WO2025059752A1 - Conveyor arm for air cart - Google Patents

Abstract

Embodiments herein generally relate to a conveyor arm for an air cart. In some examples, a method is provided for controlling movement of a conveyance mechanism on an air cart, wherein the conveyance mechanism is used for transferring agricultural product. The method comprises: storing dimensional parameters of (i) the conveyance mechanism, (ii) the air cart and (ii) an articulated arm through which the conveyance mechanism is coupled to the air cart; receiving an instruction to move the conveyance mechanism; obtaining positional data on pivotal joints in the articulated arm; calculating a motion path for the articulated arm based on the dimensional parameters and the positional data, to move the conveyance mechanism according to a pre-defined motion profile associated with the instruction; and directing drivers for the articulated arm to drive rotation at the pivotal joints to move the articulated arm according to the motion path.

Description

CONVEYOR ARM FOR AIR CART

CROSS-REFERENCE TO RELATED APPLICATION(S)

The present application claims priority to, and benefit of, United States Provisional Patent Application No. 63/583,757, titled “CONVEYOR ARM FOR AIR CART”, filed on September 19, 2023.

FIELD OF THE INVENTION

The present invention relates to the field of air carts, which form part of agricultural air seeding systems used to deposit agricultural material into the soil.

BACKGROUND OF THE INVENTION

Air seeders are commonly used to apply agricultural particulate material to the soil during planting operations and are often comprised of a wheeled air cart that includes one or more frame-mounted tanks for holding agricultural product such as seed, fertilizer, inoculants and other seed treatments. Air carts that are used in air seeders are well known and can take many different configurations, such as two tank or three tank configurations, or sometimes are mounted on the seeding tool.

In use, the tanks are filled with selected product and moved with the air seeder through the field to dispense the product. As such, the air cart must be refilled with product from time to time. When filling an air cart, the product is typically transported to the field by truck with an end dump or belly dump cargo area or trailer. The product is dispensed from a dispensing outlet on the truck or trailer.

A conveyor system is employed to convey product dispensed from the truck to a tank on the air cart. The conveyor system includes a conveyor and a positioning arm connected between the air cart and the conveyor. The conveyor has an elongate tubular body extending between an inlet, hopper end and an outlet, spout end. The elongate tubular body has a conveyance therein such as an auger or conveyor belt from conveying product from the hopper end to the spout end. The positioning arm is configured to move the conveyor into a position to move the product from the truck dispensing outlet to the tank. The conveyor arm must be moved to position the hopper end of the conveyor under the truck's dispensing outlet and the spout end aligned to direct product into the tank.

This positioning arm moving operation can prove difficult for operators. Sometimes, the truck, air cart and/or conveyor have to be repositioned a number of times. Positioning errors can result in frustration and damage to the truck, air cart and conveyor system. Further, poorly positioned conveyors can cause product spills, which is environmentally and economically undesirable.

Some prior attempts to automate the conveyor positioning process require sensors on the truck. However, the truck employed to deliver product may be out of the control of the air cart owner. Other prior attempts have mounted sensors on the ends of the conveyor, such as on the spout or hopper, which are the parts most prone to impacts and thereby loss or damage to the sensors.

SUMMARY OF THE INVENTION

The invention discloses a conveyor system for an air cart that facilitates positioning of the conveyor.

In at least one broad aspect, there is provided a method for controlling movement of a conveyance mechanism on an air cart, wherein the conveyance mechanism is used for transferring agricultural product, comprising: storing dimensional parameters of (i) the conveyance mechanism, (ii) the air cart and (ii) an articulated arm through which the conveyance mechanism is coupled to the air cart; receiving an instruction to move the conveyance mechanism; obtaining positional data on one or more pivotal joints in the articulated arm; calculating a motion path for the articulated arm based on the dimensional parameters and the positional data, to move the conveyance mechanism according to a pre-defined motion profile associated with the instruction; and directing drivers for the articulated arm to drive rotation at the one or more pivotal joints to move the articulated arm according to the motion path.

In another broad aspect, there is provided method for controlling movement of a conveyance mechanism on an air cart, wherein the conveyance mechanism is used for transferring agricultural product, comprising: receiving a command to move the conveyance mechanism; obtaining positional data on one or more pivotal joints in an articulated arm, wherein the articulated arm couples the conveyance mechanism to the air cart; determining a motion path for the articulated arm based on one or more dimensional parameters and the positional data, to move the conveyance mechanism according to a pre-defined motion profile associated with the command; and operating drivers for the articulated arm to drive rotation at the one or more pivotal joints to move the articulated arm according to the motion path.

In another broad aspect, there is provided an air cart used for transferring agricultural product, comprising: an air cart frame and storage tanks; a conveyance mechanism including a first end, a second end and a conveyance for moving granular product from the second end to the first end; an articulated arm coupled at one end to the air cart and coupled at an opposite, outboard end to the conveyance mechanism, the articulated arm including: a first pivotal joint coupling an inner portion of the articulated arm to the air cart, a second pivotal joint coupling the inner portion of the articulated arm to an outer portion of the articulated arm, a third pivotal joint coupling the opposite outboard end of the articulated arm to the conveyance mechanism, and drivers for driving rotation about the first, second and third pivotal joints; a control system including: sensors for sensing the rotational positions of the first, second and third pivotal joints, and communications to the drivers, at least one processor coupled to the sensors and the communications, the at least one processor configured to: store dimensional parameters of (i) the conveyance mechanism, (ii) the air cart and (iii) the articulated arm; receive an instruction to move the conveyance mechanism relative to the art cart; obtain positional data from one or more of the sensors based on the positions of one or more of the first, second or third pivotal joints in the articulated arm; calculate a motion path for the articulated arm based on the dimensional parameters and the positional data, to move the conveyance mechanism according to a pre-defined motion path associated with the instruction; and communicate directions to the drivers for the articulated arm to drive rotation at the one or more of the first, second or third pivotal joints to move the articulated arm according to the motion path.

In another broad aspect, there is provided an air cart used for transferring agricultural product, comprising: an air cart frame and storage tanks; a conveyance mechanism including a first end, a second end and a conveyance for moving granular product from the second end to the first end; an articulated arm coupled at one end to the air cart frame and coupled at an opposite, outboard end to the conveyance mechanism, the articulated arm including (i) one or more pivotal joints and (ii) drivers for driving rotation about the pivotal joints; one or more sensors for sensing the rotational positions of the pivotal joints; and at least one processor coupled to the one or more sensors and the drivers and configured for: receiving a command to move the conveyance mechanism; obtaining positional data, from the one or more sensors, on the one or more pivotal joints in the articulated arm; determining a motion path for the articulated arm based on one or more dimensional parameters and the positional data, to move the conveyance mechanism according to a pre-defined motion profile associated with the command; and operating drivers for the articulated arm to drive rotation at the one or more pivotal joints to move the articulated arm according to the motion path.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention, both as to its organization and manner of operation, may best be understood by reference to the following description, and the accompanying drawings wherein like reference numerals are used throughout the several views, and in which:

FIG. 1 is a pictorial illustration of one embodiment of an air cart and its conveyor system positioned to receive product from a truck.

FIG. 2 is a top plan view of a conveyor system.

FIG. 3 is a side, top perspective view of a conveyor positioning arm.

FIG. 4A shows an example method for controlling movement of a conveyor.

FIG. 4B shows another example method for controlling movement of the conveyor.

FIG. 5 shows an example method for moving the conveyor in a traverse direction.

FIG. 6 shows an example method for moving the conveyor hopper in and out of a fill position.

FIG. 7A is a top-down view of an air cart, with its conveyor system being moved between a first and second loading position.

FIG. 7B is a top-down view of an air cart, with its conveyor system in the second loading position.

FIG. 7C is a top-down view of an air cart, with its conveyor system being moved between a first and second loading position.

FIG. 8 shows a simplified hardware block diagram for an example control system.

FIG. 9 shows a simplified hardware block diagram for an example control unit, and showing the control unit connected to one or more systems. DETAILED DESCRIPTION

I. SYSTEM OVERVIEW

FIG. 1 is a pictorial illustration of an operation to fill product from a truck 10 to an air cart 12 using a product conveyor system 14.

The air cart 12 includes one or more tanks 16, a frame 18, and wheels 20. The frame 18 includes a towing hitch or other configuration to couple the air cart 12 to a vehicle. The tanks 16 are used for storing various agricultural products such as seed, fertilizer, inoculants and other seed treatments. All the tanks may contain the same product, or one tank can contain a different product than another tank on the same cart. The air cart 12 can extend between a forward end 102a and a rear end 102b.

In the illustrated embodiment, the product conveyor system 14 includes a product conveyance mechanism 21. In the illustrated embodiments, the product conveyance mechanism 21 is exemplified as a conveyor. However, in other examples, any other product conveyance mechanism may be employed (e.g., an auger).

Broadly, the product conveyance mechanism 21 is any mechanism that can be used, for example, to move (e.g., transfer) agricultural product into (or out of) air cart tanks 16 (e.g., from a truck 10). To that end, the remaining discussion will reference the product conveyance mechanism 21 as a conveyor, however, it will be understood that the mechanism is not so limited.

As exemplified, the conveyor 21 includes an elongate, tubular body 22, a first end spout 24 coupled to one end of the body 22, and a second end hopper 26 coupled to the other end of the body 22. The conveyor 14 is configured to move agricultural product from the hopper 26, through the body 22 and spout 24, and into the tanks 16 (or vice-versa). In examples where the product conveyance mechanism 21 comprises a structure other than the conveyor (e.g., an auger), such mechanism may also include a body 22 that extends between a first end 24 coupled to one end of the body 22, and a second end 26 coupled to the other end of the body 22. Further, the mechanism can be configured to move agricultural product from the first end 26, through the body 22 and second end 24, and into the tanks 16.

In operation, assuming the product conveyance mechanism is a conveyor, the product may be introduced into the hopper 26 from the truck 10. During loading operations, truck 10 that is delivering the agricultural product is positioned nearby the air cart. The product is dispensed via a dispensing outlet 27, which is in a bottom portion of the truck or is an outlet from a dumpable cargo area of the truck. Thus, hopper 26 is moved into a position to receive product from the truck's dispensing outlet 27. Hopper 26 then transfers the product to the body 22. The body 22 includes a conveyance, such as an auger configured to receive product from the hopper 26 and to move the product to the spout 24. Product passing through the spout 24 is directed into one of the tanks 16 of the air cart, through an upper opening 28 thereof.

With additional reference to FIGs. 2 and 3, the conveyor system 14 further includes an articulated positioning arm 30 connected between air cart 12 and conveyor 21. The positioning arm 30 (or articulated arm 30) is configured to move the conveyor 21 relative to the air cart 12. The movement can be laterally inwardly and outwardly relative to a side of the air cart and forward and rearward (e.g., sideways), towards the front or rear, respectively of the air cart, as shown by arrows in FIG. 2. Also, the movement may be vertically up and down, which is away from or into the plane of FIG. 2.

In the illustrated embodiment, the positioning arm 30 includes an inner arm 32, an outer arm 34 and a driver system. In some examples, the driver system comprises a hydraulic positioning system. As shown, the inner arm 32 is pivotally coupled at pivotal connection 38 to the frame 18. The outboard end of the inner arm 32 is coupled at a pivotal connection 40 to a first end of the outer arm 34. Outer arm 34 is also coupled, via a pivotal connection 42, to conveyor 21, for example to body 22. In particular, outer arm 34 is coupled at its first end to the inner arm and at an end, opposite the first end, to conveyor body 22.

Generally, pivotal connections 38, 40, 42 can be single axis connections or universal type connections.

In one embodiment, pivotal connection 38 permits pivotal movement around a substantially vertical axis to effect pivotal movement of the inner arm in a generally horizontal plane (i.e., the plane shown in FIG. 2).

In some examples, pivotal connection 42 is a universal type connection such that the conveyor can pivot about both a vertical axis 42a and a horizontal axis 42b to effect combinations of vertical up and down and swiveling, turning movement of conveyor 21 relative to arm 34.

Pivotal connection 40 can permit pivotal movement around a substantially vertical axis or both vertical and horizontal axis to effect pivotal movement of the outer arm 34 relative to the inner arm 32 in either only a horizontal plane or both horizontal and vertical planes.

As used herein, the vertical axis and horizontal axis may be defined relative to a reference ground plane.

The driver system (see e.g., driver system 950 in FIG. 9) includes a plurality of drivers such as cylinders or rotary actuators. For example, as shown in FIGs. 2 and 3, the driver system 950 may include a first hydraulic cylinder 44, a second hydraulic cylinder 46, a third hydraulic cylinder 48 and possibly a fourth hydraulic cylinder or rotary actuator 49 and a fifth hydraulic cylinder 54. Each of the cylinders 44 - 48 may be referred to herein as a “driver”. The driver system 950 is also interchangeably referred to herein as the actuator system and/or hydraulic actuator system, but is not so limited to only hydraulic actuators.

First hydraulic cylinder 44, sometimes referred to as the inner arm cylinder, is coupled between inner arm 32 and frame 18 to drive movement of the inner arm around connection 38.

Second hydraulic cylinder 46, sometimes referred to as the outer arm cylinder, is coupled between inner arm 32 and outer arm 34 to effect pivotal movement around pivotal connection 40.

Third hydraulic cylinder 48, sometimes referred to as the tilt cylinder, is coupled between outer arm 34 and the conveyor body 22, to drive movement around pivotal connection 42.

As noted, pivotal connection 42 may encompass two separate pivoting joints about axis 42a and about axis 42b. The rotation about a horizontal axis 42b may be driven by the tilt cylinder 48 while any rotation about the vertical axis 42a may be driven by hydraulic cylinder or rotary actuator 49. The rotational drivers may be driven by flow control valves under the control of the hydraulic positioning system. Each cylinder has an independent flow control valve such that each cylinder can be independently controlled.

In one embodiment, for example, inner arm 32 or outer arm 34 are configured as a linkage capable of adjusting a height of the conveyor 21 relative to the air cart 12. In the illustrated embodiment, for example, outer arm 34 is configured as a vertically moveable linkage. As illustrated, the outer arm 34 may include a first member 50 and a second member 52 extending between the pivotal connections 40, 42. In such an embodiment, pivotal connection 40 includes a clevis 40a, horizontal pivot pins 40b between the clevis and each member 50, 52 and a vertical axis pivot pin 40c between the clevis and inner arm 32. Thus, arm 34 is configured as a form of parallel linkage. An actuator, such as the hydraulic cylinder 54, is coupled between members 50, 52 and configured to permit the outer arm 34 to be rotated through a vertical plane relative to the inner arm 32, to adjust a height of the conveyor 21.

The operation of drivers 44 to 49 and 54, possibly in combination with manual manipulation, drives positioning arm 30, and thereby the conveyor 21, through various positions so that the hopper 26 can be positioned to receive product from the truck 10 and the spout 24 can be aligned over a tank 16.

It may be difficult and time consuming to accurately operate the cylinders to position the arm. Positioning errors can lead to damage to the truck or cart or spills of product. Thus, a control system is provided for accurately and automatically positioning and repositioning the conveyor.

For example, the positioning of the hopper 26 under the truck 10 can be a difficult operation. The truck 10 often has numerous other structures near its product dispensing chute 27 and inaccurate positioning of the hopper 26 can damage those truck structures. In one aspect of the invention, therefore, operations to facilitate positioning the hopper 26 with respect to the truck 10 dispensing chute are of interest.

Most air carts 12 include at least two tanks 16, each having an independent opening 28 for receiving product. During a filling operation, the spout 24 of the conveyor 21 is aligned with the opening 28 of each tank to be filled. Often the truck 10 contains enough product to fill more than one of the tanks on the air cart. Thus, when the operator is filling the cart, there is often a desire to move the spout 24 of the conveyor 21 between tanks without having to move the truck or trailer. In such a situation, it is an aspect of the invention to keep the hopper 26 in place near the dispensing chute and only move the spout 24 from one tank opening to another tank opening. The control system is useful in the foregoing and other situations for accurately and automatically positioning and repositioning the conveyor. The control system includes a plurality of sensors 56a-56f, collectively referred to as sensors 56 (or otherwise, sensor system 952 in FIG. 9) for sensing the position of conveyor 21, a control unit 58 and an input device 60. Sensors 56a-56f, are positioned respectively at pivotal connections.

For example, sensor 56a is at pivotal connection 38, sensor 56b is at connection 40, sensor 56c is at axis 42a of connection 42 and sensor 56d monitors axis 42b, for example by placement at that axis or, as illustrated, at a pivotal connection 68 between the tilt cylinder 48 and arm 34. In one embodiment, there may be a sensor 56e at pivotal connection 40c and another sensor 56f at one of connections 40b.

The sensors 56a-56f are selected to be operable to determine and provide sensed data regarding the rotational condition, such as the angular orientation, of the pivotal connection at which each sensor is mounted.

In some examples, sensors 56 are position sensors such as, for example, potentiometers or Hall Effect sensors. Sensors 56 are in communication with control unit 58 of the control system. For example, sensors 56 may be coupled via wires or wirelessly to the control unit 58 (see e.g., FIG. 9).

Control unit 58 is operatively configured to receive and process the sensor data from sensors 56. From the data received from sensors 56e-56f, the control system can identify the arm position and possibly interpret other parameters such as the speed of rotation.

As best shown in FIG. 9, and as explained below, the control unit 58 can include at least one processor 902, a memory 904, signaling emitters and receivers (e.g., input/output interface 908), communication interface 906, and the like.

In at least one example, the positioning arm parameters are known or can be readily determined and input for use by the control system along with the sensor data. The parameters may include the height of the pivotal connection 38 on frame 18 and therefore from the ground, the axial location of the pivotal connection 38 on frame 18, which is the distance between a front to back reference on the air cart 12, such as of the front of the air cart and of the pivotal connection, the lengths of the arms 32, 34 and the distances between the connection 42 and each of spout 24 and hopper 26.

Thus, with the combined data available from the sensors 56a-e and possibly sensor 56f, in combination with the arm and the conveyor dimensions, the control system can accurately determine the position of the conveyor in three-dimensional space, relative to the air cart 12 and relative to the ground.

In some examples, the control system can process the sensor data and dimension data to, for example, accurately determine:

(a) the position of the hopper 26 with respect to distance from the air cart 12, front to back position relative to the cart long axis (front to back) and height above the ground;

(b) the position of the spout 24 with respect to position relative to each tank opening 28; and

(c) the position of the conveyor body 22 in general including its tilt angle relative to the ground and the angle of extension relative to the cart long axis.

These can be determined using known geometric techniques and calculations known in the art.

Control system, specifically control unit 58 thereof, is also communicatively coupled with input device 60 (see e.g., FIG. 8). The input device 60 may take one or more forms, such as a cart or truck-mounted device, a handheld device or a device, such as a cellphone or laptop, with control software. There may be more than one input device 60, for example, a handheld device and a device mounted on the air cart. As best shown in FIGs. 1 and 8, input device 60 may be configured for control input by an operator which may include one or more input receivers 62, such as buttons, touch screen, icons, toggles, joysticks, etc., that correspond to conveyor movements and possibly one or more predefined motion profiles for conveyor 21.

In the embodiment shown, input device 60 is a handheld device wirelessly coupled to control unit 58 on air cart 12. For example, as shown in system 800 of FIG. 8, the input device 60 can include a communication interface (e.g., antenna) 802, which enables communication with control unit 58, via network 850. Network 850 can be a wired or wireless network.

In some examples, input device 60 can also include an output display interface 804 (e.g., LCD screen), for outputting information, such as alerts and other notifications (FIG. 8). While not explicitly shown, input device 60 can also include at least one processor coupled to a memory, as well as each of elements 62, 802 and 804.

The control system logic necessary for operating the product conveyor system and positioning arm may be effected using suitable electrical hardware, software and/or firmware. Generally, there are one or more processors containing instructions for carrying out the method.

In use, conveyor 21 can be moved in any direction using positioning arm 30 with its hydraulic cylinders 44, 46, 48, 49 and possibly 54. The control system including pivotal connection sensor and dimensional data can determine a current position of conveyor 21 and automatically move the conveyor through one or more predefined motion profiles. II. METHODS FOR OPERATING CONTROL SYSTEM

The following is a description of various example methods for operating the disclosed control system.

As explained above, while the description that follows references a conveyor, it will be understood that the same methods can be applied to any suitable product conveyance mechanism (e.g., an auger). Such product conveyance mechanism may also include a first end and a second end, analogous to a hopper and a spout of the conveyor.

(i.) General Methods.

With reference to FIG. 4A, there is shown a method 400a for controlling movement of the conveyor 21. In at least one example, method 400a is executed by the processor 902 of the control unit 58.

As shown, at 402a, initially, one or more dimensional parameters of the air cart 12 and conveyor 21 are stored. For example, these can be stored in a memory 904 of the control unit 58 (FIG. 9).

Examples of stored dimensional parameters include the length of the positioning arm 30 and length of the conveyor 21. For instance, as noted above, the stored dimensional parameters may include the height of the pivotal connection 38 on frame 18 and therefore from the ground, the axial location of the pivotal connection 38 on frame 18, which is the distance between a front to back reference on the air cart, such as the front of the air cart, and the pivotal connection, the lengths of the arms 32, 34 and the distances between the connection 42 and each of spout 24 and hopper 26.

In some examples, based on the dimensional parameters, the control unit 58 can generate a "digital double" of the air cart 12, or otherwise, a three-dimensional model of the air cart. As explained below, this can be used to ensure that any movement of the conveyor 21 does not cause a collision with the air cart 12. At 404a, at a subsequent point in time, the control unit 58 can receive a command (or instruction) to move the conveyor 21. For example, this can be a command received from the input device 60. The command can indicate a type of motion for the conveyor to execute. As discussed below, example types of motion included in a command include: (i) moving the conveyor spout 24, in a traverse direction (forward and backward, or sideways), between one or more air cart tank openings 28 (see e.g., method 500 in FIG. 5); and/or (ii) moving the conveyor inwardly and outwardly (see e.g., method 600 in FIG. 6).

Thereafter, at 406a, a motion path according to a pre-defined motion profile is determined or identified for moving the conveyor 21 in accordance with the movement command, at 404a.

The pre-determined motion profile can be identified for one or more of conveyor spout 24 and conveyor hopper 26. That is, a separate pre-defined motion profile can be identified for each of the spout and hopper.

To that end, FIGS. 7A - 7C show example pre-determined motion profiles, for the conveyor spout 24 and conveyor hopper 26.

FIG. 7A shows example motion profiles for the spout 24 and hopper 26, for a traverse forward motion command (e.g., a sideways movement).

As shown, the spout 24 has a motion profile 750, that moves the spout 24 linearly towards the front end of the air cart 12. Similarly, the hopper 26 has a linear motion profile 752, that moves the hopper 26 inwardly towards the air cart 12.

In this manner, the conveyor 21 is moved from the first loading position 700a, where the spout 24 is aligned with a first tank opening 28, to a second loading position 700b, where the spout 24 is aligned with a second tank opening.

As shown in FIG. 7B, the system may also prevent further traverse movement, if it detects collision or interference. FIG. 7C shows other example motion profiles for the spout 24 and hopper 26, in association with a "move-in" command. In this example, the motion profiles 750, 752 - for the spout 24 and hopper 26, respectively - are identical, i.e., moving towards (or past) the air cart 12. The motion profiles may also involve vertically lifting the spout 24 and hopper 26 to avoid collision with the air cart 12. This allows moving the conveyor 21 from a first loading position 700c (FIG. 7C) to a second loading position 700d (FIG. 7C).

In view of the foregoing, in disclosed embodiments, the control unit 58 can store various pre-defined motion profiles - for one or more of the spout 24 and hopper 26 - in association with different motion types for the conveyor 21 (e.g., traverse sideways movement, or move-in/move-out). Therefore, in response to receiving a movement command, the control unit 58 may accordingly: (i) determine the motion type associated with that command; and (ii) access and/or retrieve the associated motion profiles, corresponding to that motion type, e.g., for one or more of the conveyor spout 24 and hopper 26.

While FIGs. 7A - 7C exemplify linear motion profiles for the spout 24 and hopper 26, any suitable motion profile can be pre-defined or determined, e.g., based on the desired motion type. For example, this can include curved, or a curvilinear, motion profiles.

Returning to FIG. 4A, at 408a - 416a, the control unit 58 effectively determines (e.g., calculates) a motion path for the conveyor (e.g., hopper and/or spout), to give effect to the pre-defined motion profile. That is, the control unit 58 determines a motion path for each of the conveyor hopper and/or spout, that follows the predefined motion profiles identified at 406a, and based on the current position of the conveyor hopper and/or spout, as the case may be. The motion path(s) can be determined in real-time, or near real-time, e.g., after receiving the movement command.

In more detail, at 408a, the control unit 58 initially measures the current position of the conveyor, based on sensor data acquired (or obtained) from the sensors 56. In doing so, the control unit 58 acquires sensor data indicating the angles of one or more pivotal connections in the positioning arm 30.

In at least one example, act 408a involves acquiring sensor data associated with angles for one or more of the following pivotal connections: 1) inner arm angle at sensor 56a; 2) outer arm angle at sensor 56b; 3) conveyor angle at sensor 56c; 4) lift/lower linkage angle at sensor 56e; and 5) tilt cylinder angle at sensor 56d.

The exact angles which are measured, at 408a, may depend on the motion profde, identified at 406a. For example, as explained with reference to FIG. 5, if the movement command is a traverse movement of the conveyor spout 24 (and therefore, there is a traverse movement profile), then the specific sensor data acquired at 408a may include data in respect of pivots required to effect a 2D traverse movement. For example, this includes acquiring data regarding the: 1) inner arm angle at sensor 56a; 2) outer arm angle at sensor 56b; 3) conveyor angle at sensor 56c. More generally, this sensor data is sufficient to determine the two- dimensional (2D) position coordinates (e.g., X, Y coordinates) of the conveyor spout 24. In some examples, as described below, other sensor data may still be monitored to achieve other objectives, e.g., to prevent a collision.

In other examples, the movement command may require moving the conveyor in three dimensions (3D). For example, as explained with reference to FIG. 6, the movement command may include moving the conveyor inwardly and outwardly, which requires a 3D motion profile (rather than 2D). Accordingly, the sensor data acquired at 408a is sensor data for pivots required to effect the 3D motion. In this case, the acquired sensor data can include all sensor data for all the necessary joints, which are required to effect 3D motion.

In view of the foregoing, at 408a, the control unit 58 may (i) identify the sensor angle data for connection pivots associated with a given motion profile (or otherwise, required to effect that motion profile); and (ii) read or obtain that associated sensor data. This can be performed for one or both of the spout and/or hopper. In at least one example, a memory of the control unit 58 can store mappings between different motion profiles, and associated pivot connections required to effect that motion profile. Accordingly, at 408a, the control unit 58 can read sensor data, for sensors associated with these pivot connections.

At 410a, using these measured angles and the stored dimensional parameters (e.g., known length of the arms and conveyor), the position coordinates of each of the conveyor hopper 26 and conveyor spout 24 can be determined with respect to the air cart 12. In at least one example, the position coordinates are expressed as Cartesian coordinates (X, Y and Z).

For motion profiles that only require 2D motion (e.g., motion in the XY plane) - such as traverse motion of the conveyor spout - it may only be necessary to determine the 2D coordinates for the conveyor hopper and spout (e.g., X, Y position). Alternatively, for motion profiles that require 3D motion, then 3D coordinates are determined for the conveyor hopper and spout (e.g., X, Y and Z).

The position coordinates (e.g., 2D or 3D) can be determined in any manner, based on the measured sensor angle data and stored dimensional parameters. For example, this can involve employing known trigonometric techniques based on angular and dimensional data.

Then, at 412a, to achieve the desired motion path(s) of the conveyor (e.g., direction and speed), the control unit 58 determines (e.g., calculates) a motion path for the conveyor (e.g., spout and/or hopper).

In some examples, act 412a involves calculating rotational parameters for one or more of the pivotal connections in the positioning arm 30. That is, determining how the pivotal connections in arm 30 should be rotated to effect the overall motion profile(s) determined at 406a, for the spout and/or hopper, such as to execute their respective motion profiles. In some examples, this involves determining rotational parameters such as to avoid collisions. The control unit 58 effectively compares where the conveyor is to where the air cart is and determining how to rotate the pivotal connections such that conveyor that doesn’t run into the air cart.

To that end, determining rotational parameters for a given pivotal connection includes determining: (i) a direction of rotation for the pivotal connection; (ii) a degree (or extent) to which that pivotal connection should be rotated; and (iii) a speed for rotating that pivotal connection. In other words, the rotational parameters include a rotational velocity of the conveyor pivot (e.g., directional speed of rotation) and the extent of such rotation. The rotational parameters can be determined in any manner known in the art, e.g., using a mix of known trigonometric methods and control theory (e.g., PID loops).

In some examples, after the control unit 58 calculates the motion path through which the conveyor 21 spout and/or hopper needs to be moved (i.e., to follow a respective pre-determined motion profde), the control unit 58 has to take timing into account, which means controlling both position and speed. In particular, the controller is actually controlling the speed of each of the rotational joints to achieve a desired position and so it calculates the desired position, then turns that into a desired speed, sends that speed to the actuators, and then reads the sensors to see how it did. That loop repeats over time.

In some examples, rotational parameters are only determined for the pivotal connections which are necessary to effect the commanded movement, e.g., as determined at 408a.

Next, at 414a, to achieve the rotational parameters for certain pivotal connections, the control unit 58: (i) identifies the drivers (e.g., hydraulic cylinders) requiring activation, to rotate the target pivotal connections; and (ii) the control parameters or driver operation for controlling these drivers in order to realize the desired rotation of the pivotal connections.

For a given driver (e.g., hydraulic cylinder), the control parameters (or driver operation) determined at 414a can include: (i) the direction of extension (e.g., extension v. retraction); (ii) degree (or extent) of extension, and (ii) the speed for hydraulic cylinder extension or retraction to achieve the desired conveyor pivot velocity. These control parameters can be determined in any manner known in the art.

At this juncture, at 416a, the corresponding flow control valve current required for each target hydraulic cylinder, requiring activation, can be calculated. These flow control valve currents enable control of a target hydraulic cylinder according to its determined control parameters, at 414a.

Lastly, at 418a, the required currents can be output to the hydraulic positioning system to operate the target hydraulic cylinders. In this manner, the control unit 58 can operate the hydraulic system to effect the motion profile(s). For example, the hydraulic system is operated to simultaneously, or concurrently, move the conveyor spout and/or hopper along motion paths, according to their corresponding motion profiles. In this manner, the system can operate multiple linkages of the positioning arm simultaneously to move the conveyor.

The methodology 400a then loops back to the initial angle measurement stage, at 408a. In this manner, the control unit 58 continuously checks to make sure that the conveyor is moving along the corresponding motion profiles, and is constantly adjusting and correcting the motion output.

In view of the foregoing, it is appreciated that the system allows the operator to actively and directly control the position of a conveyance mechanism in real time, or near-real-time, and is not otherwise required to actively control each of the linkages or actuators in the positioning arm. Further, the method can be applied to move the conveyor, irrespective of the current/starting position of the conveyor.

With reference to FIG. 4B, there is shown another general method 400b for controlling movement of the conveyor 21. In at least one example, method 400b is executed by a processor 902 of the control unit 58. In some examples, method 400b is preformed prior to, or during, execution of method 400a.

As shown, analogous to act 404a of method 400a (FIG. 4A), at 402b, the control unit 58 maneuver execution involves initial considerations of whether a movement is being commanded or not.

If not, at 404b, the control unit 58 does nothing (e.g., takes no action). If yes, then at 406b, control unit 58 can read the sensor data, from sensors 56a-f to determine the current conveyor and arm positions. This can be performed concurrently with act 408a (FIG. 4A). In at least one example, act 406b involves reading all sensor data, associated with all pivot connections in the positioning arm 30.

Thereafter, at 408b, the control unit's logic processes and determines whether: (i) the arms have reached the boundary of their motion, or (ii) the conveyor 21 will collide, e.g., with the air cart 12.

• With respect to determining (i) (i.e.. arms reach boundary) - in at least one example, the control unit's memory can store a range of maximum and minimum angle positions, for each pivot connection in the conveyor. Accordingly, at 408b, the control unit 58 can cross-reference the measured sensor data, for each conveyor pivot, to the corresponding angular rotation range for that pivot, to determine whether the angles are within that range. In some cases, if at least one angle is at the border of its respective range, then 408b holds true.

The boundary, at 408b, can also be defined in other manners. For example, there may be other boundaries defined, including a boundary limit on the XY position of a given conveyor pivot. For example, the conveyor pivot may be limited by the length of the arms, and therefore, may not achieve a position, e.g., 100 meters in front of the cart. A boundary is then predefined, so that the control unit 58 does not attempt to achieve that position. • With respect to (ii) (i.e.. conveyor collision) - the control unit 58 can determine the current position of the conveyor 21 (e.g., including conveyor spout and/or hopper), and compare that position with the known position of any obstacles, e.g., the air cart 12. For example, based on the known stored dimensions of the air cart 12, the control unit 58 can determine whether movement of the conveyor 21 based on the received movement command - will cause the conveyor 21 to collide with the air cart 12.

If the arm has not reached its motion boundary, or the conveyor 21 will not otherwise collide, then at 410b, the control unit 58 calculates arm movements required to achieve the desired conveyor motion. In effect, this can involve executing acts 410a to 416a, of the method 400a of FIG. 4 A.

Thereafter, at 412b, the control unit 58 executes the maneuver, and loops back to the beginning, commencing once more from act 402b. The system then awaits a movement command or continues effecting the same movement command.

If instead it is determined, at 408b, that the arms have reached their motion boundary, or there is potential for collision, then at 414b, the system determines not to move the arms and/or conveyor, and alerts the operator (e.g., via input device 60).

(ii.) Alternative and Specific Embodiments.

In the above description of the methods of FIGs. 4A and 4B, the command received, at acts 404a or 402b, is described as a movement command comprising an indication of a motion type (e.g., moving conveyor in a traverse direction).

In these examples, the methods of FIGs. 4A and 4B can iterate to move the conveyor along the determined motion path - reflecting the desired motion type - until, for example, the control unit 58 stops receiving the corresponding commanded movement. For example, if the user stops pressing (or clicking) the corresponding button, e.g., on the user input device 60, then the methods stop iterating. This allows the conveyor to be moved, without any predefined end position, and until an obstacle or interference (or motion boundary) is detected.

In other examples, the command received, e.g., at acts 404a or 402b, is not necessarily a command indicating a motion type, but rather, a position command.

For example, the command may indicate that the conveyor should be moved to a target position. The position can be expressed, for example, as a set of coordinates. In this example, after receiving the command, the control unit 58 can initially determine the motion type required to move the conveyor to the pre-determined position (e.g., a traverse sideways motion type).

In at least one example, to determine the motion type, the control unit 58 can execute acts 408a and 410a to determine the current position of the conveyor. The control unit 58 may then resolve the motion type required to move the conveyor from the current position to the target position (e.g., a traverse motion). The predetermined motion profile 406a can then be identified on this basis.

In these examples, a target position can be received for one or both of the conveyor hopper and spout. If a target position is only received for one of the conveyor features (e.g., hopper or spout), the control unit 58 can automatically determine a target position for the other feature.

In still other examples, the command received, e.g., at acts 404a or 402b, may be a position command, but expressed with respect to a target feature.

For example, the received command may indicate moving the conveyor spout over a first tank opening of the air cart. In this case, the control unit 58, upon receiving the command, may initially identify a pre-determined position associated with the target feature. For example, the control unit memory can store different optimal pre-determined positions associated with different target features. For instance, a pre-determined position can be defined for positioning the spout over a given tank opening, to allow that tank to be properly filled. Once the pre-determined positions are identified, then the method can proceed as previously explained (e.g., a motion type is identified, to move the conveyor features to the pre-determined positions).

(Hi.) Example Method for Traverse Sideways Movement of Conveyor Spout.

With reference to FIG. 5, there is shown a process flow for an example method 500 for controlling movement of the conveyor spout 24 in a traverse direction. This may allow the conveyor spout 24 to move from tank to tank when filling an air cart with multiple tanks.

Method 500 is therefore an example application of method 400a of FIG. 4A, where the command at 404a corresponds to a traverse sideways movement of the conveyor spout 24.

In at least one example, method 500 is executed by at least one processor 902 of the control unit 58.

In particular, where an air cart 12 includes a multiple tanks 16, such as a forward tank and a rear tank, conveyor 21 may be moveable to a first loading position in which conveyor spout 24 is positioned above the opening 28 of the forward tank, and from the first loading position to a second loading position in which conveyor spout 24 is positioned above the opening 28 of the rear tank.

In such an operation, initially, at 502, the control unit 58 may control the conveyor's driver system, to move the conveyor's spout from an initial position to a first loading position (or a first fill position), associated with a location of first tank 16, such as the rear tank.

In some examples, act 502 is triggered when the control unit 58 receives a command, (e.g., from input device 60), to move the conveyor's spout to the first loading position. In some examples, act 502 is fully automated by the control unit 58. For example, control unit 58 can receive a single operator input, from input device 60 to move the conveyor spout to the pre-defined first fill position.

In this case, the control unit 58 can use of the sensor and dimension data and utilizing the air cart data as to where the tank opening 28 - associated with the first fill position (e.g., rear tank opening 28) - is located on the air cart. That is, the control unit's memory can store a pre-defined configuration for the conveyor arm (e.g., a configuration for the arm's joint angles), such as to position the conveyor's spout over the first fill position. In turn, the control unit 58 can control the conveyor's hydraulic system, to move the conveyor's spout from its initial position, to the first fill position.

In other examples, act 502 can be partially automated. For example, control unit 58 can receive a series of directional inputs, over time, from the input device 60 to move the conveyor 21 within space. Accordingly, the control unit 58 can control the conveyor's driver system to move the conveyor's spout according to each received direction input. Eventually, the conveyor's spout is moved from the initial position to the first loading position.

In still other examples, act 502 is preformed manually. For example, a user can simply manually move the conveyor to the desired fill position over a tank.

At 504, the control unit 58 can receive a command to move the spout 24 in a traverse sideways direction from the first loading position to a second loading position. The second loading position corresponds, for example, to a position over the forward tank opening. The received command can be a user command received from the input device 60.

In at least one example, the input device 60 may include two input receivers: one commands the system to "swing spout left" and the other commands the system to "swing spout right". Accordingly, at 504, the control unit 58 can receive a command indicating whether the conveyor spout should be swung transversely, in the left or right directions, to move between loading positions.

At 506, in response to receiving the command, the control unit 58 identifies a predetermined motion profile, to move the spout, in a traverse direction, from the first loading position to the second loading position (see e.g., FIG. 7A).

In general, the motion profile for the conveyor spout 24 is identified in accordance with act 406a, of FIG. 4A. For example, this can involve retrieving pre-determined motion profiles for the conveyor spout 24 associated with a traverse movement type.

In some examples, also at 506, it is also desirable to control the movement path of the conveyor's hopper 26, during traverse movement of the conveyor's spout 24. Accordingly, a pre-determined motion profile is also identified for the conveyor's hopper. For example, the motion path of the hopper can be identified, that is perpendicular to the path of the spout.

In other examples, no pre-determined motion profile is identified for the hopper 26 at 506. For instance, the conveyor's hopper can remain in a fixed position (e.g., under the dispensing chute of the truck), as the conveyor spout is moved in a traverse direction. Accordingly, control unit 58 takes the last known position of the hopper 26 and holds it constant while moving the spout left or right.

In some examples, the pre-defined motion profiles - for the conveyor spout and/or hopper - are simply retrieved from memory, e.g., control unit memory.

At 508, a motion path can be determined, in order to move the conveyor (e.g., spout and/or hopper), from the current position and along their corresponding predetermined motion profiles. This can be analogous to acts 408a - 414a of FIG. 4A.

For example, this can involve determining a current position of the arm and conveyor (408a and 410a in FIG. 4A). As noted above, this may involve determining the position coordinates of the spout and/or hopper using sensor data from: 1) inner arm angle at sensor 56a; 2) outer arm angle at sensor 56b; 3) conveyor angle at sensor 56c.

In some examples, other sensor data may still be monitored to achieve other objectives, e.g., to prevent a collision. For example, the tilt sensor may not be needed to execute the desired motion, but the control unit 58 may still monitor this data because if the conveyor hopper is tilted up, it can move further than it can when it's tilted down (e.g., the motion boundary may vary based on tilt).

Further, at 412a (FIG. 4A), the motion path is determined by determining rotational parameters for conveyor pivots, to move conveyor (e.g., spout and/or hopper) along the corresponding pre-determined motion profde. In some examples, this is determined with a view to avoiding collisions, e.g., between air cart and conveyor. At 414a, the control parameters are calculated for controlling the driver system (e.g., hydraulic cylinders) to achieve the desired rotational parameters for the conveyor pivots.

Returning to FIG. 5, at 510, the control unit 58 is triggered to execute an action "traverse spout ". In this routine, the control unit’s processor 902 operates the driver system to traverse the conveyor spout, according to the motion profile for the spout (act 506).

The hopper is also operated, at 510, to move along its motion profile (508), if one is determined. This is also effected according to acts 412a- 418a, of FIG. 4A, such that hydraulic cylinders are maneuvered for the spout to stays on its path and the hopper stays on its path. In turn, this allows moving the conveyor spout from the first loading position to the second loading position.

To that end, if the hopper's motion profile is desired to be static (act 508) - this may be achieved, at 510, by driving one of the joints to move and then calculating (at 412a in FIG. 4 A) the required position of the other two joints to maintain the desired hopper position. The drivers (e.g., hydraulic actuators) 44, 46 of each joint 38, 40, 42 (vertical axis pivot point) are then driven to achieve the desired target position of left or right swing. In this way the hopper can be kept beneath the truck while moving the spout from one tank to another tank.

In such an embodiment, within the execution step 510, the control unit 58 senses a location of the hopper while it is under the dispensing chute of the truck. Then, while the hopper location is substantially maintained in its location. In particular, the conveyor body 22 may be pivoted about a vertical axis passing through the hopper 26, without raising and/or towering the hopper.

At 512, the control unit 58 determines whether the conveyor spout is in the second loading position. For example, this can be determined based on the predefined motion profile, that the conveyor has moved to the second loading position and should be aligned over the opening of, e.g., the forward tank.

At 514, if the conveyor's spout is in the second loading position, control unit 58 operates the driver system to stop movement of the conveyor. Otherwise, the method returns to act 510, to continue operating the hydraulic system.

In some cases, method 500 may also terminate if the control unit 58 stops receiving a movement command, or otherwise, detects an obstacle, interference or motion boundary.

(iv.) Example Method for Moving Conveyor Hopper Relative to Fill Position.

With reference to FIG. 6, there is shown a process flow for another method 600 of operation which includes moving the hopper 26 into and out of a fill position aligned under the truck's dispensing outlet 27.

Using this method, the hopper can be accurately positioned without risk of impact against other structures under the truck, mitigating damage to both the hopper and the truck. Method 600 is therefore another example application of method 400a of FIG. 4A, where the command at 404a corresponds to moving the hopper 26 into and out of a fdl position aligned under the truck's dispensing outlet 27

In at least one example, method 600 is executed by at least one processor 902 of the control unit 58.

In such an operation, initially, the operator may move the conveyor to the desired "fill position" with hopper 26 positioned as will be desired for receiving product from the truck. However, the truck is not in place at the time, so the operator has the freedom to move the hopper around without risk of impacts against the truck. The step of moving may be manual, by manual manipulation of the conveyor, or partially automated by use of operator directional inputs to the input device 60 to move the conveyor in space.

At 602, once the conveyor hopper is moved into the extended receiving "fill position", the control system can record position coordinates for that fill position with based on sensor data, from sensors 56a-56f.

When desired, at 604, the operator may command the control system to move or retract the conveyer "in", which is towards the air cart. This causes the control system to execute a routine "move in". In particular, the control system routine drives the driver system to operate hydraulic cylinders 44, 46, 48, 54 as needed to move the conveyor in toward the air cart (i.e., from the extended receiving position to a retracted position) so the hopper 26 is out of the way for the truck to move in.

In one embodiment, the control system routine may control the hydraulic cylinders so that the conveyor 21 is moved straight back substantially maintained within its vertical plane, along the line of the conveyor body 22. In this manner, the spout and hopper are moved in line with their respective positions in the initial extended receiving position.

For example, if the conveyor was positioned with the spout 24 over a tank and at a 110 degree angle relative to the front to back axis of the air cart, commanding the control unit 58 to move the conveyer "in" causes the conveyor to move towards the air cart while staying in line with the tank and at substantially 110 degrees, but moves the whole conveyor towards the tank while lifting the conveyor up and over the air cart.

For example, while the control unit 58 is executing the movement to bring the conveyor closer to the air cart, it may be simultaneously executing a maneuver to lift the conveyor over the tank. There may be slight delays to the start of the vertical movement but both the vertical and inward motion may occur at the same time at some point during the movement operation. The control unit 58 can map the conveyor and arm 30 movements, based on sensor signals from the pivotal connections and the dimensional data, to move the conveyor without risk of impacts against the air cart. The control system can also record the movements (e.g., motion profde) to memory.

In one example embodiment, then, if the conveyor 22 was positioned with the spout 24 over a tank, commanding the control unit 58 to move in would cause the control system to read the angular position of the sensors 56a-56f (act 408a in FIG. 4A), and then, using the predefined lengths of each of the members 50, 32, calculate the position of the hopper and spout 24 with respect to the front to back axis of the air cart (act 410a in FIG. 4A). Using these calculated positions the control unit 58 can also determine a plane perpendicular to the ground that passes through the spout 24 and the hopper, this plane becoming the plane on which the spout and hopper must remain during the move in.

The control unit 58 would then calculate a motion path according to the predefined motion profile (acts 410 to 418a in FIG. 4A), and maneuver the hydraulic cylinders 54, 44, 46, 48, 49, and by mechanical connection, the arms and conveyor such that the spout 24 and the hopper remain on the calculated plane while moving the hopper closer to the air cart (see e.g., FIG. 7C).

At the same time, the control unit 58 plans the path, in the motion profile, such that the conveyor 21 is lifted up to ensure it does not contact the air cart while keeping the hopper on or near the ground. This precise motion requires the simultaneous sensing of the arm positions and actuation of the four hydraulic cylinders during the entire maneuver. In some examples, the motion profiles are pre-defined and are retrieved and stored from memory, e.g., memory of control unit 58.

Continuing reference to FIG. 6, at 608, as the conveyor is moved in, the control unit 58 determines that the conveyor has moved far enough and stops the maneuver. For example, the control unit 58 can make this determination, based on sensor signals from the pivotal connections and the dimensional data, that the conveyor has moved to a desired retracted position, at least with the hopper 26 out of the path of the incoming truck. In other cases, at 608, the control unit 58 can determine that is no longer receiving a movement command. In still other cases, the control unit 58 can determine, at 608, that it has detected an obstacle, interference, or motion boundary, preventing further movement.

In some the operator inputs a stop instruction to an input receiver on the input device 60, which is received by the control unit 58, indicating that conveyor should stop moving.

Subsequent to act 608, the operator can then move the fill vehicle into position.

At this stage, at 610, the operator may command the control unit 58 to move the conveyor "out". Accordingly, at 610, the control unit 58 can receive a user command to move the conveyor out.

At 612, in response to receive the command, control unit 58 to execute a "move out" routine. This involves the control unit 58 controlling the driver system (e.g., hydraulic position system), to extend and move the conveyor out. Accordingly, the conveyor is moved back to the position coordinates associated the fill position, determined at 602.

In this regard, at 612, the control unit 58 can direct movement of the conveyor along the same path (i.e., motion profile) as was used for moving in, but in the reverse. For example, the control unit processors can then call up stored sensor data from the "move in" operation of the conveyor and then reverse the arm operations based on the stored sensor data, such that the conveyor is returned back to the pre-defined fill position, at 602.

In these examples, at 606, the control unit 58 is therefore, also monitoring and recording sensor data during the move in operation. The control unit 58 can continue to process sensor data received real time from sensors on pivotal connections 38, 40, 42 and against known stored dimensional data, to drive the hydraulic system to operate first hydraulic cylinder 44, second hydraulic cylinder 46 and/or third hydraulic cylinder 48 to reverse the conveyor movement until the hopper 26 and spout 24 are returned to the fill position. In other examples, the control unit 58 can retrieve the pre-defined motion profile, stored in memory, corresponding to a move out command.

From the above example, the conveyor can be moved while remaining in the plane defined by the 110 degree angle. The conveyor is moved along its "move in" path line back out under the truck dispensing outlet 27. Because the conveyor is moved along the same line and path, the conveyor doesn’t hit the truck and neither the truck nor the hopper is damaged.

It is difficult for an operator to monitor the position of the conveyor and maneuver each of the four hydraulic cylinders simultaneously to achieve this motion profile. Currently, an operator will break this single motion down into multiple smaller steps that are easier to handle and this lengthens the filling operation decreasing seeding efficiency. The benefit of the current controller is that what was previously multiple operations for the operator now becomes a single command, namely “move in” or "move out" in this example.

At 614, a determination is made as to whether the conveyor is returned to the fill position. The determination can be automatic, by the control unit 58. For example, based on sensor data, the control unit 58 can determine that the conveyor hopper position coordinates align with the pre-determined fill position coordinates. Alternatively, or in addition, the determination at 614, can be based on a command received from the input device 60, to stop movement (or otherwise, a determination that control unit 58 is no longer receiving a movement command). In still other cases, the determination at 614 can involve detecting an obstacle, interference, or motion boundary preventing further movement.

At 616, in response to a positive determination at 614, the control unit 58 can operate the driver system (e.g., hydraulic system) to stop moving. Otherwise, the method can return to 612 to continue extending the driver system outwardly, until it reaches the fdl positions.

III. EXAMPLE HARDWARE CONFIGURATION

FIG. 9 shows an example simplified hardware configuration 900 for the control unit.

As shown, the control unit 58 can include at least one processor 902, coupled to a memory 904, and one or more of a communication interface 906 and an input/output interface 908.

Processor 902 includes one or more electronic devices that is/are capable of reading and executing instructions stored on a memory to perform operations on data, which may be stored on a memory or provided in a data signal. The term "processor" includes a plurality of physically discrete, operatively connected devices despite use of the term in the singular. Non-limiting examples of processors include devices referred to as microprocessors, microcontrollers, central processing units (CPU), and digital signal processors.

Memory 904 comprises a non-transitory tangible computer-readable medium for storing information in a format readable by a processor, and/or instructions readable by a processor to implement an algorithm. The term "memory" includes a plurality of physically discrete, operatively connected devices despite use of the term in the singular. Non-limiting types of memory include solid-state, optical, and magnetic computer readable media. Memory may be non-volatile or volatile. Instructions stored by a memory may be based on a plurality of programming languages known in the art, with non-limiting examples including the C, C++, Python ™, MATLAB ™, and Java ™ programming languages.

To that end, it will be understood by those of skill in the art that references herein to control unit 58 as carrying out a function or acting in a particular way imply that processor 902 is executing instructions (e.g., a software program) stored in memory 904 and possibly transmitting or receiving inputs and outputs via one or more interfaces. For example, this includes various pre-defined software routines for moving the conveyor transversely, or otherwise inwardly or outwardly, as described previously in FIGs. 4 to 6.

Communication interface 906 may comprise a cellular modem and antenna for wireless transmission of data to the communications network.

Input/output (I/O) interface 908 includes any interface for connecting the control unit 58 to other components or elements.

As shown, control unit 58 can also be connected to the hydraulic positioning system 950 (e.g., drivers for hydraulic cylinders) and/or the sensor system 952. For example, the connection can occur via the communication interface 906 and/or the I/O interface 908.

IV. INTERPRETATION

Various systems or methods have been described to provide an example of an embodiment of the claimed subject matter. No embodiment described limits any claimed subject matter and any claimed subject matter may cover methods or systems that differ from those described below. The claimed subject matter is not limited to systems or methods having all of the features of any one system or method described below or to features common to multiple or all of the apparatuses or methods described below. It is possible that a system or method described is not an embodiment that is recited in any claimed subject matter. Any subject matter disclosed in a system or method described that is not claimed in this document may be the subject matter of another protective instrument, for example, a continuing patent application, and the applicants, inventors or owners do not intend to abandon, disclaim or dedicate to the public any such subject matter by its disclosure in this document.

Furthermore, it will be appreciated that for simplicity and clarity of illustration, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements. In addition, numerous specific details are set forth in order to provide a thorough understanding of the embodiments described herein. However, it will be understood by those of ordinary skill in the art that the embodiments described herein may be practiced without these specific details. In other instances, well-known methods, procedures and components have not been described in detail so as not to obscure the embodiments described herein. Also, the description is not to be considered as limiting the scope of the embodiments described herein.

It should also be noted that the terms “coupled” or “coupling” as used herein can have several different meanings depending in the context in which these terms are used. For example, the terms coupled or coupling may be used to indicate that an element or device can electrically, optically, or wirelessly send data to another element or device as well as receive data from another element or device. As used herein, two or more components are said to be “coupled”, or “connected” where the parts are joined or operate together either directly or indirectly (i.e., through one or more intermediate components), so long as a link occurs. As used herein and in the claims, two or more parts are said to be “directly coupled”, or “directly connected”, where the parts are joined or operate together without intervening intermediate components.

It should be noted that terms of degree such as "substantially", "about" and "approximately" as used herein mean a reasonable amount of deviation of the modified term such that the end result is not significantly changed. These terms of degree may also be construed as including a deviation of the modified term if this deviation would not negate the meaning of the term it modifies. Furthermore, any recitation of numerical ranges by endpoints herein includes all numbers and fractions subsumed within that range (e.g. 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.90, 4, and 5). It is also to be understood that all numbers and fractions thereof are presumed to be modified by the term "about" which means a variation of up to a certain amount of the number to which reference is being made if the end result is not significantly changed.

The present invention has been described here by way of example only, while numerous specific details are set forth herein in order to provide a thorough understanding of the exemplary embodiments described herein. However, it will be understood by those of ordinary skill in the art that these embodiments may, in some cases, be practiced without these specific details. In other instances, well- known methods, procedures and components have not been described in detail so as not to obscure the description of the embodiments. Various modification and variations may be made to these exemplary embodiments without departing from the spirit and scope of the invention, which is limited only by the appended claims.

Claims

1. A method for controlling movement of a conveyance mechanism on an air cart, wherein the conveyance mechanism is used for transferring agricultural product, comprising: receiving a command to move the conveyance mechanism; obtaining positional data on one or more pivotal joints in an articulated arm, wherein the articulated arm couples the conveyance mechanism to the air cart; determining a motion path for the articulated arm based on one or more dimensional parameters and the positional data, to move the conveyance mechanism according to a pre-defined motion profile associated with the command; and operating drivers for the articulated arm to drive rotation at the one or more pivotal j oints to move the articulated arm according to the motion path.

2. The method of claim 1, wherein determining the motion path comprises determining a degree to which the one or more pivotal joints are to be pivoted and a speed of pivoting around the one or more pivotal joints.

3. The method of claim 2, wherein determining the motion path comprises determining a driver operation to achieve the degree to which the one or more pivotal joints are to be pivoted and the speed of pivoting around the one or more pivotal joints.

4. The method of any one of claims 1 to 3, wherein operating drivers for the articulated arm comprises outputting required current to the drivers according to the necessary driver operation.

5. The method of any one of claims 1 to 4, wherein the command comprises moving a first end of the conveyance mechanism from a first fill position to a second fill position, and the motion path defines a path of movement of the conveyance mechanism to swing the conveyance mechanism sideways from a first position, where the first end is in one location, toward a second position, where the first end is in a different location, while a second end of the conveyance mechanism is maintained substantially stationary.

6. The method of any one of claims 1 to 4, wherein the command comprises moving the conveyance mechanism from an extended receiving position to a retracted position and where the motion path defines a path of movement of the conveyance mechanism to draw the conveyance mechanism toward the air cart, while maintaining the first and second ends in line with their respective positions in the extended receiving position.

7. The method of claim 6, wherein the command is a first command and the method further comprising: receiving a second command to move the conveyance mechanism from the retracted position back to the extended receiving position and along the motion path; and operating the drivers for the articulated arm to drive rotation at the one or more pivotal joints to move the articulated arm according to a reversed version of the motion path.

8. The method of any one of claims 1 to 7, wherein the motion path is determined to avoid collision between the conveyance mechanism and air cart.

9. The method of any one of claims 1 to 8, wherein the dimensional parameters comprise dimensional parameters of one or more of (i) the conveyance mechanism, (ii) the air cart and (ii) the articulated arm.

10. The method of any one of claims 1 to 9, wherein the drivers comprise hydraulic cylinders or rotary actuators.

11. An air cart used for transferring agricultural product, comprising: an air cart frame and storage tanks; a conveyance mechanism including a first end, a second end and a conveyance for moving granular product from the second end to the first end; an articulated arm coupled at one end to the air cart frame and coupled at an opposite, outboard end to the conveyance mechanism, the articulated arm including (i) one or more pivotal joints and (ii) drivers for driving rotation about the pivotal joints; one or more sensors for sensing the rotational positions of the pivotal joints; and at least one processor coupled to the one or more sensors and the drivers and configured for: receiving a command to move the conveyance mechanism; obtaining positional data, from the one or more sensors, on the one or more pivotal joints in the articulated arm; determining a motion path for the articulated arm based on one or more dimensional parameters and the positional data, to move the conveyance mechanism according to a pre-defined motion profile associated with the command; and operating drivers for the articulated arm to drive rotation at the one or more pivotal joints to move the articulated arm according to the motion path.

12. The air cart of claim 11, wherein the one or more pivotal joints comprise: a first pivotal joint coupling an inner portion of the articulated arm to the air cart; a second pivotal joint coupling the inner portion of the articulated arm to an outer portion of the articulated arm; and a third pivotal joint coupling the opposite outboard end of the articulated arm to the conveyance mechanism.

13. The air cart of any one of claims 11 or 12, wherein determining a motion path comprises the at least one processor being further configured for determining a degree to which the one or more pivotal joints are to be pivoted and a speed of pivoting around the one or more pivotal joints.

14. The air cart of claim 13, wherein determining a motion path comprises the at least one processor being further configured for determining a driver operation to achieve the degree to which the one or more pivotal joints are to be pivoted and the speed of pivoting around the one or more pivotal joints.

15. The air cart of any one of claims 11 to 14, wherein operating drivers for the articulated arm comprises outputting required current to the drivers according to the necessary driver operation.

16. The air cart of any one of claims 11 to 15, wherein the command comprises moving a first end of the conveyance mechanism from a first fill position to a second fill position, and the motion path defines a path of movement of the conveyance mechanism to swing the conveyance mechanism sideways from a first position, where the first end is in one location, toward a second position, where the first end is in a different location, while a second end of the conveyance mechanism is maintained substantially stationary.

17. The air cart of any one of claims 11 to 15, wherein the command comprises moving the conveyance mechanism from an extended receiving position to a retracted position and where the motion path defines a path of movement of the conveyance mechanism to draw the conveyance mechanism toward the air cart, while maintaining the first and second ends in line with their respective positions in the extended receiving position.

18. The air cart of claim 17, wherein the command is a first command and the at least one processor being further configured for receiving a second command to move the conveyance mechanism from the retracted position back to the extended receiving position and along the motion path; and operating the drivers for the articulated arm to drive rotation at the one or more pivotal joints to move the articulated arm according to a reversed version of the motion path.

19. The air cart of any one of claims 11 to 18, wherein the motion path is determined to avoid collision between the conveyance mechanism and air cart.

20. The air cart of any one of claims 11 to 19, wherein the dimensional parameters comprise dimensional parameters of one or more of (i) the conveyance mechanism, (ii) the air cart and (ii) the articulated arm.