US Patent 10537055 Actuated seed depth setting for a planter row unit

An agricultural planter row unit has a gauge wheel supported by a gauge wheel arm, to control planting depth. An actuator drives movement of a mechanical stop that bears against a gauge wheel support arm to position the gauge wheel support arm to obtain a desired planting depth. A seed depth control system generates a force estimate indicative of a force to make a planting depth adjustment. The control system automatically controls actuation of the seed depth actuator to exert the estimated force.