair of third pivot arms (276, 278) is rotatably connected to the front member 275 at two front pivot points 282. The third pair of third pivot arms (276, 278) is rotatably connected to the third rear member 284 at two points rear pivot arms 285. As best illustrated in the plan view of Figure 4, the front member 275, third pivot arms (276, 278) and the third rear member 284 collectively form a pivotable trapezoidal structure that allows the third rear member 284 to move along, or parallel to, the lateral geometric axis 21, which allows the opener (e.g., the nutrient knife 99) or third row units 293 to be laterally adjusted to a third lateral position when the vehicle 13 traverses a path, width, a set of plant rows, a set of seed rows, or planted seed beds.

[0038] At least one first opener (e.g., the nutrient knife 99 or projecting ground engagement member) extends downwardly from, or with respect to, the third rear member 284. A third actuator 280 has a first end 287 and a second end 288 opposite the first end 287. The first end 287 is coupled to one of the third pivot arms (276, 278). In one embodiment, the second end 288 is coupled to the front member 73 or the front member 275 to adjust the lateral position of the third row units 293 or the opener (e.g., nutrient knives 99 or other ground engagement members). However, in an alternative embodiment, the second end 288 may be coupled to a rear member or third rear member 284 to adjust the lateral position of third row units 293 or corresponding openers (e.g., nutrient knives 99 or other hitch to the ground).

[0039] The third actuator 280 increases or decreases the distance or extent between the first end 287 and the second end 288 to adjust the lateral position, such as the lateral position of the third rear member 284 with respect to the front member 275. A third sensor of position 268 is arranged to estimate a second lateral position of the third row units 293 with respect to the longitudinal axis of implement 25 or any reference point on, or associated with, the front member 73 or the front member 275; or the lateral position of the first opener (e.g., the nutrient knife 99) with respect to the longitudinal axis of implement 25 or any reference point on, or associated with, the front member 73. For example, the third position sensor 268 can estimate the lateral position based on an angle 90 between any pivotable third arm (276, 278) and the front member 275 or the third rear member 284.

Trapezoidal Fourth Section

[0040] In the fourth trapezoidal section 395, a fourth rear member 384 is spaced from the front member 275 and positioned generally parallel to the front member 275. A fourth pair of fourth pivot arms (376, 378) has arms generally parallel to each other. The fourth pair of fourth pivot arms (376, 378) is rotatably connected to the front member 275 at two front pivot points 382. The fourth pair of fourth pivot arms (376, 378) is rotatably connected to the fourth rear member 384 at two points 4, the front member 275, fourth pivot arms (376, 378) and the fourth rear member 384 collectively form a pivotable trapezoidal structure that allows the fourth rear member 384 to move along, or parallel to, the lateral geometric axis 21, which allows the opener (e.g., the nutrient knife 99) or fourth row units 393 to be laterally adjusted to a third lateral position when the vehicle 13 traverses a path, width , a set of plant rows, a set of seed rows, or planted seed beds.

[0041] At least one first opener (e.g., the nutrient knife 99 or projecting ground engagement member) extends downwardly from, or with respect to, the fourth rear member 384. A fourth actuator 380 has a first end 387 and a second end 388 opposite the first end 387. The first end 387 is coupled to one of the third pivot arms (376, 378). In one embodiment, the second end 388 is coupled to the front member 73 or the front member 275 to adjust the lateral position of the fourth row units 393 or the corresponding openers (e.g., nutrient knives 99 or other ground engagement members). . However, in an alternative embodiment, the second end 388 may be coupled to a rear member or fourth rear member 384 to adjust the lateral position of the fourth row units 393 or corresponding openers (e.g., nutrient knives 99 or other hitch to the ground).

[0042] The fourth actuator 380 increases or decreases the distance or extension between the first end 387 and the second end 388 to adjust the lateral position, such as the lateral position of the fourth rear member 384 with respect to the front member 275. A fourth sensor of position 368 (in figure 3) is arranged to estimate a fourth lateral position of the fourth row unit 393 with respect to the longitudinal axis of implement 25 or any reference point on, or associated with, the front member 73 or the front member 275 ; or the lateral position of the first opener (e.g., the nutrient knife 99) with respect to the longitudinal axis of implement 25 or any reference point on, or associated with, the front member 73. For example, the fourth position sensor 368 can estimate the lateral position based on an angle 90 between any fourth pivotable arm (376, 378) and the front member 275 or the fourth rear member 384.

[0043] Furthermore, in one embodiment, the first row units 93, the second row units 193, the third row units 293 and the fourth row units 393 can be adjusted laterally and independently of each other. For example, control system 11 of Figure 3 may control some row units (e.g., any permutation or combination of 93, 193, 293, or 393) to be centered in rows, while other row units are moved laterally to the right. or left, and the lateral position of each separately adjustable set of row units may be continuously adjusted based on the implement position of the implement (e.g., when determined by an implement location determining receiver 66) in the field to track a path plan, to avoid obstacles, irrigation lines, or drip tape, or to vary the proximity of nutrients to plant roots or seeds based on soil characteristics, seed specifications, seed planting density, varieties/ seed coatings, and agronomic prescription plan.

Coupling

[0044] As illustrated in figure 1, in one embodiment, a ground hitch agricultural implement 19 comprises a first front member 73 or third front implement member 275 for coupling to a hitch 61. As illustrated, the hitch 61 comprises a three-point hitch assembly, although other hitch configurations can be used. In one embodiment, the hitch 61 comprises a pair of lower arms 67 extending rearwardly from a rear portion 15 of the vehicle 13, a set of upper arms 63 spaced from the lower arms 67, where each of the upper arms 63 is coupled to a corresponding lower arm 67 by means of one or more adjustable hydraulic engagement cylinders 65 which are capable of adjusting the height of the lower arms 67 and a first front member 75 of the implement 19 which is affixed to the lower arms 67 at points lower coupling points 71. An intermediate arm 17 extends rearwards from the rear of the vehicle through a system of flexible connections and an upper coupling point 69 is attachable to the first front member 75.

[0045] As illustrated in Figure 1, the hitch, such as an upper hitch point 69, may be associated with a hitch angle sensor (e.g., magnetic field sensor 602) to measure an observed implement angle of the implement ( or its front member (73, 75)) with respect to one or more of the following: (1) the longitudinal vehicle axis 23 of the vehicle 13, (2) the heading of the vehicle, (3) a geometric axis that is coextensive to the front limb. For example, a magnet 600 may be attached to, or integrated into, the upper hitch point 69 and a magnetic field sensor 602 may be attached to, or near, the rear of the vehicle 13 to detect a change in magnetic field that indicates an observed implement angle (e.g., hitch angle) of the hitch or implement with respect to vehicle 13 or the vehicle longitudinal axis 23.

[0046] In an alternative embodiment, optional traction force sensors 45 can detect the observed implement angle of the hitch or implement with respect to the vehicle 13 or the vehicle's longitudinal axis 23.

[0047] In figure 1, vehicle 13 (e.g., tractor) comprises a propulsion unit that can drive or energize wheels or tracks that can track or traverse over a guide path or path plane that is aligned with or coextensive with with a center point (or any target offset from the center point) between adjacent crop rows, to minimize damage to plants or seeds by wheels, tracks or tires. The guide path may comprise a linear path segment, a curved path, a contoured path, or a combination of any of the preceding paths.

[0048] In Figure 3, in one embodiment, the vehicle is associated with a vehicle location determination receiver 34, such as a satellite navigation receiver (e.g., with differential signal support phase correction), to estimate the position of the vehicle 13. The path of the vehicle wheels 104 or tires of the vehicle 13 and the path of the implement wheels 106 of the implement 19 may be guided in a manner consistent with intercepting or tracking the guide path or path plan that is aligned with, or coextensive with, the center point (or any target offset from the center point) between adjacent crop rows. In the meantime, the ground hitch implement 19, or different row units thereof (83, 193, 293, 393), may be moved to a lateral position that is independent of keeping the wheels or tires of the tractor or implement 19 between the rows. of plants.

[0049] Instead, the control system 11 or data processing system may adjust the lateral position of the ground engagement implement 19 to have an offset with respect to a row of plants or row of seeds so that inputs (e.g., nutrients, fertilizer, or nitrogen) are directed to, or dispensed into, a target zone (e.g., an intermediate target zone) that is between the centerline between adjacent rows and the plant stems , stem or trunk of plant row, or seed bed row, drip tape segment, or irrigation segment.

[0050] The implement 19 may be equipped with various ground engagement assemblies or row units (93, 193, 293, 393. Under a first mode (e.g., nutrient application mode) of operation, the row are designed to apply nitrogen, anhydrous ammonia, fertilizer or other nutrients to rows of plants or seeds that have already been planted. In the first mode, the control system 11 may be provided with as-planted data for the plants or seeds, which is based in a location-finding receiver, such as a satellite navigation receiver with differential correction, Real-Time Kinematic (RTK) correction, or precise point positioning, which provides the coordinates (e.g., in two or three dimensions) of seeds or rows of plants for the field and a data processing system that records the coordinates of seeds or rows of plants, which may be referred to as as-planted data or planting map data (e.g., historical as-planted data from from a planting that occurred previously for the same field in the same growing season). Data such as plantings or planting map data can be stored as files on electronic storage media, non-volatile electronic random access memory, optical disks, magnetic storage media, in vehicle data memory 14, in vehicle data memory 14, in vehicle data memory implement 52, or otherwise for powering the user interface of the control system 11, or for wireless communication with the control system 11.

[0051] In one embodiment, one or more location determination receivers (34, 66) determine the position of the implement in the field relative to seed as-planted data, seed density data, or both, where the seed data how planted or seed density data may include any of the following: seed or plant row coordinates (e.g., two or three dimensions); position points that define linear or curved row segments; linear or quadratic equations that define linear or curved row segments; seed density data as planted for corresponding linear or curved row segments across one or more fields; the type of seed and the corresponding tolerance to the concentration of fertilizer, components or corrosive salts that can dehydrate or damage the plant tissue; seed casing (e.g., water-soluble, anti-corrosive polymeric casing) of the planted seed and the resistance or tolerance of a seed casing to the concentration of fertilizer, components or corrosive salts that can dehydrate or damage plant tissue.

[0052] In one configuration, the control system 11 or its vehicle guidance module 16 may guide the vehicle and the implement 19 to track an implement path that has a target lateral displacement (e.g., dynamically adjustable lateral displacement versus position of the vehicle or implement) of the ground engagement elements, openers or implement knives in relation to the as-planted data or planting map data. Furthermore, if the as-planted data includes seed types, seed casings, variables, or variable seed density, the target lateral displacement is dynamically adjustable versus the position of the vehicle or implement across the entire field, in a manner responsive to type. of seed, seed coat, seed density, or soil parameters (e.g. from the geotechnical study of the soil). For example, denser planting of seeds or certain types of seed (for example, feed corn for livestock consumption is more tolerant than sweet corn for human consumption to fertilizer salt concentration) can tolerate higher concentrations of fertilizer, such as certain seed varieties or seeds with a polymeric buffer shell; Therefore, the implement data processor 50 or the vehicle guide module 16 or the implement guide module 18 can decrease the target lateral displacement for particular areas of the field with the seeds, seed types or seed casings that tolerate higher concentrations of fertilizer (e.g., or corrosive compounds or salts), specific zones of higher seed or plant density, where more seeds per unit area of land are planted. The implement data processor 50 or the implement guide module 18 varies the fixed or variable lateral displacement based on the seed density of the planted seed die, so that the first opener (e.g., knife 99) of a first row unit (e.g., 93), the second opener (e.g., knife 99) of the second row unit (e.g., 193), or both, whether aligned with lateral offset closer to the planted seed or plants with greater seed density or closer plant spacing to provide nutrients. The row units (93, 193, 293, 393) of Figure 1, Figure 2, Figure 4 and Figure 6 are configured to work in the first mode.

[0053] Under a second mode, with any of the row units described in Figure 5A up to and including Figure 5D, implement 19 can simultaneously apply nutrients and plant seeds in a single path efficiently through the field in a single pass. For example, the first row unit has a first outlet for applying nutrients in a strip and a second outlet for planting seed with a fixed spatial separation, determined to avoid damage to the seed, for the concentration of nutrients to be applied; and wherein the second row unit has a first seed outlet and a second nutrient outlet with a fixed spatial separation determined to avoid damage to the seed for the concentration of nutrients to be applied. In an embodiment of the second mode, the implement data processor 50 or the implement guide module 18 does not dynamically vary the lateral displacement between the band of applied nutrient and the row of seeds or plants, as in the first mode. Instead, the implement data processor 50 or the implement guide module 18 may fix the lateral displacement between the band of applied nutrient and the row of seeds or plants with a certain target lateral displacement or target vertical displacement for a row of implement guide, curve, or implement reference path. When used herein, the nutrient range may be composed of linear segments, curved segments, discontinuous segments, or other nutrient patterns. One or more location determining receivers (34, 66) may determine a position of the implement 19 in a field relative to an implement guide line, curve, or implement reference path. Here, the lateral displacement, lateral movement or lateral displacement of the different trapezoidal sections or the row units can be used for one or more of the following: (1) to balance or equalize tractive forces for planting at speeds higher than in any other way possible, (2) to shift the implement position to track a target implement path, and (3) to keep the implement within internal or external field boundaries, such as waterways, field perimeters, or away from irrigation lines and drip tape.

[0054] Accordingly, in one embodiment, an implement data processor 50 or the implement guide module 18 is adapted to adjust (e.g., programmed with software instructions to) independently or collectively (e.g., to adjust in unison and simultaneously the angle 90 detected by the position sensors (68, 168) to be substantially identical when lateral displacement of the row units (93, 193) occurs) the first lateral position of the first opener and the second lateral position of the second opener to Track seed data as planted or plant locations in a field with a fixed or variable lateral offset. Further, the implement data processor 50 or the implement guide module 18 may control all or any number of row units on the implement in unison to move in a time-synchronized manner, meaning that the synchronized row units or the electronically assembled row units can sweep through the same identical angles 90 at the same time, to laterally move the implement 19 to the right or left. The row units (493, 593, 693, 793) of Figure 5A through Figure 5D can sustain operation in the first mode, or in both the first mode and the second mode.

[0055] In some embodiments, all of the ground hitch assemblies or row units (93, 193, 293, 393) (e.g., synchronized row units) of implement 19 may be moved to have the same magnitude of displacement and same direction with respect to one or more reference rows of plants or seed beds. However, in other embodiments, a first set of first row units 93, such as ground hitch assemblies, may be moved in an opposite direction and with the same magnitude to a second set of second row units 193 of the hitch assemblies. in the ground; The first set and second row units may contain an approximately equal number of ground engagement assemblies or an equal and opposite pulling force between the first set and the second set. Traction or traction force is the force that is parallel to the implement's longitudinal geometric axis, which is required to pull the implement, where the force may vary based on the width of the implement, the depth of the implement engagement in the ground, and the implement speed or speed. For example, the pulling force of each row unit of the implement 19 may depend on the depth and width of the opener, knife or engagement components in the ground and the speed or velocity of the implement. For operation of implement 19 at higher speeds in the first mode (e.g., nutrient application) or in a second mode (e.g., simultaneous planting and nutrient application), the electronic components of implement 48 or control system 11 can use traction compensation to equalize or balance traction, which can cause lateral deviations that can be tracked and documented as planted data. Traction compensation is subject to a maximum limit on the lateral movement that is allowed for traction compensation to prevent damage to existing seeds, plant rows, irrigation lines, or to maintain internal or external field boundaries around the perimeter field or obstacles.

[0056] Traction may depend on the interaction of the ground engagement elements with the ground or floor, such as the composite angle (e.g., pitch, roll, and yaw) of each ground engagement element, such as an opener, coulter or nutrient knife. As illustrated in Figure 4 and Figure 6, each soil engaging member, such as the opener or nutrient knife has a corresponding spring 96 that tensions each soil engaging member in a substantially downward direction. For example, spring 96 is tensioned to allow the row unit or its ground engaging member(s) to have a vertical range of displacement, or upward rotation, responsive to the application of upward force on the spring 96 from the ground, which exceeds the threshold force (e.g., proportional to the spring constant). Consequently, the spring may provide some protection against bending, breaking, or damage of the ground engagement elements, at least until upward displacement is achieved.

[0057] In one embodiment, the implement 19 comprises an implement loader that can laterally move the ground engagement elements or row units (93, 193, 293, 393) and independently, differently and dynamically precisely apply nutrients, fertilizer , nitrogen or other crop inputs, the effectiveness of which can be improved by controlling the lateral distance from a crop row. For example, a control system 11 may apply nitrogen in a typical corn lateral fertilizer application within a target zone approximately 15.24 centimeters (or approximately six inches) from the plant stem row or seed bed. to improve the efficiency and effectiveness of this product, which are thus increased in order to improve plant productions and nutrient use efficiency. The target zone is positioned closer to the row of plant stems or seed beds than the typical 38.1 centimeter (fifteen inch) row spacing for corn in certain regions.

[0058] In one embodiment, the implement 19 comprises a frame with a controllable displacement member or actuators (80, 190, 2080, 380) to move the sections laterally with respect to the rows or beds of plants. Each section has one or more row units (93, 193, 293, 393) as ground hitch assemblies to cover the entire width or width of the implement 19. The path of each row unit, section or set of Ground engagement can be individually controlled in relation to a planted crop row, seed bed, drip tape, irrigation line, reference line or reference curve for corresponding zones or locations within a field.

[0059] The path of each row unit (93, 193, 293, 393) or section of the implement 19 may be controlled based on position or location data for the implement 19 (its ground hitch assemblies) or vehicle 13 , such as one or more location determination receivers (34, 66), or associated antennas. If only the vehicle has a vehicle location determination receiver 34, a kinematic model may estimate the position of the implement 19, a reference point on the implement 19, or a reference point on one or more hitch assemblies on the ground or in the row units (93, 193, 293 or 393) of implement 19. Furthermore, each section has a position sensor (68, 168, 268, 368), such as an angle sensor or rotary potentiometer, to estimate a lateral displacement of the assembly ground hitch or respective row unit for the implement 19 or an implement reference point 19 (e.g., fixed frame reference point) on the implement 19. Control system 11 can simultaneously track lateral positions independent of the respective row units when the implement 19 and the vehicle cross a field.

[0060] In one embodiment, the control system of Figure 3 has a user interface 41 to support adjustment of a lateral displacement of the implement 19 or its engagement assemblies on the ground from a crop row, seed bed, drip tape, irrigation line, reference line, or reference curve. During a field survey or otherwise, the reference positions of the crop row, seed bed, drip tape, irrigation line, reference line, or reference curve are stored on a field map by a location determination receiver operation (34, 66) with differential correction, with corrections from real-time kinematic reference receiver, or precise point positioning settings.

[0061] During operation of implement 19, implement location determination receiver 66 estimates an observed implement position (or position of one or more ground hitch assemblies or row units (93, 193, 293, 393 ) of the implement 19) with a target lateral offset (e.g. user-definable target lateral offset) to the reference positions of the crop row, seed bed, drip tape, irrigation line, reference lines or Reference curves are stored on a map of the field. The actual difference between the reference position and the corresponding observed implement position (or the position of one or more implement ground hitch assemblies 19) represents the observed lateral displacement.

[0062] In one embodiment, an implement location determining receiver 66 is adapted to determine an implement position or a reference position associated with the first front member 75 or the front member 73. An implement data processor 50 or The implement guide module 18 is configured to adjust the first lateral position, a second lateral position, a third lateral position, or a fourth lateral position, or any combination of the preceding lateral positions, based on the determined implement position or position of reference and given as planted crop rows in a field to maintain: (1) substantially no lateral displacement (e.g., minus any tracking error) for an implement path plan or implement guide line for one or more implement locations, vehicle locations, or zones within the field, or (2) a target lateral shift between an opener or row unit and the harvest row (e.g., seed row or plant row) to one or more locations implement, vehicle locations or zones within the field, (3) a target lateral offset or between an opener or row unit and irrigation line positions in a field, drip tape positions in a field, internal field boundaries, boundaries external fields, watercourses or obstructions.

[0063] The observed lateral displacement can be automatically adjusted by measuring an error with respect to the crop row, seed bed, drip tape, irrigation line, reference line, or reference curve, and to automatically adjust the displacement observed to meet or approach a target lateral displacement to reduce or attempt to reduce position or tracking error to zero. The automatic adjustment can compensate or remove the frame pull error of the fixed implement 19 in relation to the vehicle position and harvesting positions.

[0064] In an alternative embodiment, a vehicle imaging device 26, an implement imaging device 58, or both, and an image processing system 24, may estimate the observed lateral displacement or error of the Ground hitch sets with respect to the harvest position of the crop row, planted seed, seed bed, drip tape, irrigation line, reference lines or reference curves are stored on a field map.

[0065] In another embodiment, the existing crop row using row probes or tactile sensors can adjust the lateral displacement of the implement 19 relatively to remain precisely aligned with the target lateral displacement relative to a crop row, the seed bed, drip tape, irrigation line, reference line or reference curve.

[0066] The soil hitch assembly or nutrient knife could be any type of applicator for nitrogen, ammonia, fertilizer, which places nutrients in a band under, in or on the soil. Additionally, the ground hitch assembly can support seed planting and fertilization in a single pass across the field, which saves time and fuel and reduces input costs for growers. A closer, roller or corrugated disc is associated with each row unit (93, 193, 293, 393), where the roller or corrugated disc follows the nutrient knife to cover any injected or soil-applied nutrients. The closure 98 may have notches 97, such as scalloped edges.

[0067] Figure 2 is a front perspective view of a ground hitch implement 19 that can be pulled or towed by a vehicle 13, such as a tractor. The ground hitch implement 19 with lateral position adjustment in an arrangement that is foldable to become more compact for transportation purposes. A first trapezoidal section 95 and a second trapezoidal section 195 are bent upwardly with respect to central trapezoidal sections, such as the third and fourth trapezoidal sections (295, 395).

[0068] In one embodiment, the first front member 75 pivots upward with respect to the front member 275 at joint 79, while the second front member 175 pivots upward with respect to the front member 275 at joint 79. In one embodiment, a The operator can manually unlock the linkage 79 by moving or disengaging a pin, screw or otherwise manually rotating the first front member 75 and the attached row units 93 upward to a locking position. Similarly, the operator can manually unlock the linkage 79 by moving or disengaging a pin, screw or otherwise manually rotating the second member 175 and the attached row units 193 upward to a locking position.

[0069] In an alternative embodiment, a primary actuator, such as a primary hydraulic cylinder, has ends connected between the first trapezoidal section 95 and the central trapezoidal section (e.g., 395) or sections for raising and lowering the first implement section. A secondary actuator, such as a secondary hydraulic cylinder, has ends connected between the second trapezoidal section 195 and the implement center section (e.g., 295) or sections, to raise and lower the second trapezoidal section.

[0070] As illustrated in figure 1 and figure 2, implement 19 has implement wheels 106 and vehicle wheels 104, which are guided between consistent plant rows or seed beds, preventing or minimizing damage to plants, drip tape or to move according to target limits.

[0071] Figure 3 is an embodiment of a block diagram of the control system associated with a ground hitch implement 19 with lateral position adjustment.

[0072] Control system comprises vehicle electronics 10 and implement electronics 48. In one embodiment, the vehicle electronics 10 comprises a vehicle data processor 12, vehicle data memory 14, data ports 22, and a vehicle image processing system 24, which can communicate with each other via the first data bus 20. In one embodiment, the vehicle image processing system 24 is coupled to a vehicle image forming device 26 which may provide collected image data (e.g., stereo image data) to the vehicle image processing system 24.

[0073] The vehicle data processor 12 may comprise a microprocessor, a microcontroller, a programmable logic array, digital signal processor, an application-specific integrated circuit, a logic circuit, an arithmetic logic unit, or other unit electronic data processing.

[0074] The vehicle data storage device comprises electronic memory, non-volatile random access memory, an optical storage device, a magnetic storage device, a magnetic hard disk drive, a magnetic tape, or other device for storing digital data.

[0075] In one embodiment, the vehicle data storage device stores one or more of the following modules, such as software modules: vehicle guide module 16 and implement guide module 18.

[0076] A vehicle location determination receiver 34 may comprise a satellite navigation receiver, such as a satellite navigation receiver or Global Positioning System (GPS) receiver with differential correction receiver for receiving a differential correction signal from reference stations. The vehicle location determination receiver 34 may communicate directly with the data port 22 of the vehicle control system 11 or via the vehicle data bus 32. In one embodiment, the vehicle electronics 10 comprise a controller steering system 36, a braking controller 38, and a propulsion controller 40, which can communicate via the vehicle data bus 32. In turn, the steering controller 36 is coupled to the steering system 42; the braking controller 38 is coupled to the braking system 44; the propulsion controller 40 is coupled to the propulsion unit 46.

[0077] In one embodiment, the steering system 42 comprises an electrohydraulic steering system or electric steering system, where the electrohydraulic steering system comprises a solenoid that controls the valve of a hydraulic steering system and where the electric steering system comprises an electric motor that drives a rack and pinion gear or other mechanical steering linkage system. The braking system 44 may comprise an electrohydraulic braking system, a cable braking system, or a mechanical braking system. The propulsion unit 46 comprises an engine, an electric motor, or a fuel metering device that is used in conjunction with an internal combustion engine.

[0078] In one embodiment, the first communications gateway 30 can communicate with the vehicle data bus 32 and provides a layer of security between the first wireless device 28 and the vehicle data bus 32 or components vehicle electronics 10. Furthermore, the first communications gateway 30 provides intermediate memory for storing communications between the vehicle electronics 10 and the implement electronics 48.

[0079] The implement electronics 48 comprise an implement data processor 50, implement guide module 18, implement data storage 52, and data ports 56 that can communicate with each other via the second data bus 54. In implement 19, an optional imaging device 58 is coupled to data ports 56.

[0080] In one embodiment, the first position sensor 68, the second position sensor 168, the third position sensor 268, and the fourth position sensor 368 are coupled to implement data buses 64 or data ports 56 Similarly, in one embodiment, the first actuator 80, the second actuator 180, the third actuator 280, and the fourth actuator 380 are coupled to implement data buses 64 or data ports 56. Each position sensor (68, 168 , 268, 368) may comprise a rotary position sensor; a magnet and magnetic field sensor (e.g. Hall effect sensor); or potentiometer. Each actuator (80, 180, 280, 380) may comprise a hydraulic cylinder, a linear actuator, a linear motor, an electric motor with a helical worm gear or rack and pinion gear, or the like.

[0081] In one embodiment, the first position sensor 68 may comprise an angle sensor, an optical sensor, a magnetic field sensor and an associated magnet, a potentiometer, a rotary potentiometer, or other sensor for measuring an angle 90 between any first pivotable arm (76, 78) and a first front member 75 or first rear member 84 rotatably connected to the first pivotable arm (76, 78). In one embodiment, the second position sensor 168 may comprise an angle sensor, an optical sensor, a magnetic field sensor and an associated magnet, a potentiometer, a rotary potentiometer, or other sensor for measuring an angle 90° between any second arm. pivotable arm (176, 178) and a second front member 175 or second rear member 184 rotatably connected to the second pivotable arm (176, 178).

[0082] An implement location determination receiver 66 may comprise a satellite navigation receiver, such as a satellite receiver with differential correction receiver for receiving a differential correction signal from reference stations. The implement location determination receiver 66 may communicate directly with the data port 56 of the implement electronics 48 or data processing system or via the implement data buses 64.

[0083] In one embodiment, the second communications gateway 62 can communicate with the implement data buses 64 and provides a layer of security between the second wireless device 60 and the second data bus 54 or the electronic components of implement 48. Furthermore, the second communications gateway 62 provides intermediate memory for storing communications between the vehicle electronic components 10 and the implement electronic components 48.

[0084] As illustrated in figure 4, the first actuator 80 and the second actuator 180 are mounted on opposite sides of the implement longitudinal geometric axis 25. Furthermore, the first actuator 80 and the second actuator 180 are mounted on the opposite internal rotating arms. In one embodiment, the first position sensor 68 may comprise a magnet mounted on a rotating arm and a magnetic field sensor mounted on the front member 73 or the first front support member 75, which is a section of the front member 73; The second position sensor 168 may comprise a magnet mounted on a rotating arm and a magnetic field sensor mounted on the front member 73 or the second front supporting member 175, which is a section of the front member 73. The first position sensor 68 and the second position sensor 168 provides sensor signals or sensor data to the data ports 56 or the implement data processor 50 or the implement guide module 18 to estimate or determine an angle 90, which in turn , indicates the lateral displacement of the relative row unit or its opener (e.g., the nutrient knife 99) with respect to a reference point on the implement or the front member 73.

[0085] In one embodiment, optional force sensors 45, such as strain gauges or piezoelectric sensor modules provide force signals or force data to data ports 56. The force sensors 45 are illustrated in dashed lines to indicate that they are optional and can be deleted in certain configurations. In one configuration, the force sensors 45 may be positioned on a structural member of the row unit (93, 193, 293, 393), which is subjected to tensile forces or similar shear stress or tensile stress from the implement. of ground engagement for the opener (e.g., nutrient knife 99), such as where the row unit is affixed to the rear member (84, 184, 284, 384). In another embodiment, force sensors 45 are positioned on frame member 505 (Figure 5A to Figure 5C, inclusive). In an alternative configuration, the force sensors 45 may be associated with a mechanical connection between any relative rear member and frame member 505 or the row unit.

[0086] In one embodiment, in a pull force compensation mode, an implement data processor 50 or implement guide module 18 is adapted to adjust (e.g., programmed with software instructions in data store 52 for) independently or collectively the first side position of a first opener (e.g., the nutrient knife 99 and ground engagement member) of a first row unit (e.g., 93) and the second side position and engagement member into the soil of a second opener (e.g., nutrient knife 99) of a second row unit (e.g., 193) to balance or equalize the first or second pulling forces or to maintain such first and second pulling forces in the maximum target range from each other, wherein the first opener is positioned on one side of the implement longitudinal axis and wherein the second opener is positioned on an opposite side of the implement longitudinal axis 25. In another embodiment, in a mode of traction force compensation, an implement data processor 50 or the implement guide module 18 is adapted to adjust (e.g., programmed with software instructions in data store 52 to) independently or collectively the first lateral position and first vertical position of a first opener (e.g., the nutrient knife 99 or soil engagement member) of a first row unit (e.g., 93) and the second lateral position and second vertical position of a second opener (e.g., e.g., the nutrient knife 99 or ground engagement member) of the second row unit (e.g., 193) to balance or equalize the first or second pulling forces or to maintain such first and second pulling forces in the maximum range target from each other, wherein the first opener is positioned on one side of the implement longitudinal axis 25 and wherein the second opener is positioned on an opposite side of the implement longitudinal axis 25. The implement data processor 50 or the implement guide module 18 may use any combination or weighting of the observed first pull forces, the second pull forces, and the observed implement angle to minimize or reduce error in tracking the target implement heading at any given corresponding implement position. .

[0087] Accordingly, in a traction force compensation mode or traction force balancing mode, the control system 11, the implement electronics 48, or the implement data processor 50 or the guide module implement 18 is configured to apply equal and opposite forces (e.g., opposing lateral forces of approximately the same magnitude), via the first actuator 80 and the second actuator 180, to relative row units (93, 193), such that the row units may: (1) balance or equalize the tractive forces (e.g., to fall within a certain maximum range of each other) associated with the ground engagement elements (e.g., the first opener of the first row unit 93 and the second opener of the second row unit 193) of the row units (93, 193), and (2) prevent the implement 19 from being erroneously steered from a target implement path by the differential interaction of the engagement elements in the soil from different row units (e.g., on opposite sides of the implement longitudinal axis 25) with the soil.

[0088] As illustrated in figure 4, the third actuator 280 and the fourth actuator 380 are mounted on opposite sides of the implement longitudinal axis 25. Furthermore, the third actuator 280 and the fourth actuator 380 are mounted on opposing internal rotating arms and associated with respective optional force sensors 45, such as piezoelectric sensor modules that provide force signals or force data to data ports 56. Consequently, in a traction force balancing mode, the control system 11, the implement electronic components 48, or the implement data processor 50 or the implement guide module 18, are configured to apply equal and opposite forces (e.g., opposing lateral forces of approximately the same magnitude) via the third actuator 280 and from the fourth actuator 380, to the respective row units (293, 393), so that the row units can balance or equalize the traction forces associated with the ground engagement elements of the row units (293, 393).

[0089] Figure 4 is a plan perspective view of an embodiment of a ground engagement implement with lateral position adjustment. As previously indicated, each rear member (84, 184, 284, 384) is spaced from the respective front member (75, 175, 275, 375) and positioned generally parallel to the front member. A pair of pivoting arms (76, 78; 176, 178; 276, 268; 376, 378) have arms generally parallel to each other. Pivot arms (76, 78; 176, 178; 276, 268; 376, 378) are rotatably connected to a front member (75, 175, 275, 375) at two front pivot points (82, 182, 282, 382 ). The pivot arms are rotatably connected to the rear member at two rear pivot points (85, 185, 285, 385). At least one first opener (e.g., 99) extends downwardly from, or with respect to, each rear member or row unit thereof (93, 193, 293, 393).

[0090] In one embodiment, the pivot arms are rotatably connected to the front member 73 through supports 86, 186, 286. Similarly, the pivot arms are rotatably connected to the rear members 77 through supports 86, 186, 286. In In one configuration, each row unit (93, 193, 293, 393) is connected to the rear members 77 via fasteners or affixing mechanism 189.

[0091] Each actuator (80, 180, 280, 380) has a first end (87, 187, 287, 387) and a second end (88, 188, 288, 388) opposite the first end. The first end is coupled to one of the pivoting arms (76, 78; 176, 178; 276, 278). The second end is coupled to the front member 75 to adjust the lateral position of the opener or each rear member 73 with respect to its corresponding first front member 75. A position sensor (68, 168, 268, 368) is arranged to estimate a position side of the first opener or the first rear member with respect to the front member 75. For example, the position sensor may estimate the lateral position based on an angle between any pivot arm and the front member 73 or the rear member 77.

[0092] Figure 5A to and including Figure 5D represent alternative illustrative examples of row units (493, 593, 693 or 793) that can be used to replace row units (93, 193, 293, 393) in any configurations of the implement 19. Any of the row units may be coupled to the rear member 77 of the implement, such as the first rear member 84, the second rear member 184, the third rear member 284, or the fourth rear member 384, via a fastener and mounting plate (47, 147) or other mounting mechanism.

[0093] Figure 5A is a side view of a first configuration of a row unit 493 or the ground engagement assembly for mounting to any rear member 77 of the implement 19. The row unit 493 comprises a frame member generally horizontal 505 with a first support 502 and a second support 506, connected to, or integral with, the frame member 505. The first support 502 and the second support 506 extend downwardly from the frame member 505. The opener 501 is supported by, or from, the first support 502. In one embodiment, an opener 501 (e.g., the disc-shaped opener or coulter) is rotatable with respect to the first support 502; the opener 501 may be mounted on the first support 402 via a radial bearing or shaft 504 on an opener hub 501. However, in an alternative embodiment, the opener 501 may be fixed or non-rotational with respect to the first support 502.

[0094] In one configuration, the opener 501 may comprise a front coulter, a nutrient knife 514 that trails or follows a path of the front coulter, and where the nutrient knife and the front coulter are laterally aligned. In one embodiment, a knife 514 or sharp pointed member may be connected to, or extend from, the first support 502. As illustrated, the knife 514 has a pointed leading edge 524 for forming or carving a groove in the ground or floor 523 .

[0095] In one embodiment, the knife 514 may comprise a nutrient knife with a first passage, first conduit, or first tube 518, which terminates in a first outlet 522 (e.g., treatment port) to direct nitrogen, ammonia, or another nutrient into the soil that the knife 514 can displace after the opener. From the tank 102, the tube 33 is connected to the first tube 518 for supplying nutrients, nitrogen, fertilizer or other crop input from the tank 102, a pump 27, collector (29, 31) or pressure regulator.

[0096] In one embodiment, the knife 514 may have a second passage, conduit or tube 516 that terminates in a second outlet 520 for deposition of seed into the soil 523 within, or spaced from, the groove by a vertical separation, or both a vertical and horizontal separation between the first outlet 522 and the second outlet 520. In other embodiments, the first outlet 522 and the second outlet 520 have one or more of the following separations: a lateral separation, a vertical separation, and longitudinal separation, in which seed and nutrients can be applied simultaneously to the soil, consistent with separations. For example, as illustrated, the first outlet 522 and the second outlet 520 have a substantially vertical separation, where the fertilizer, nitrogen or nutrient is placed below the planted seed. In any of the row units (493, 593, 693) of Figure 5A, Figure 5B, and Figure 5D, the first outlet 522 may be positioned on one side of the first opener 501 and the second outlet 520 is positioned on one side. opposite the first opener 501, so that there is lateral separation between the planted seed and the applied nutrients. However, nothing prevents the use of vertical separation alone for the row units (493, 593) of Figure 5A and Figure 5B, with respect to the vertical separation between the first outlet 522 and the second outlet 520.

[0097] In some configurations, in which simultaneous seed planting and fertilization of strips of soil are carried out, each row unit (493, 593, 693, 793) may comprise a seeding unit, where the seeding unit is arranged to drop, place or insert one or more seeds into an opening formed by one or more openers (e.g., opener 501, opener 526, or both) and one or more nutrient knives 514; one or more rollers or firming wheels 508 follow the seeding unit to close or cover the seed or seeds with soil. For example, a seed hopper 510 for the row unit 493 is capable of delivering seed (e.g., by gravity) to an inlet port 570 of the seed dosing device 571 between the seed hopper 510 and the second outlet 520 The seed dosing device 571 receives bulk seed into the input port 570 and delivers seed into the output port 572 at a controlled rate of one seed per unit time based on the speed of travel of the implement 19 through the field during the planting. The outlet port 572 of the seed dosing device 571 is connected to the second tube 516, which terminates at the second outlet 520 for the seed. In one embodiment, the seed dosing device 571 may comprise a rotating dosing disc with radially spaced seed cavities that are loaded with seed from the hopper 510 by gravity or pneumatic pressure, where the seed dosing device 571 doses or releases seed in a controlled manner at a given rate (e.g., target seed density based on the rotational speed of the metering disc which is proportional to the speed of the implement 19) from the exit orifice 572 when the metering disc dosage is rotated by an actuator or coupled to a ground engagement wheel or opener 501.

[0098] In one embodiment, a steadying wheel 508 or closure is rotatable with respect to the second support 506; the steadying wheel 508 can be mounted on the second support 506 through a radial bearing or shaft 504 in its hub. The firming wheel 508 closes, compresses or compacts the soil 523 after it is broken by the opener 502 and knife 514 to capture or confine the applied nitrogen, ammonia or nutrient and to cover the planted seed by the soil 523. For example, the covered soil 523 can prevent ammonia from escaping into, or evaporating into, the ambient air. The pressure wheel or steadying wheel 508 may comprise one or more wheels with annular cross-sections that are substantially concave at the wheel-ground interface, convex at the wheel-ground interface, or cylindrical at the wheel-ground interface, or rectilinear at the wheel-ground interface. between ground wheel. The row unit 493 or the ground engagement assembly of Figure 5A can be mounted on the implement 19 illustrated in Figure 4, for example. The direction of travel of row unit 493 is indicated by arrow 521.

[0099] Figure 5B is a side view of a first configuration of another embodiment of row unit ground hitch assembly 593 for mounting on implement 19. The same reference numbers in Figure 5A and Figure 5B indicate the same elements . The row unit 593 or ground engagement assembly of FIG. 5B is similar to the row unit 493 of FIG. 5A, except that the row unit 593 of FIG. 5B additionally comprises a front opener 526 or coulter in front of the opener 501. The front opener 526 is spaced from the opener 501 in the direction of travel of the implement 19. A third support member 552 or supplementary support extends downwardly from the frame member 505. In one embodiment, the front opener 526 comprises a coulter (e.g., disc-shaped opener) that is rotatable with respect to the third support 552; The front opener 526 can be mounted on the third support 552 via the radial bearing or shaft 504 on a hub of the front opener 526. The front opener 526 can more efficiently cut through crop residue and open heavier clay or moist soil than the use only the 501 opener.

[00100] In one embodiment, the front opener 526, the opener 501 and the nutrient knife 514 are laterally aligned such that the nutrient knife tracks or follows a generally linear or curved path through the ground from the front opener 526 and the 501 opener.

[00101] In Figure 5B, the first tube 518 has a first outlet 522 for nutrient, fertilizer or other crop outlets, while the second tube 516 has a second outlet 520 for seed or coated seed, where the first outlet 522 and the second outlet 520 may be on the same or opposite sides of the opener 501, or where the first outlet 522 and the second outlet may be spaced vertically, laterally, or both to prevent burning or damage to seed coated or uncoated by a fertilizer. or ammonia. If the seed is coated with a water-soluble, fungicidal, polymeric, anticorrosive buffer barrier or other coating that protects the coated seed from burning (e.g., by salts or corrosive compounds associated with, or in, fertilizer), the separation of closure of the first output 522 and the second output 420 is sustained.

[00102] For example, the first outlet 522 of the first tube 518 may be placed below the second outlet 520 of the second tube 516, so that the nutrient knife incorporates or traps the nutrient or ammonia in the soil beneath the planted seed. However, in some embodiments, the second outlet 520 and associated second tube 516 of Figure 5B are eliminated to allow simultaneous planting and fertilization of the seed to save fuel. Here, the control system 11 of Figure 3, in conjunction with the separately adjustable lateral displacement of each trapezoidal section of implement 19, can be used to plant rows of seed with fertilizer in a single efficient pass across the field, and in alignment with buried drip tape, buried or surface irrigation lines, or in alignment with reference lines, reference contours, or reference curves near waterways, natural features, slopes, obstacles, or the like.

[00103] In one embodiment, the control system 11 can independently and separately adjust the lateral position of different row units on opposite sides of the implement longitudinal axis 25 to balance or equalize the pulling forces associated with the different row units. of the implements on opposite sides of the implement longitudinal axis 25 to allow the implement 19 to traverse through the field in true alignment with a desired target path. For example, actuators (80, 180, 280, 380) on opposite sides of the implement longitudinal axis 25 may be configured to apply equal and opposite forces to the row units so that the row units can balance or equalize the traction forces associated with ground engagement elements, such as one or more of the front opener 526, the opener 501, the knife 514, or the closing wheel 508 or closer.

[00104] Figure 5C is a side view of a first configuration of a ground hitch assembly or row unit 693 for mounting on implement 19. The same reference numbers in Figure 5B and Figure 5C indicate the same elements. The row unit 693 of Figure 5C is similar to the row unit 593 of Figure 5B, except that seeding and fertilizer placement and/or opening are accomplished by separate openers (501, 526) that are: (1) laterally spaced from each other by a fixed side spacing 560 or an adjustable side spacing, which is manually adjustable by a series of mounting holes or by an actuator (e.g., linear actuator or electrohydraulic actuator); and (2) longitudinally spaced from each other by a fixed longitudinal spacing 550 or an adjustable longitudinal spacing that is adjustable manually or by an actuator (e.g., linear actuator or electrohydraulic actuator), wherein the lateral spacing 560 is substantially perpendicular to the geometric axis longitudinal axis of implement 25 and wherein the longitudinal spacing 550 is substantially parallel to the longitudinal geometric axis of implement 25.

[00105] In figure 5C, the first output 522 is associated with the first opener 526 or front opener; second opener 501 or the rear opener is associated with the second outlet 520 with the longitudinal separation between the first outlet 522 and the second outlet 520 to obtain a target lateral separation and target longitudinal separation between a strip of applied nutrient and planted seed.

[00106] In one embodiment, the lateral spacing or separation between the first outlet and the second outlet may be adjusted manually by a series of holes extending vertically through a transverse support member 559 to receive a fastener 557 to extend through. of a corresponding hole in the frame member 505 recording the alignment of the transverse support member 559 and the frame member 505; thus, adjusting the lateral spacing 560 between the applied crop input (e.g., nitrogen) and planted seed. Similarly, in one embodiment, the longitudinal spacing or separation between the first outlet and the second outlet may be adjusted manually by a series of mounting holes 555 and a fastener 557 inserted through one of the mounting holes 555; thus, adjusting the longitudinal spacing 550 between crop input (e.g. nitrogen) and planted seed.

[00107] If the front opener 526 is associated with dispensing nitrogen harvest inputs or chemical harvest inputs, the rear opener 501 is associated with dispensing seeds, and vice versa. A wide clamping wheel 508 or a set of clamping wheels tracks behind the openers (501, 526). The front opener 526, the rear opener 501 and the clamping wheel 508 are rotatably mounted on the frame member 505 with respect to respective supports (502, 552), or adjustable supports, which extend downwardly from the frame member 505. An optional nutrient knife may be associated with one or both of the openers that dispenses entry of crop or seeds into the soil 523.

[00108] If the lateral spacing 560 or separation between the openers of figure 5C is fixed, the control system 11 of figure 3 in conjunction with the lateral displacement can be used to plant the seed rows in alignment with buried drip tape, buried or surface irrigation lines, or in alignment with reference lines, reference contours, or reference curves near waterways, natural features, slopes, obstacles or the like.

[00109] If the lateral spacing 560 or separation between the openers of Figure 5C, or in lieu of the lateral separation between the first outlet 522 and the second outlet 520, is adjustable, the lateral separation can be changed with the seed density planted, change in crop variety, or change in soil characteristics versus field position, for example. Figure 5C supports fuel savings by simultaneous application of seeds and fertilizer.

[00110] Figure 5D is a side view of a first configuration of a row unit 793 or the ground hitch assembly for mounting on the implement 19. The same elements in Figure 5A through Figure 5D indicate the same elements.

[00111] Figure 5D shows that a single opener 501 is used with one or more knives 514, such as a nutrient knife or blade on each lateral side of the single opener 501. Furthermore, the first outlet 522 for seed and the second outlet 522 5D can provide some lateral separation between seed and fertilizer, so that additional vertical separation between the first seed outlet 520 and the second fertilizer outlet 522 is used to prevent burning or seed damage, rather than reducing fertilizer concentration.

[00112] A rear closer 608 may comprise a single closing wheel or double closing wheels, with or without notches on its circumference, for tracking the planted seed to compact and close the soil over the seed and fertilizer.

[00113] The row unit 793 shows linkage members 562 that are connected to the stationary hub frame at one end and support 566 at an opposite end, which is connected to the rear member 77. The linkage member 562 is associated with a spring suspension spring 561 that places a downward force on the knife 514 and opener 501, but which allows upward displacement for forces that exceed a threshold level proportional to the spring constant of the suspension spring 561.

[00114] Figure 5E is a side view of a fourth configuration of a row unit or the ground hitch assembly for mounting on the implement. The row unit of Figure 5E is similar to the row unit of Figure 5C, except that the mounting holes 555 and fastener 557 are omitted and the row frame 551 is secured to the rear member 77 by means of one or more fasteners 47. to support a laterally adjustable row assembly 475, as illustrated in Figure 5F.

[00115] Figure 5F shows the fourth configuration of the row unit or ground hitch assembly along reference line 5F-5F of Figure 5E, where the row unit has a laterally adjustable row assembly 475 to adjust the relative lateral spacing 560 between seed and nutrient application on a dynamic or variable basis as the implement traverses a field. As illustrated in Figure 5E and Figure 5F, the row frame 551 is secured or connected to a corresponding rear member 77. For example, the row frame 551 is connected to the corresponding rear member 77 via one or more fasteners 47. wherein the row frame member 551 is generally U-shaped or has two orthogonally extending portions when viewed from above.

[00116] In one embodiment, a movable support 605 has an adjustable lateral position 471 that is adjustable along a lateral adjustment range 472 associated with an opening in a row frame member 551. The support 605 is supported by a drive member 473 and a guide 474, wherein the support 605 engages the drive member 473 and the guide 474 to support lateral movement of the support 605 along the drive member 473 and the guide 474. For example, the drive member 473 may comprise a threaded rod or rack that is driven by a 480 row side position actuator, such as a linear motor or electric motor. In one configuration, the bracket 605 has internal threads for interfacing with the threaded rod, while in an alternative configuration of the bracket it has a fixed pinion gear for interfacing with the respective rack. The guide 474 may comprise a rod or bar that interfaces with radial bearings on the support 605 to provide stability for the support 605 and associated ground engagement structure (e.g., opener 526) that are mounted on the support 605, or which extend downwardly from the support by support 552. As illustrated, support 605 has a hollow core 507.

[00117] The row lateral position actuator 480 is responsive to control signals from an implement guidance module 18, implement data processor 50, or vehicle data processor 12 to control the lateral position 471 of the first output 522 of the first tube 518 or associated nutrient knife for applying or placing nutrient or other crop input with a defined lateral spacing 560 (e.g., dynamically adjustable) with respect to the corresponding seed in the row or planted in an adjacent row. In one example, the row lateral position actuator 480 may dynamically adjust the lateral spacing 560 as the implement progresses through or traverses a field or zone within the field based on the implement position provided by an implement location determination receiver 66. or a vehicle location determination receiver 34.

[00118] In one embodiment, a row lateral position sensor 468 provides an observed or measured lateral position of the support 605 or its ground engagement element (e.g., the opener 526) with respect to a fixed point referenced point on the implement, such as a reference point on the rear member 77. As illustrated, the lateral position sensor 468 may comprise a magnetic field sensor 470 for detecting a magnetic field associated with a magnet 470 mounted in or on the bracket 605 to estimate the lateral position of the bracket 605. In an alternative embodiment, the row lateral position sensor 468 may comprise a position encoder or rotor position encoder that is integral with or associated with the row lateral position actuator 480. Although FIG. 8 shows a single lateral position sensor 468 and a corresponding lateral position actuator 480 for a row unit; in practice, a variation of Figure 8 may include multiple lateral row position sensors 468 and corresponding lateral position sensors 468 coupled to the data ports 56, where there is a lateral row position sensor 468 and a corresponding lateral position sensor 468 for each row unit, which is independently or separately laterally adjustable.

[00119] In one embodiment, the lateral position actuators 480 of the laterally adjustable row assembly 475 are used, alone or cumulatively, in conjunction with the combined lateral adjustment of multiple rows via the position actuators (80, 180, 280, 380), where any individual, separate or cumulative lateral adjustments may consider lateral spacing between the band of applied nutrient and the corresponding seeds (or seed density) of each row, and/or traction compensation to obtain target guide lines or target contours (e.g., even when planting at higher speeds, such as greater than approximately 5 to 7 miles per hour).

[00120] In an alternative embodiment, a set of laterally adjustable row sets 475 may be connected to a rear member 77, where the rear member 77 is directly connected to a hitch 61; the front member 75 is deleted, pairs of pivot arms (76, 78, 176, 178, 276, 278, 376, 378) are deleted, and the position actuators (80, 180, 280, 380) are deleted so that only lateral row adjustment is provided by a lateral position actuator 480 of the laterally adjustable row assembly 475 at a row level.

[00121] Figure 5G is a side view of a fifth configuration of a row unit or ground hitch assembly for mounting on the implement. The row unit of Figure 5G is similar to the row unit of Figure 5D, except that the row unit of Figure 5G additionally includes a downforce actuator 604 and laterally adjustable row unit 575. Figure 5H is a side view of a fifth configuration of a row unit or ground engagement assembly as viewed along reference line 5H-5H of Figure 5G.

[00122] Figure 5G and Figure 5H collectively illustrate a laterally adjustable row assembly 575 for adjusting (e.g., dynamically adjusting) the relative lateral spacing between adjacent rows with fixed lateral row spacing between seed and nutrient application when the implement crosses a field. The laterally adjustable row assembly 575 has a fixed lateral row spacing between the first outlet 522 (for nutrient) and the second outlet 520 (for seed), although the associated opener 501 and nutrient knife 514 or cutter may sustain a separation vertical (e.g., fixed or variable) between the nutrient applied and the seed dispensed.

[00123] If the implement has at least two adjustable row sets 575 for adjacent rows, the spatial separation of seeds between adjacent rows can be changed, the spatial separation of nutrients between adjacent rows can be changed, or both (e.g., to sustain variable seed density or different nutrient treatment zones within a field, where nutrient spacing to seed can be varied according to soil properties, local soil elevation or soil slope, growing environment, or others). The row frame 564 is secured or connected to a corresponding back member 77. For example, the row frame 564 is connected to the corresponding back member 77 via one or more fasteners 47, where the row frame member 564 is generally U-shaped or has two portions that extend orthogonally when viewed from above.

[00124] In one embodiment, a movable support 566 has an adjustable lateral position 471 that is adjustable along a lateral adjustment range 472 associated with an opening in the row frame member 564. The support 566 is supported by a drive member 473 and a guide 474, wherein the support 566 engages the drive member 473 and guide 474 to sustain lateral movement of the support 566 along the drive member 473 and guide 474. For example, the drive member 473 may comprise a threaded rod or a rack that is driven by a 480 row side position actuator such as a linear motor or electric motor. In one configuration, the bracket 566 has internal threads for interfacing with the threaded rod, while in an alternative configuration the bracket has a fixed pinion gear for interfacing with the respective rack. The guide 474 may comprise a rod or bar that interfaces with radial bearings in the support 566 to provide stability for the support 566 and associated ground engagement structure (e.g., the opener 526), which are mounted to the support 566. or extending downwardly from the support by support 552. In one embodiment, support 566 has a hollow core.

[00125] The row lateral position actuator 480 is responsive to controlling signals from an implement guidance module 18, implement data processor 50, or vehicle data processor 12 to control the lateral position 471 of a first row with relative to a second row, where the first row and the second row are adjacent to each other and where within each row, the seed dispensed and the applied nutrient or crop input have a fixed lateral separation, or combination of a lateral separation fixed and a fixed vertical separation. In one example, the row lateral position actuator 480 may dynamically adjust the lateral separation between adjacent rows as the implement progresses through or traverses a field or zone within the field based on the implement position provided by an implement location determination receiver. 66, or a vehicle location determination receiver 34.

[00126] In one embodiment, a row lateral position sensor 468 provides an observed or measured lateral position of the support 566 or its ground engagement element (e.g., the opener 526) with respect to a fixed point referenced point on the implement, as a reference point on the rear member 77. As illustrated, the lateral position sensor 468 may comprise a magnetic field sensor for detecting a magnetic field associated with a magnet 470 mounted in or on the bracket 566 to estimate the lateral position. of support 566. In an alternative embodiment, the row side position sensor 468 may comprise a position encoder or rotor position encoder that is integral with, or associated with, the row side position actuator 480.

[00127] As illustrated in Figure 5G, the downward force actuator 604 may be coaxially mounted within a helical spring 561 between the linkage member 562 and the horizontal support 563. To increase the downward force on the row unit engaging the ground , to increase the vertical depth of the ground engagement element (e.g. opener) with respect to the ground or soil level, to increase the seed planting depth, to increase the nutrient depth of the nutrient or other crop input, the downforce actuator 604 extends the length of its shaft. Conversely, to decrease downward force, to decrease the vertical depth of the engagement element in the ground with respect to the ground or soil level, to decrease the planting depth of seeds, and to decrease the nutrient depth of the nutrient or other harvest entry, the downforce actuator 561 contracts or reduces the extended length of its shaft. In one embodiment, the downforce actuator 561 comprises a linear actuator, a hydraulic cylinder, a pneumatic cylinder, or an electric motor with an associated screw gear assembly. The vehicle data processor 12, the implement data processor 50, or both, may provide control signals to the downforce actuator to dynamically adjust the downforce or vertical position of the ground engagement elements of one or more units. of row based on any of the following: (1) an implement position of the implement estimated by an implement location determining receiver 66, (2) an implement position estimated by a vehicle position of an implement location determining receiver 66, (2) an implement position estimated by a vehicle position of an implement location determining receiver 66, vehicle 34 and a model (e.g., kinematic model) of possible implement motion and location, estimated by a data processor (12, 50), (3), sensor data from pull force sensors 45, sensor coupling angle 602, or similar. Figure 6 is a plan view of an embodiment of a ground engagement implement 19 with lateral position adjustment. The implement 19 of figure 6 is similar to the implement 19 of figure 4. The same reference numbers in figure 4 and figure 6 indicate the same elements or characteristics. In any embodiment described herein, the implement 19 may have a different number of row units or ground engagement assemblies per section of the implement 19, or may support a wider width of the implement 19 than that illustrated in any of the drawings; such variations in the number of row units or width shall fall within the scope of the appended claims.

[00128] Figure 7 is an embodiment of a block diagram of the control system (e.g., electronic components and vehicle software) associated with a ground hitch implement with traction position adjustment (e.g., vertical downforce on a row-by-row basis and/or lateral position adjustment).

[00129] Control system of figure 7 is similar to a control system of figure 3, except that the system of figure 7 additionally comprises an angle sensor or magnetic field sensor 602 and one or more downward force actuators 604 associated with a or more corresponding row units (e.g. in figure 5G). Further, in Figure 7, the force sensors 45 are shown in dashed lines to indicate that the force sensors are optional.

[00130] In one embodiment, the implement guidance module 18, the implement data processor 50, the vehicle data processor 12, or any combination of the foregoing modules and data processors, determine whether the pulling force on the implement is laterally unbalanced or is misaligning an implement path from a target implement heading that is required to achieve target or planned row spacings of seed plants, crop inputs, or both. In one embodiment, the magnetic field sensor 602 (in Figure 1 and Figure 7), one or more force sensors 45, or both, measure the observed implement angle. In another embodiment, the implement location determination receiver can estimate the observed implement angle and the respective implement position, such that a target implement bearing can be retrieved from a lookup table or other information structure. data in the data storage device (14, 52).

[00131] The vehicle electronics 10, the implement electronics 48, or both, determine whether the observed implement angle is greater than a threshold deviation from a target implement heading, which is generally correlated to the heading of the implement. vehicle for a given sampling interval. In other words, the vehicle electronics 10, the implement electronics 48, or both, first, determine an error that is a difference between the observed implement angle and the target implement heading, and, second, , determines whether the error exceeds the limit deviation indicative of an unbalanced pulling force on the implement.

[00132] In one embodiment, the target implement heading is determined by a vehicle path plan to obtain an appropriate seed bed, as planted, of seed rows, which is planted according to the pattern or plan, which may be determined by any of the following: (1) a topographical survey or map of the field, its boundaries, headwaters, water features, hazards, and exclusion zones, (2) an area coverage plan such that the implement covers a field with adjacent parallel paths or widths in substantially linear rows, curved rows, contoured rows and/or spiral rows, (3) user input from the operator or an agronomist. The vehicle location determination receiver 34 and the implement location determination receiver 66 determine the vehicle position, the implement position, or both (e.g., in two or three dimensional coordinates) to track the target implement heading. and the route plan stored in the data storage device (14, 52). The data storage device (14, 52) may store an implement target heading, a vehicle target heading, or both, for one or more corresponding points (e.g., positions or coordinates) along the path plan. . In one embodiment, an implement data processor 50 is adapted to retrieve the target implement heading from an implement data storage device 52 associated with the respective position.

[00133] If the observed implement angle is greater than the threshold deviation, the vehicle data processor 12, the implement data processor 50, the implement guidance module 18, or a traction compensation system may direct the rear of the implement in the direction to a target bearing of the implement by one or more of the following: (1) actuation of one or more actuators (80, 180, 280, 380) on a lateral side (e.g., left side or right side ) of the implement differently (e.g., relative movement or displacement between actuators on opposite sides) than the other side to reduce or minimize error (e.g., difference between observed implement angle and target implement heading), and /or (2) reduction of a downward force or downward pressure (normal to the ground or Earth) on or more row units or their associated ground engaging elements (e.g., disc, coulter, opener or nutrient knife) on a lateral side of the implement with respect to other ground engagement elements (e.g., opposing ground engagement elements) on the opposite lateral side of the implement, such as by detecting a signal to the downforce actuator 604 in Figure 5G, to reduce or minimize error (e.g. difference between observed implement angle and target implement heading). In an example, if an actuator (80, 180, 280, 380) moves a ground engagement member laterally outward (e.g., to the right on the right side of the implement facing in a forward implement lift direction ) on one side of the implement, the implement is steered with lateral traction compensation to rotate a front of the implement (e.g., to the left) toward the opposite side of the implement; vice versa. In another example, the downforce actuator 604 places differential pressure on the row units on one side of the implement relative to the row units on an opposite side of the implement, where the row units with the greater downforce pressure on the ground results in the implement decelerating on the side with the greatest downforce pressure to pull the front of the implement toward the side with the greatest downforce pressure; and vice versa.

[00134] Consequently, the implement guidance module 18, the vehicle data processor 12 and the implement data processor 50, separately or collectively, can control the actuators (80, 180, 280, 380) and the downward force (604) associated with different row units to substantially equalize pulling force on opposite side sides of the implement and to maintain a target implement guidance path (e.g., with straight straight rows, curved rows, spiral rows , parallel rows, parallel implement widths, or otherwise). However, increasing the downforce by downforce actuators (604) may temporarily increase the seed depth of the planted seeds or the nutrient depth of the nutrient placed during a time interval in which the traction correction is applied, or one or more more rows may be laterally displaced during the time interval in which the traction correction is applied, so that the vehicle guidance module 15, the vehicle data processor 12, or the implement data processor 50 may place limits ( (for example, default settings that can be set by the user or at the factory) on the traction compensation, the maximum downforce or the maximum lateral displacement of one or more rows for the traction compensation (for example, so that the planted seeds germinate and grow appropriately for reliable target production and the resulting plants can be harvested with a combine or conventional combine harvester with certain row spacing).

[00135] Figure 8 is an embodiment of a block diagram of the control system (e.g., electronic components and vehicle software) associated with a ground hitch implement with position adjustment of one or more side rows. The control system of Figure 8 is similar to the control system of Figure 3, except that the control system of Figure 8 additionally includes a row side position sensor and a row side actuator, consistent with the row units illustrated in figure 5E and figure 5F, collectively, and figure 5G.

[00136] Referring now to figures 11-15, an implement system 700, a ground engagement implement 710, and/or a row unit 712 is/are illustrated in accordance with another embodiment of the present invention. 11 illustrates an implement system 700 having a frame member 714 supporting an opener 716 and a first outlet 718. The system 700 of one embodiment further includes a second outlet 720 that provides seed or any other applicable material described in one or more embodiments of the present invention. The first outlet 718 provides one or more nutrients, including any applicable fertilizer, nutrient, or other material described in any embodiment of the present invention. Similarly, opener 716 includes a structure and/or function described in any embodiment of the present invention. The first outlet 718 and the second outlet 720 are laterally separated, as when the system 700 simultaneously provides seed and nutrients to the soil in a non-limiting example.

[00137] As illustrated in figure 12, with continued reference to figure 11, a support adjustment assembly 722 and a laterally adjustable support 724 are provided. It will be recognized that any portion(s) or all of the assembly 722 illustrated in Figures 12 to 15 may be combined or replaced with any or all of the movable support(s) 566 , 605 described above. Although the assembly 722 of the illustrated embodiment is used for nutrient application, the assembly 722 and/or the system 700 is/are used for seeding, row cleaning, and/or any other application capable of being performed by an implement. The assembly 722 is coupled to the frame member 714 of the implement 710 or implement system 700. The bracket 724 is coupled to the opener 716 and the first outlet 718. The bracket 724 has or is configured to be positioned in a finite plurality of positions. adjustment such that lateral adjustment of holder 724 results in lateral adjustment of first outlet 718 and opener 716. Such adjustment results in lateral separation between one or more row(s) of seed, as described in more detail below with respect to Figures 9 and 10, provided by second outlet 720, and a nutrient row or strip, as described in more detail below with respect to Figures 9 and 10, provided by first outlet 718. In additional embodiments not illustrated, two or more sets 722 or systems 700 to cooperatively and/or independently perform tasks and/or apply nutrient, seed, or other material.

[00138] As illustrated in Figures 13 to 15, the support adjustment assembly 722 includes a plurality of side spacers 726 positioned adjacent to the support 724. The side spacers of the plurality of side spacers 726 cooperate with each other to laterally adjust the support 724. In the embodiment illustrated in Figures 12 to 16, each of the plurality of side spacers 726 is movable or removable. Each spacer 726 may be initially positioned on a first side 728 of the bracket 724 or a second side 730 of the bracket 724 that is opposite the first side 728. To adjust the lateral position of the bracket 724, one or more of the spacers 726 are removed from it. From a home position, the bracket 724 is moved in the direction of the previous position of the removed spacers 726, and the removed spacers 726 are replaced on the side of the bracket 724 opposite the side of the home position.

[00139] In one embodiment, the assembly 722 includes a frame attachment member 736 coupling the assembly 722 to the frame member 714. Such coupling is used with one or more fasteners 738 in the illustrated embodiment, but may be accomplished by welding, adjusting by interference, integral formation, and/or any other structure or method of coupling understood by a person having ordinary skill in the art.

[00140] As illustrated in figure 13, the assembly 722 of an embodiment includes a first end member 732 for being positioned on the first side 728 of the support 724 and a second end member 734 for being positioned on the second side 730 of the support 724 In the illustrated embodiment, the first and second end members 732, 734 are soloed or otherwise coupled to the frame-attachment member 736. Spacers 726 and bracket 724 are positioned between the first and second end members 732, 734 , and the first and second end members 732, 734 limit the movement or positioning of the plurality of side spacers 726 and/or the bracket 724.

[00141] As illustrated in Figures 13 to 15, the support adjustment assembly 722 of one embodiment additionally includes one or more elongated support member(s) of the support 742, which extend laterally and support the support 724. In the illustrated embodiment , each of a support upper support member 744 and a support lower support member 746 support the support 724 and allow the support 724 to slide or otherwise move laterally along the support upper support member 744 and of the lower support support member 746. The support support member(s) 742 and a positioning of the spacers 726 allow the support 724 to be positioned along a finite plurality of adjustment positions.

[00142] As shown in Figures 14 and 15, each of the plurality of side spacers 726 is a generally L-shaped plate with an outwardly concave or bulging portion 752, facing a frame affixing member 736. The side spacers 726 of the illustrated embodiment are each shaped so that each has an upper portion 748 and a lower portion 750 extending in a direction substantially perpendicular to the upper portion 748. Substantially perpendicular is between 70 and 110 degrees, in one embodiment, between 80 and 100 degrees in one modality, and between 85 and 95 degrees in one modality.

[00143] Figures 13 and 14 illustrate the support adjustment assembly 722 of an embodiment additionally including one or more elongated gripping member(s) 740 maintaining the position of the plurality of side spacers 726. In the illustrated embodiment, a single gripping member 740 is positioned between, and extends through, the first end member 732 and the second end member 734 and extends through the support 724. In the illustrated embodiment, the spacers of the plurality of side spacers 726 are removable. upon removal of the single gripping member 740. The spacers of the plurality of side spacers 726 contact one or more primary gripping surface portion(s) 760 of the gripping member 740. Once when the gripping member 740 is removed , the lower portion 750 of one or more of the side spacers 726 may be moved horizontally away from the frame member 714 to permit lowering and removal of the spacer(s) 726. The process is then reversed to replace the spacer(s) 726. ) spacer(s) 726 on an opposite side of the bracket 724 after movement of the bracket 724.

[00144] In the illustrated embodiment, the support support member(s) 742 at least partially support(s) the plurality of lateral spacers 726 on one or more external spacer support surface(s) 754 15, the upper portion 748 is horizontally supported by the upper support support member 744 on one or more secondary gripping surface portion(s) 758 of the upper support support member 744 and the upper support portion(s) The lower support member 750 is vertically supported by the lower support support member 746 on the one or more secondary gripping surface portion(s) 758 of the lower support support member 746. The plurality of side spacers 726 additionally includes one or more internal spacer support surface(s) 756. The internal spacer support surfaces 756 contact a frame affixing member 736, in the embodiment illustrated above and below the concave portion 752.

[00145] Side spacers 726 allow positioning of support 724 in a plurality of adjustment positions. In the illustrated embodiment, the increments to adjust and the number of finite or discrete adjustment positions depend on the thickness of the spacers 726. Each of the spacers 726, in the illustrated embodiment, has a thickness of 1.27 cm (V”) to allow increments adjustment of 1.27 cm (V2”). However, in additional embodiments, any other thickness of spacer(s) 726, and therefore adjustment increment, is included in the present invention. Further, the plurality of spacers 726 may include different thicknesses such that relatively larger and smaller incremental adjustments may occur with the same set 722 depending on the spacer(s) 726 selected or substituted in the set 722. The plurality of spacers 726 supports a set of discrete lateral adjustments for each row unit, which can be independently varied from other row units or coordinated with other row units. If each of the plurality of spacers 726 is of uniform thickness, lateral adjustment is achieved by replacing spacers of uniform thickness. If the plurality of spacers 726 includes spacers 726 having different thicknesses, such as one or more spacer(s) 726 having a fractional thickness of other spacers 726, the lateral adjustment may be finely tuned by replacing or replacing one or more spacer(s). 726 having a fractional thickness and/or replacing one or more standard thickness spacer(s) 726 with one or more fractional thickness spacer(s) 726.

[00146] Figure 9A shows a plan view of a row of seeds 907 of seeds planted in the soil in a generally linear row, spaced from a range of nutrient 903 (e.g., fertilizer, nitrogen or anhydrous ammonia) in the soil by a substantially uniform distance or lateral separation 901. As illustrated, the seeds within the seed row 907 are planted with a uniform seed-to-seed spacing 902, lateral inclination or density. The nutrient band 903 may be placed in the lateral separation band 906 between a minimum lateral separation 905, as indicated by the dashed line, and a minimum lateral separation 904, as indicated by linear or curved segments composed of double dots and alternating long dashes. . As illustrated, the nutrient strip 903 is, at an intermediate or average lateral separation, within the lateral separation strip 906. Although a row of seeds 907 and a corresponding nutrient strip 903 are illustrated in Figure 9A, in practice, any number of seed rows and corresponding nutrient strips can be arranged in a substantially parallel manner in linear, curved, contoured or spiral arrangements, among others. Any of the embodiments of the implement systems, ground engagement implements, and/or row units for the implements described in the present invention are used to plant the seeds and/or apply the nutrients in accordance with the pattern of Figure 9A. For example, the row units of Figure 5A through Figure 5H can be used to plant seeds and apply nutrient with uniform lateral spacing between the rows of planted seeds and the band of nutrient applied.

[00147] Figure 9B shows a plan view of a row of seeds planted in a generally linear row with variable seed density and spaced from the fertilizer or nutrient in the soil by a variable distance or separation. The pattern of seed planted and nutrient applied is similar to Figure 9A and Figure 9B, except: (1) seed-to-seed spacing (910, 912), seed lateral tilt, or seed density is variable in Figure 9B and (2) the lateral separation (908, 909) between the seed row 917 and the nutrient strip 913 is variable. For example, the lateral separation (908, 909) between seed row 917 and nutrient strip 913 varies proportionally to seed density or changes in seed density, such that: (1) nutrient strip 913 has a first lateral separation 908 (e.g., nearest or closest lateral separation) adjacent to a maximum or greater seed density 910 in seed row 917; (2) the nutrient strip 913 has a second side separation 909 (e.g., further side separation 909) adjacent to the lowest, minimum, or average seed density 912 in seed row 917. Although one seed row 917 is a corresponding nutrient range 913 are illustrated in Figure 9B, in practice, any number of seed rows and corresponding nutrient range can be arranged in a substantially parallel manner in linear, curved, contoured or spiral arrangements, among others.

[00148] The implement that is equipped with one or more row units shown in Figure 5E and Figure 5F, collectively, can obtain the planted seed row pattern and nutrient range illustrated in Figure 9B. Advantageously, the lateral separation (908, 909) can be varied within the lateral separation range 906 on a dynamic basis as the implement traverses through the field, where seed density is tracked via the seed metering device, a receiver. implement location determination device 66, and or a vehicle location determination receiver 34.

[00149] Figure 9C shows a plan view of two rows of adjacent seeds (917, 927), planted in generally linear rows with varying seed density and spaced from the fertilizer or nutrient range (913, 923) in the soil by a variable distance or separation, where seed density (910, 912) and variable lateral separation (908, 909) can be independent of each other in adjacent rows. The pattern of seed planted and nutrient applied is similar to Figure 9B and Figure 9C, except: (1) a seed-to-seed spacing, seed lateral tilt, or seed density is variable in two adjacent rows, and a spacing seed to seed 912 of the two adjacent rows may be varied independently with respect to each other or in some other relationship between the two adjacent rows; (2) the first lateral separation (908, 909) between the seed row 917 and the corresponding nutrient strip 913 is variable; (3) the second lateral separation (908, 909) between the seed row 927 and the corresponding nutrient strip 923 is variable. For example, the lateral separation (908, 909) between seed row 917 and nutrient strip 913 varies proportionally to seed density or changes in seed density of adjacent seed row 917, such that: (1) the strip of nutrient 913 has a primary lateral separation 908 (e.g., closer, closest or minimum lateral separation) adjacent to the highest or maximum seed density 910 in seed row 917; (2) nutrient strip 913 has a secondary lateral separation 909 (e.g., furthest lateral separation) adjacent to the lowest, minimum, or average seed density 912 in seed row 917. Although two seed rows (917, 927) and corresponding nutrient range (913, 923) are illustrated in Figure 9C, in practice, any number of seed rows and corresponding nutrient range may be arranged in a substantially parallel manner in linear, curved, contoured or spiral arrangements, among others.

[00150] The implement that is equipped with one or more row units shown in Figure 5E and Figure 5F, collectively, can obtain the planted seed row pattern and nutrient range illustrated in Figure 9B. Advantageously, the lateral separation (908, 909) can be varied within the lateral separation range 906 on a dynamic basis as the implement traverses through the field, where seed density is tracked via the seed metering device, a receiver. implement location determination device 66, and or a vehicle location determination receiver 34.

[00151] Figure 10 shows a plan view of two adjacent seed rows (907, 917) of seed, where the lateral separation 952 between seed row 907 and a respective nutrient band 903 within a given aggregate row is fixed, wherein the lateral separation 954 between seed rows 917 and a respective nutrient range 913 is fixed, and where the lateral separation 951 between adjacent seed rows (907, 917) is variable. When used here, an aggregate row includes the seed row (907 or 917) and the respective nutrient band (903 or 913).

[00152] The implement that is equipped with one or more row units shown in Figure 5G and Figure 5H, collectively, can obtain the planted seed row pattern and nutrient range illustrated in Figure 9B in one pass of the row unit which simultaneously plants seed and applies a corresponding range of nutrients. Advantageously, the lateral separation 951 can be varied within the lateral separation range on a dynamic basis as the implement traverses through the field, where seed density is tracked via the seed metering device, a seed location determining receiver. implement 66, and or a vehicle location determination receiver 34.

[00153] In one example, the implement data processor 52 varies the lateral separation between a first row of planted seeds and a second row of seeds based on the seed density of the first row of seeds from the seed density observed or observed seed spacing. In another example, the implement data processor 52 may decrease the lateral separation between the first row of planted seeds and the second row of seeds for an increased seed density or a maximum seed density associated with a particular respective position. , zone or region in the first seed row and the second seed row, collectively. Conversely, the implement data processor 52 may increase the lateral separation between the first row of planted seeds and the second row of seeds to a decreased seed density or a minimum seed density associated with a particular respective position. , zone or region of the first seed row and the second seed row, collectively.

[00154] In one embodiment, the implement data processor 52 limits the lateral separation between a first row of planted seed seeds and a second row of seeds based on a row spacing limit associated with a harvester or a harvester -reaper to harvest harvest that results from the rows of planted seeds.

[00155] Although the invention has been illustrated and described in detail in the drawings and the preceding description, such illustration and description should be considered as exemplary and not restrictive in nature, it being understood that illustrative embodiments have been shown and described and that all changes and Modifications that fall within the spirit of the invention are desired to be protected. It will be noted that alternative embodiments of the present invention may not include all of the described features, but still benefit from at least some of the advantages of such features. Those of ordinary skill in the art can readily devise their own implementations that incorporate one or more of the features of the present invention and fall within the spirit and scope of the present invention as defined by the appended claims.

[00156] Although the above describes example embodiments of the present invention, these descriptions should not be viewed in a limiting sense. On the contrary, other variations and modifications may be made without departing from the scope and spirit of the present invention as defined in the appended claims.

Claims (20)

1. An implement system having a lateral axis extending perpendicular to an implement longitudinal axis, comprising: a first outlet (522, 718) configured to provide at least one nutrient; a second outlet (520, 720) configured to supply seed, wherein the first outlet (522, 718) and the second outlet (520, 720) are laterally separated during simultaneous provision of seed and nutrients; an opener (99, 501, 526, 716) configured to open the soil; a frame member (505, 714) configured to support the opener (99, 501, 526, 716) and the first outlet (522, 718); characterized in that it further comprises: a laterally adjustable support (566, 605, 724), coupled to the opener (99, 501, 526, 716) and the first outlet (522, 718) and having a plurality of adjustment positions of so that lateral adjustment of the support (566, 605, 724) parallel to the lateral axis results in a lateral adjustment of the first outlet (522, 718) parallel to the lateral axis and an adjustment of a lateral separation parallel to the lateral axis between a row of seeds (907) provided by the second outlet (520, 720) and a row of nutrients provided by the first outlet (522, 718). 2. System according to claim 1, characterized by the fact that it further comprises a support adjustment assembly (722) coupled to the frame member (505, 714), wherein the support adjustment assembly (722) facilitates the lateral adjustment of the support (566, 605, 724) by removing at least one captively held lateral spacer (726) that adjusts the lateral adjustment. 3. System according to claim 2, characterized in that the support adjustment assembly (722) further comprises a plurality of lateral spacers (726) that are positioned adjacent the support (566, 605, 724) to adjust laterally the support (566, 605, 724). 4. System according to claim 3, characterized by the fact that the support adjustment assembly (722) further comprises at least one gripping member (740) configured to secure a position of the plurality of side spacers (726). 5. System according to claim 4, characterized by the fact that the at least one gripping member (740) comprises a single gripping member (740) at least partially supporting the plurality of side spacers (726) on a portion of primary gripping surface (760) such that the at least one side spacer (726) is removable upon removal of the single gripping member (740). 6. System according to claim 3, characterized in that the support adjustment assembly (722) further comprises a first end member (732) and a second end member (734) configured to limit movement of at least one of the support (566, 605, 724) and the plurality of side spacers (726). 7. System according to claim 3, characterized in that the support adjustment assembly (722) further comprises at least one support support member (742, 744, 746) extending laterally and supporting the support (566, 605, 724) over the finite plurality of adjustment positions. 8. System according to claim 7, characterized by the fact that the at least one support support member (742, 744, 746) at least partially supports the plurality of side spacers (726) on a gripping surface portion secondary (758). 9. System according to claim 7, characterized by the fact that the at least one support support member (742, 744, 746) comprises a plurality of support support members (742, 744, 746). 10. System according to claim 9, characterized by the fact that each of that plurality of support support members (742, 744, 746) at least partially supports each of that plurality of lateral spacers (726). 11. System according to claim 3, characterized by the fact that each of the plurality of side spacers (726) comprises: an upper portion (748); and a lower portion (750) extending in a direction perpendicular to the upper portion (748). 12. The system of claim 1, wherein the laterally adjustable bracket (566, 605, 724) includes a discrete plurality of adjustment positions, and lateral adjustment of the bracket (566, 605, 724) results in a lateral adjustment of the first outlet (522, 718) and the opener (99, 501, 526, 716). 13. Support adjustment assembly (722) for coupling to a frame (505, 714) of an implement, the assembly characterized in that it comprises: a laterally adjustable support (566, 605, 724) configured to be coupled to an opener (99, 501, 526, 716) and a first outlet (522, 718) providing at least one nutrient and having a plurality of adjustment positions so that lateral adjustment of the support (566, 605, 724) parallel to a lateral axis results in a lateral adjustment of the first outlet (522, 718) parallel to the lateral axis and an adjustment of a lateral separation parallel to the lateral axis between a row of seeds (907) provided by a second outlet (520, 720) and a row of nutrients provided by the first outlet (522, 718); and a plurality of lateral spacers (726) positioned adjacent the bracket (566, 605, 724) for laterally adjusting the bracket (566, 605, 724) and providing the plurality of adjustment positions, the bracket adjustment assembly (722) facilitating lateral adjustment of the bracket (566, 605, 724) by removing at least one captively held lateral spacer that adjusts the lateral adjustment of the bracket (566, 605, 724), the lateral adjustment of the first outlet (522, 718), and adjusting the lateral separation between the seed row (907) provided by the second outlet (520, 720) and the nutrient row provided by the first outlet (522, 718). 14. Assembly according to claim 13, characterized by the fact that it further comprises at least one gripping member (740) configured to secure a position of the plurality of side spacers (726). 15. Assembly according to claim 14, characterized in that the at least one gripping member (740) comprises a single gripping member (740) such that at least one of the plurality of side spacers (726) is removable when removing the single gripping member (740). 16. Assembly according to claim 13, characterized in that it further comprises a first end member and a second end member configured to limit movement of at least one of the support (566, 605, 724) and the plurality of lateral spacers (726). 17. Assembly according to claim 13, characterized in that it additionally comprises at least one support support member (742, 744, 746) extending laterally and supporting the support (566, 605, 724) along the finite plurality of adjustment positions. 18. Assembly according to claim 17, characterized by the fact that the at least one support support member (742, 744, 746) at least partially supports said plurality of lateral spacers (726). 19. Assembly according to claim 17, characterized in that the at least one support support member (742, 744, 746) comprises a plurality of support support members (742, 744, 746), each of the plurality of supporting support members (742, 744, 746) at least partially supporting each of said plurality of side spacers (726). 20. Assembly according to claim 13, characterized in that the plurality of lateral spacers (726) provides a discrete plurality of adjustment positions, thereby laterally adjusting the first outlet (522, 718) and the opener ( 99, 501, 526, 716).