WO2025045358A1

WO2025045358A1 - Seeding machine with cartesian positioning of seeding tools for precision seeding

Info

Publication number: WO2025045358A1
Application number: PCT/EP2023/073789
Authority: WO
Inventors: Nicolas Santi; Julio Rodríguez; Maximiliano Neri
Original assignee: Bioceres Group PLC; Gentlefarming Inc
Current assignee: Bioceres Group PLC; Gentlefarming Inc
Priority date: 2023-08-30
Filing date: 2023-08-30
Publication date: 2025-03-06
Anticipated expiration: 2026-02-28

Abstract

The invention pertains to the area of agricultural seeders for large extensions of land with the aim of achieving better use of the surface of the lot to be planted, reduction of the weight of the machine to avoid compaction of the soil and reduction of tractor power. It consists of the use of a structure (1) that has at least one shaft (6) and a multiplicity of seed distributor points (4) which travel transversely and longitudinally on the machine to deposit single seeds in holes made by said distributor points. A control program includes a geo-referenced mapping of points to be planted and an electronic controller allows all movements to be synchronized so that distributors can drill a hole and deposit a seed at the points on the lot indicated by the map.

Description

SEEDING MACHINE WITH CARTESIAN POSITIONING OF SEEDING TOOLS FOR PRECISION SEEDING

TECHNICAL FIELD OF THE INVENTION

The invention is placed in the scope of agricultural implements, in particular in the equipment used for seeding on large extensions of land, which are generally configured with a multiplicity of seeding units that usually open a furrow in the land to deposit the seeds and/or fertilizer, and then cover it using a covering wheel.

STATE OF THE ART AND PROBLEMS TO RESOLVE

From the beginning of mechanized agriculture, sowing systems for extensive crops such as cereals (wheat, com, barley, rye, etc.) and oilseeds (soybean, sunflower, rapeseed, safflower, etc.) have been based on pre-tilling the soil and placing the seeds with a predetermined spacing, in longitudinal furrows, with adequate space between them. The seeds are placed at a specific depth for each species and ensuring good contact with the soil in order to put it into germination conditions.

In these systems, the expected sowing density is obtained by combining the distance between seeds within each furrow, and the spacing between furrows. The latter is generally determined by the characteristics of the sowing unit and the tractor equipment used by the system. This restriction prevents the establishment of the ideal spacing between furrows. Another restriction of this system, which we will call “conventional,” based on the idea of sowing in furrows, is the high power consumption in the preparation of the “seedbed”. Soil tillage with primary tillage implements (plows that invert the root ball) and secondary tillage (breaking up the soil into small pieces with disc systems, tines, etc.) involves high energy expenditure and causes soil erosion.

With the arrival of no-till farming, primary and secondary tillage was eliminated. It is planted without prior preparation of the seedbed, on the remainder of the previous crop, or on the natural field. No-till farming reduced power consumption per hectare planted and had a very favorable impact on the sustainability of agricultural systems. It substantially reduced the carbon footprint, both through fuel savings, and through the recovery of organic matter from soils, which implies CO2 capture from the air through plant photosynthesis.

However, no-till farming continued to use the traditional system of planting crops by opening furrows and placing the seed in them. In the absence of previous preparation of the seedbed, it was necessary to develop the art to open these furrows on uncultivated soil, while at the same time cutting and separating the stubble or pre-existing vegetation. Advances on the subject were consistent, allowing for rapid dissemination of the system. However, no-till farming also has a high power requirement, as it is necessary to cut the stubble and open the furrow on a field that has not been previously prepared. This led to the need to ballast the seeders; otherwise, they would not have enough weight to cut through the plant residue and open the furrow, which also creates the inconvenience of facilitating the compaction of the soil. This also leads to the tractors being ballasted at the front so that the front wheels are not lifted and the weight is concentrated on the rear shaft due to the traction. The compaction of the soil requires greater effort for the roots, which ends up generating losses in yield, in addition to the fact that the soil loses nutrients because the rainwater penetrates less and runs off more, taking these nutrients with it, also generating environmental pollution, etc.

The need to use high-power tractors in turn require wheels of sufficient width and equipped with “lugs” to improve traction and reduce skidding. In addition, as a result of this requirement, a restriction appears for the narrowing of the distance between furrows. Therefore, in order to achieve the desired sowing densities, the distance between plants within each furrow is reduced. This hinders a uniform distribution of plants, which creates several agronomic disadvantages: for a desired density of 80,000 plants per hectare, when the furrows are spaced at 52 cm apart, the seeds must be placed 20 cm apart. This non-uniform distribution leads to competition between plants, weed growth in free spaces, less use of radiation and nutrients, water evaporation, etc. The advantages of uniform spacing are well known. That is, there are at least three drawbacks that today’s large extension seeding systems must try to solve, as it would be necessary to reduce the excessive weight generated by the compaction of the soil, but this is counterbalanced by the permanent increase in the power required on the one hand and the need to make better use of the land surface on the other, since reducing the distance between lines has practical limitations due to the dimensions of the equipment and its associated components.

The purpose of the invention resolves the three drawbacks since it uses devices already known in the current state of the art and that allow the creation of a hole in which to deposit the seeds instead of making a furrow, but instead of being used in the classic seeding units linked to a tool bar for linear seeding, they are mounted onto a square or rectangular structure that allows them to move perpendicularly to the forward direction of the tractor or autonomous vehicle carrying it. In this way, in addition to not sowing by opening a furrow, it is sown on a level plane, and not in a line as in traditional systems.

As mentioned above, there are some solutions that, instead of opening a furrow to deposit the seed, make equidistant holes into which they deposit a single seed, but always following a unidirectional line. For example, the American patent “US4637328” presents a mechanically-driven no-tillage seeding device which penetrates the soil repeatedly and successively, using two devices that act as a metering and drilling device to a certain depth in order to deposit seeds and fertilizers, always in line with the advance of the tractor dragging the implement.

Another example can be observed in American patent “US8061282B2”, which presents an implement with a tool formed by a hollow tube, being substantially vertical and with its lower end finishing at an angle that tapers at the tip so that it creates a hole, forming a continuous line of holes, always in the direction of advancement of the implement. The repetitive cyclical motion of the tool is driven by a cam that is rotationally mounted with respect to the machine frame.

Another example is the publication of the patent “US2020128724A1”, which presents a seeding system that does not produce a continuous furrow, but rather uses an actuator coupled to a shaft to generate a hole in which to place a seed, ensuring that the tip of the seed is placed downward, so that the seed sprouts upward, facilitating its growth. The placement of the seeds at the same depth is ensured by controlling the depth at which the shaft that generates the hole is inserted.

Patent application “US2022124966A1” has a shaft configured to create a hole in the ground for each of the seeds and a mechanism that prevents a new seed from entering until the shaft retracts after generating the hole.

Although the proposed solutions allow a reduction in power and fuel consumption, they do not solve the problem of better use of the surface, since in all cases, the planting is in a straight line, leaving a previously determined distance between seeding units, which is likely to be less than when using systems that generate the traditional furrow.

On the other hand, the only precedents that suggest the non-use of line seeding systems is in the case of planting trees, vineyards and orchard crops, where the seeding method known as “trefoil” is usually used, which allows every three plants to form an equilateral triangle, so that one plant is always in front of the midpoint of two others, and so on throughout the plantation, making use of the land surface. In addition, in the case of trees, seeds are not sown but seedlings are planted directly and this is normally done by hand. And obviously, with regard to gardens and vineyards, these are not extensive plantations.

Therefore, there is a need to generate innovations that allow a better use of the soil in large plots through a precise distribution of seeds, and at the same time reduce soil compaction and the pulling power of the vehicle or tractor that pulls the seeder.

It is therefore an aim of the invention to achieve that the sowing of seeds in lots of large extensions can be carried out in a different way to the traditional linear sowing system.

It is another object of the invention that the distribution can be modified based on the crop to be achieved. It is another object of the invention to achieve variable distribution for batches with environments with different plant density.

And it is another object of the invention that allows the use of a multiplicity of injectors or distribution points for different types of seeds, to be used depending on the hardness and characteristics of the soil where it is to be planted.

And it is still another object of the invention to avoid ballasting the seeder and to reduce the weight of the seeding equipment to avoid soil compaction.

BRIEF DESCRIPTION OF THE INVENTION

The object of the invention is to achieve for the case of planting in large extensions of land, a better use of the surface to be planted, replacing the traditional line system with a “non-linear”, triangular or any other geometrical mode, also reducing power and soil compaction. For this purpose, a machine is used to position the tools that produce the hole in the soil in the right place, without following a line, as is done in current seeding systems. Said machine has a structure that supports at least one or more shafts on which one or more devices are mounted that allow a hole to be made in order to deposit a seed without the need to make a furrow, such devices being able to be moved perpendicularly to the direction of advancement of the machine, thus allowing the seeds to be deposited according to a previously established distribution, and not in a linear manner as currently used. Moreover, the dimensions of the structure, the number of shafts, and the number of devices used may vary without affecting the invention itself.

Furthermore, the shafts on which these devices are mounted are able to move forward or backward, thus allowing the seeds to be planted on a certain plane, limited only by the dimensions of the support structure. An electronic control allows the pre-planning and pre-programming of the movement of each of the shafts that support the devices, and each of them, given that its movement is carried out by the action of electric motors, since, depending on the type of seed to be sown, the distances between them may be different. The structure that supports the devices that produce the hole can be mounted on a self-propelled vehicle or be formed with a wheeled shaft and linked to a tool bar pulled by a tractor, similar to the current seeding machines.

It is worth mentioning that to better understand the object of the invention, the device that produces the hole or seed distributor has been represented with a specific model or type, whose characteristics are defined in another patent document filed by the same applicant, but the scope of the invention is independent of the type of device being used, since the same could be replaced depending on the characteristics of the soil where the seeding is intended to be performed.

BRIEF DESCRIPTION OF THE DRAWINGS

Figure 1 is a perspective view of the object of the invention.

Figure 2 is a left lateral view of the object of the invention. Figures 3, 4 and 5 are views that allow visualization of the linkage of the structure with the shafts that support the seed distributors points.

Figure 6 is a view of the lateral support of the shafts on which the seed distributors are mounted.

Figure 7 is a view of the support containing a seed distributor.

Figure 8 is a view from the rear of the shaft on which the seed distributor supports are mounted, and an enlarged image of the linkage between these components.

Figure 9 shows a detail of the brush mounted on the stand of the seed distributors.

DETAILED DESCRIPTION OF THE INVENTION

The invention refers to a piece of equipment to be used in seeding large extensions of land, allowing seeds to be deposited into the soil without following a linear trajectory, as is done in traditional sowing, but allowing it to be done in any trajectory with respect to the direction of the vehicle driving or transporting the equipment, and using the following figures will explain the best way to implement the same.

Figure 1 is a front perspective view of the object of the invention showing that there is a square or rectangular structure (1) that in each of its vertices has columns (2) that hold one or more hoppers (3) which must contain the seeds to be planted. A multiplicity of seed distributors (4) is also shown, each within a structure (5) which supports it, and which are mounted on one or more shafts (6) which are connected at their ends to the lateral profiles that make up the structure (1). Additionally, it shows that at the bottom of the structure (5) supporting each of the seed distributors (4) there is a type of brush (7), whose function is to cover the hole produced by the seed distributor once the seed is deposited inside it, and which will be shown in greater detail in Figure 9.

It should be noted that an alternative to the configuration presented in Figure 1 would be by arranging the hoppers (3) outside of the structure (1), i.e. on the tractor that drags it to the machine or to the self-propelled vehicle which transports it through the lot in which it is to be worked, provided that the hoppers (3) are higher than the seed distributors (4).

Figure 2 is a left lateral view of the object of the invention showing that the hoppers (3) are connected to the seed distributors (4) by a flexible hose (8), such that the seeds fall through gravity to each of the seed distributors (4), and that their movement along the shafts (6) is not hindered. It also shows that the brush (7) forms part of the support structure (5) of the seed distributors (4). The connection through the flexible hose (8) must be secured regardless of the mounting set up for hoppers (3). Figure 7 allows for a better view of the connection of the seed distributor (4) to the flexible hose (8).

Figure 3 is an enlarged view of the left side of the structure (1) showing that the ends of the shafts (6) are connected to the side of the structure (1) through two side supports (9) that are related thereto by a zipper (10) mounted on the side of the structure (1) and two sets of wheels, not very visible in this figure but which can be seen in more detail in Figures 5 and 6. Obviously the same is true for the other side of the structure.

Figure 4 is similar to the previous one, with the difference that the cover for the side supports (9) has been removed, and we can see that within each of them there is an electric motor (11) with a pinion (12) on its shaft that relates to the rack (10) mounted along the side frame of the structure. In this way, each of the shafts (6) can move forward or backward according to the pattern previously configured in the electronic controller. It is key that both shafts (6) are able to move in a coordinated manner since when the distributor point produces the hole in the ground, the velocity with respect to the ground must be zero, but since the tractor pulling or the vehicle transporting the device never stops, the shafts must travel at the same speed as the unit, but in the opposite direction of its advance. Obviously, once the hole is made, the tools are raised and the shafts (6) quickly return forward to their original position until a new hole is produced in the ground to deposit the seed.

Figure 5 is a view similar to the previous one, but enlarged and viewed from another angle, so it can be better observed that the lateral supports (9), as well as being linked by the pinion (12) to the rack (10), have a pair of wheels (13) at their bottom and top that ensure the stability of the supports (9) on the lateral profile of the structure, allowing it to move forward and backward, and are better visualized in the figure below. Figure 6 is a view of the insulated side support (9) in which one of its sides has been removed and the two sets of wheels (13), the motor (11) inside its structure and the pinion (12) can be better seen. In this way, by making the lateral supports (9) of each shaft (6) to act in sync, each of them can move stably at the preset speed and backward or forward as desired. It is important to add that the electric motors (11) used to contain rotary encoder type sensors for better control of the speed and position of the shaft travel (6) forward or backward. One alternative is to use stepper motors since they can also be controlled.

Having explained the operation of the shafts (6) that support the seed distributor (4), we proceed to explain the structure (5) on which they are mounted, which are basically similar to the one already explained for the lateral supports (9), and which is visualized in the following figures.

Figure 7 is an isolated view of the support (5) which has had one of its sides removed, allowing us to see that inside it contains the seed distributor (4), which is linked by a hose or flexible tube (8) to the hopper (3) containing the seeds to be sown, and which is not visualized in this figure. It can also be seen that there are two sets of wheels (14) which must be linked to the shaft (6) on which the support (5) is mounted, and that with the action of the electric motor (15) must allow the movement of said support (5) along its respective shaft (6) through the linkage of a pinion (16) mounted on its shaft with a zipper similar to (10), but mounted along the shaft (6), and not shown in this figure. It should be clarified that the invention is independent of the type of seed distributor device (4) used, since it could be of a different type depending on the type of seeds to be used or the characteristics of the soil where it is to be planted. In other words, the support (5) with its corresponding electric motor (15) and the two sets of wheels (14) are part of the object of the invention, regardless of the type of seed distributor (4) mounted therein. It can also be seen in this figure that the brush (7) is linked to the support structure (5) of the seed distributor (4), and not to the seed distributor (4).The type of electric motor (15) also includes within it a rotary encoder type sensor for better control of the speed and position of its travel on the shaft (6).0ne alternative is to use stepper motors since they can also be controlled.

Figure 8 is a rear plane view of one of the shafts (6) with the lateral supports (9) at their ends and with four supports (5) containing their respective seed distributors (4) therein, showing in the magnifying glass mode a detailed view of the linkage between the support (5) and the shaft (6), and consisting of the four wheels (14) and the pinion (16) which is linked to the rack (17) and allows for the movement of the support (5) depending on the dimensions of the shaft (6) and the number of supports (5) mounted to the same.

Finally, the movement of the lateral supports (9) of the shafts (6) in addition to the movement of the supports (5) containing the seed distributors (4) results in the Cartesian X and Y positioning of the seed and with the depth of the hole produced by the seed distributor (4) ends up positioning the seed three- dimensionally in the soil. Figure 9 allows a closer look at the brush (7), which in a preferred first realization is actually made up of two brushes mounted behind the tool that makes the hole, and which practically have the “V” letter shape, but without bristles in between. This allows the loose soil to be pushed into the middle where the holes are found, without clogging the brush, plugging the holes to ensure that the seed is covered. Other forms of realization may also be used, so long as they fulfill the assigned function.

As will be understood from the description above, the power required is greatly reduced since there is no need to open furrows, nor is it necessary to cut the remaining stubble on the ground. In addition, electric motors are used for the movement of the shafts and the seed distributor supports and no ballasting of the machine is required since a hole is produced to deposit each seed, and therefore soil compaction is also much lower compared to the current seeding systems.

While the structure of the object of the invention is innovative in solving the problems posed in the sowing of large lots, it is even more important to operate the electronic controller to achieve an effective product for obtaining the expected results. It has a program that at least includes the geometry of the tractor or vehicle carrying the object of the invention, its geometry, the reading of the sensors of each of the electric motors (11) and (15) thereby identifying the position of each of the lateral supports (9) of the shafts (6) and the supports (5) containing the seed distributors (4), the type of seed to be sown and the Cartesian distribution thereof in the plane defined by the machine structure.

Since the object of the invention was developed to work with the currently marketed precision agriculture technologies of the vehicles, the description of the electronic controller includes information about it and about the standard sensors used in the precision electronics of the vehicles useful for this invention. In fact, the controller of the object of the invention must communicate with the controller carried by such vehicles, for example to identify their position and modify their direction and forward speed automatically.

The electronic controller is connected to the battery, alternator, or generator of the vehicle carrying the object of the invention and through it energizes the motors (11) of the shafts (6) and the motors (15) acting on each support structure (5) of the seed distributors (4), the rotary encoders|included in each of the aforementioned motors and the seed distributors themselves (4). If necessary, a separate electrical generator may be included for the power supply of the different components. Furthermore, since the machine object of the invention is intended to be transported by different types of vehicles such as a tractor or an autonomous machine, communication with the controller is suitable for CAN bus, Profibus, Modbus and/or Ethernet.

Before sowing begins, and after a survey of the lot to be sown by any means, a specific program running on a personal computer is used to generate a map of the lot to be worked, where the latitude and longitude coordinates of each point where a seed is to be placed are indicated, which is interpreted as a "plotting pattern" or "point map" for sowing, identifying even those points where a seed cannot be deposited, for example because there is a tree, large stones or an animal burrow.

In this way, once the program with the “point map” is loaded into the controller, which can be done using a communication cable, a USB memory stick, over Wi-Fi, Bluetooth or from a cloud platform through the Internet, the machine must go through the plot to be sown and deposit seeds in the geographic positions marked in the “plotting pattern”. This makes a significant difference with the traditional systems of conventional sowing and even the well-known sowing systems by generating holes in the soil, since in such systems a value of seed dose to be sown in a determined surface is loaded, but always maintaining the line, whereas in the object of the invention the geographical positions of the points where each seed is to be placed are loaded, thus presenting the advantage of a better use of the surface to be sown, which is the main object of the invention, and a saving in the quantity of seeds to be used, since by knowing in advance the coordinates where it is not possible to deposit seeds, such action is avoided.

Furthermore, the “plotting pattern” is independent of the size and configuration of the machine that constitutes the object of the invention, as well as the dimensions of the tractor that drags it or the agricultural vehicle that transports Y1 it. These parameters are essential to know before starting the seeding operation, since they directly influence the accuracy with which seeds must be deposited in the soil, explained in more detail below.

Once the controller of the object of the invention is turned on, it uses the data from the "Global Navigation Satellite System" (hereinafter "GNSS") receiver, if the vehicle carrying the object of the invention has one, to know its geographic position and its speed of advance. If the vehicle does not have such a receiver, it is possible to connect one directly to the machine controller to provide it with such data. In all cases, the accuracy with which the vehicle position is defined is determined by the vehicle correction method, it being desirable to use the most accurate methods, such as “Precise Point Positioning” (hereinafter “PPP”) or “Real-Time Kinematics” (hereinafter “RTK”), which have an error below 2,5 cm., and therefore that same error will be committed in the determination of the points indicated by the established plotting pattern, provided that the data referring to the distance between the “GNSS” and different points of interest have been uploaded in order to be able to replicate the geoposition of each of the seed distributors (4) used. For example, the distance from the center of the GNSS receiver to the center of the vehicle dragging or transporting the object of the invention, the distance from the ground to the top surface of the GNSS receiver, or the distance from the driveshaft to the vehicle hitch. Such vehicle geometry is sometimes preconfigured at the factory, but sometimes it is necessary for the user to enter it, and in such a case it is of utmost importance that it be done correctly. It is also important to consider the geometry and configuration of the machine object of the invention, such as the position of the tractor hitch with respect to the structure (1), the dimensions of the shafts (6), the number of distributor points (4) per shaft (6) and the dimensions of the supports (5) of the distributor points (4) in relation to the dimensions of the structure (1) that makes up the machine. With both geometries properly configured, the electronic controller of the object of the invention knows which commands it needs to execute to position each seed distributor (4) at the exact point where the “plotting pattern” indicated planting a seed. A configuration error in the measurements of the vehicle or of the object of the invention itself magnifies the error of the “GNSS” receiver and replicates it in the position of the seed planted on the lot.

Since it is essential to ensure the accuracy of the position of each seed distributor (4), a calibration command of the shafts (6) and supports (5) of each seed distributor (4) must be executed as a first step each time a “plotting pattern” is loaded to plant a given lot. This is done by moving the shafts (6) and all supports (5) to a position called “zero position”. In a preferred form of realization, said position is at the left rear apex of the structure (1) in order to simplify the action of the calibration command and thus excite the windings of all electric motors so that, no matter where each of them is located, all of them directed to the zero position. However, other positions such as “calibration point” or “zero position” could be adopted depending on the size of the structure (1) and the number of supports (5) used. Ultimately, with all distributor points (4) located in the established “zero position”, and with their known geometry, the machine recognizes the position of all the seed application points and is therefore calibrated and ready to start sowing the lot.

During sowing, the vehicle with the machine advances at a speed recorded by the “GNSS” receiver, and with the seed “plotting pattern” file already preloaded into the electronic controller, it determines the electrical signal to be sent to the motors (11) of the shafts (6) and to each of the motors (15) of the supports (5) in order to position them, independently, leaving the seed distributor (4) over the point of application of the seed and this is when, regardless of type, the hole will be made and the seed will be deposited at the depth indicated by the “plotting pattern”. This geographical position is recorded in a file of the electronic controller for the object of the invention to ensure the protection of the information that a seed was planted in said position. However, it is important to ensure, in order to preserve the integrity of the tool that creates the hole in the ground at that moment, that the controller coordinates the movement of the motors (11) of the shafts (6) to generate zero relative velocity with the soil without stopping the vehicle, moving said shafts at the same speed but in the opposite direction of the advance of the machine for the time required by the tool to carry out its work. At the end of the seeding process, when the seed distributor (4) is no longer in contact with the soil, the shafts (6) must return to their initial position at full speed in order to continue to the next point to be planted.

Additionally, since the time required by the seed distributor tool (4) to do its job is transformed into a linear distance over which the shaft (6) must be moved back along the machine structure to generate zero relative speed with the soil, and since that machine structure is finite, then, if the distance required is greater than the physical distance available to move the shaft, the electronic controller of the object of the invention instructs the controller of the vehicle carrying the object of the invention to reduce the forward speed. Eventually, if using a vehicle whose electronic controller cannot modify its forward speed, a warning signal should appear on the cab monitor for the machinist to manually modify it.

If work on the lot is interrupted, whether due to weather, mechanical issues or simply to reload seeds, the electronic controller of the object of the invention keeps in its memory the last position of each shaft (6) and each support (5) of the seed distributors (4) to avoid recalibrating the entire machine before resuming work.

Claims

CLAIMS Having described and determined the nature and scope of the present invention and the way it is to be implemented, it is hereby declared that the following is claimed as an invention of exclusive ownership:

1. A Cartesian positioning seeding machine for distributing geopositioned seeds applicable to seeding on large extensions of land that uses a multiplicity of seed distributors generating a hole in the soil to house individual seeds, characterized in that it comprises

- a structure (1) configured with at least one hopper (3), at least one shaft (6) and a multiplicity of supports (5) mounted on at least one said shaft (6),

- each support (5) has a brush (7) on its lower end,

- each at least one shaft (6) connected to a support (9) at each of its ends,

- each support (5) connected to a seed distributor (4),

- each seed distributor (4) connected to at least one hopper (3),

- a control program connected to an electronic controller,

- the electronic controller connected to the electric motors (11) and (15),

- the electric motors (11) connected to the shafts (6),

- the electric motors (15) connected to the supports (5), and

- the electric motors (11) connected to the machine feed rate.

2. The machine of claim 1 , wherein each seed distributor (4) is connected to at least one hopper (3) by a hose or flexible tube (8).

3. The machine of claim 1 , wherein at least one hopper (3) is mounted on the structure (1).

4. The machine of claim 1 , wherein at least one hopper (3) is mounted outside of the structure (1).

5. The machine of claim 1 , wherein the supports (9) are connected to the structure (1) by a pinion (12) and a rack (10).

6. The machine of claim 1 , wherein the supports (5) are connected to at least one shaft (6) by a pinion (16) and a rack (17).

7. The machine according to claim 1 , wherein the control program relates the Cartesian position of each support (5) of the distributor points (4) to the established planting “plotting map”.

8. The machine, according to claim 1 , characterized in that the control program relates the Cartesian position of each support (9) of at least one shaft (6) to the established planting “plotting map”.

9. The machine of claim 1 , characterized in that the control program relates the supports (5) of the distributor points (4) to the “calibration point” coordinates established for the structure (1).

10. The machine of claim 1 , wherein the control program relates the supports (9) of at least one shaft (6) to the “calibration point” coordinates set for the structure (1).

11. The machine of claim 1 , wherein the control program relates the supports (9) of at least one shaft (6) to the advance rate of the machine.

12. The machine of claim 1 , wherein the electric motors (11) and (15) have a rotary encoder sensor inside.

13. The machine of claim 1 , wherein the electric motors (11) and (15) are stepper motors.