BR112019022503A2 - METHOD TO LEVEL SENSOR READINGS THROUGH AN IMPLEMENT - Google Patents

Abstract

this document describes implements and methods for leveling measured values of sensors through an implement that has sensors. in one embodiment, a method for leveling sensors through an implement having a plurality of sensors comprises providing an implement having a plurality of sensors, measuring a value on each sensor, calculating an average of all the measured values, associating the value to averaging one row and calculating a correction factor for one row based on the association.

Description

METHOD TO LEVEL SENSOR READINGS THROUGH AN IMPLEMENT

TECHNICAL FIELD

[0001] Modalities of the present disclosure refer to the methods of leveling sensor readings between sensors.

BACKGROUND

[0002] In recent years, the availability of advanced location-specific agricultural measurement and application systems (used in precision farming practices) has increased producer interest in determining spatial variations in soil properties and in varying input application variables. (for example, planting depth) in light of such variations. However, the mechanisms available to measure properties, such as temperature, are not done locally effectively across the field or are not done at the same time that inputs are used (for example, planting).

BRIEF DESCRIPTION OF THE DRAWINGS

[0003] Referring now to the drawings, where similar reference numbers designate identical or corresponding parts throughout the various views, the present disclosure is illustrated by way of example, and not as a limitation, in the figures in the accompanying drawings and in which:

Figure 1 is a top view of an agricultural planter modality;

Figure 2 is a side elevation view of an embodiment of a planter row unit;

Figure 3 schematically illustrates a modality of

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2/66 a soil monitoring system;

Figure 4A is a side elevation view of an embodiment of a seed firmer with a plurality of sensors mounted on the firmer;

Figure 4B is a plan view of the seed firm of Figure 4A;

Figure 4C is a rear elevation view of the seed firmer in Figure 4A;

Figure 5 is a side elevation view of another embodiment of a seed firm having a plurality of sensors mounted on the firm;

Figure 6 is from Figure 5;

Figure 7 is from Figure 5;

Figure 8 is from Figure 5;

Figure 9 is from Figure 5;

Figure 10 is a view in a view in a view in a view in is a seed firming view of Figure 11 is a view at 10;

Figure 12 is a view at 10;

Figure 13 is a view at 10;

Figure 14 is a view (cut along cut along cut along cut along partial side of section D-D of section E-E of section F-F of section G-G in section of

5;

along the direction A of the Figure long of the section B-B of the Figure long of the section C-C of the Figure enlarged partial section of the seed firm of Figure 5;

the figure is a rear view of another modality

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3/66

on one The signator of seeds; Figure 16 is View later, yet of another modality of one seed firmer; The Figure 17 it is a graphic a sensor signal from reflectivity; The Figure 18 is View in elevation side of a modality of one sensor of meal reference; The Figure 19A is View in elevation side of a

modality of a seed firmer by instruments, which incorporates a fiber optic cable that transmits light to a reflectivity sensor;

Figure 19B is a side elevation view of a modality of an instrument seed firm, which incorporates a fiber optic cable that transmits light to a spectrometer;

Figure 20 illustrates a modality of a soil data display screen;

Figure 21 illustrates a modality of a spatial map screen;

Figure 22 illustrates a modality of a seed planting data display screen;

Figure 23 is a side elevation view of another embodiment of a reference sensor having a rod equipped with instruments;

Figure 24 is a front elevation view of the reference sensor in Figure 23;

Figure 25 is a side elevation view of another embodiment of a seed firm;

Figure 26 is a side cross-sectional view of the seed firm in Figure 25;

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4/66 Figure 27A is a perspective view of a seed firm according to an embodiment;

Figure 27B is a side view of the seed wedge of Figure 27A;

Figure 28A is a side view of a lens according to an embodiment;

Figure 28B is a front view of the lenses of Figure 28A;

Figure 29A is a perspective view of a firmer base according to an embodiment;

Figure 29B is a side perspective view of the firmer base of Figure 29A;

The figure 29C is an bottom view of the base firmer of Figure 29A r The figure 3 0A is a view in perspective on one accommodation sensor a deal with an modality; The figure 30B is a view in perspective of a

coverage according to a modality;

Figure 31A is a perspective view of a lens body according to an embodiment;

Figure 31B is a side view of the lens body of Figure 31A;

Figure 32 is a side view of a common emitter sensor and a detector according to an embodiment;

Figure 33 is a side view of a common emitter sensor and a detector angled towards each other, according to an embodiment;

Figure 34 is a side view of a combination of sensor and prism according to an embodiment;

Figure 35 is a side view of a sensor with two

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5/66 transmitters and a detector according to one modality;

Figure 36 is a side view of a sensor with two emitters angled towards a detector according to an embodiment;

Figure 37 is a side view of a sensor with two emitters and a detector and a prism according to an embodiment;

Figure 38 is a side view of a sensor with a

emitter and detector together with a prism that uses the critical angle of the prism material according to a modality;

Figure 39 is a side view of a sensor with a

emitter and two detectors according to one modality;

Figure 40 is a side sectional view of an orifice plate used with the embodiment of Figure 37;

Figure 41 is a side sectional view of a sensor with an emitter and a detector, together with a prism that uses the critical angle of the prism material according to one embodiment;

Figure 42A is an isometric view of a prism according to an embodiment;

Figure 42B is a plan view of the prism of Figure

2 A;

Figure 42C is a bottom elevation view of the prism

of Figure 42A;

Figure 42D is a front elevation view of the prism

of Figure 42A;

Figure 42E is a rear elevation view of the

prism of Figure 42A;

Figure 42F is an elevation view to the right of the

prism of Figure 42A;

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6/66 Figure 42G is an elevation view to the left of the prism of Figure 42A;

Figure 43 is a sectional view of the seed firmer of Figure 27A in section A-A;

Figure 44A is a schematic front view of a sensor with two emitters and a row detector and a displacement detector according to an embodiment;

Figure 44B is a schematic side view of the sensor of Figure 44A;

Figure 45 illustrates a modality of a seed germination moisture screen;

Figure 46 is a side view of a firming arm and seed sensor according to an embodiment;

Figure 47 illustrates a representative measurement of the reflectance and the height of the target;

Figure 48 illustrates an embodiment of an empty screen;

Figure 49 illustrates a flowchart of a modality for a 4900 method of obtaining soil measurements and then generating a signal to trigger any implement on any agricultural implement;

Figure 50 illustrates an embodiment of a uniformity of the moisture screen;

Figure 51 illustrates a modality of a moisture variability screen;

Figure 52 illustrates an emergency scoring modality;

Figure 53 is a perspective view of a temperature sensor arranged on an internal wall according to an embodiment;

Figure 54 is a side view of a temperature sensor

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7/66 temperature arranged through a seed firm to measure the soil temperature directly according to a modality;

Figures 55A to 55C are graphs of the average of the wide sensor of the implement until the reading of row 1 according to a modality;

Figures 56A to 56D are a map of different zones of organic matter in a field and sensor readings with different averages according to a modality.

BRIEF SUMMARY

[0004] The document describes implements and methods for leveling sensors using a sensor implement. In one embodiment, a method for leveling sensors through an implement having a plurality of sensors comprises provision of an implement having a plurality of sensors, measuring a value on each sensor, calculating an average of all the measured values, associating the value with a the lines to the average and calculating a correction factor for one of the lines based on the association.

In one example, the plurality of sensors corresponds to all sensors in the implement.

In another example, the plurality of sensors corresponds to all sensors in a section of the implement.

DETAILED DESCRIPTION

Depth Control and Soil Monitoring Systems

[0005] Figure 1 illustrates a tractor 5 dragging an agricultural implement, for example, a planter 10, comprising a toolbar 14 that supports

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8/66 operatively several tier 200 units. An implement monitor 50, preferably including a central processing unit (CPU), memory and graphical user interface (GUI) (for example, a touch-screen interface) is preferably located in the tractor 5 cab. A global positioning system (GPS) 52 receiver is preferably mounted on the tractor 5.

[0006] According to Figure 2, an embodiment is illustrated in which the row unit 200 is a planter row unit. The row unit 200 is preferably hingedly connected to the toolbar 14 by a parallel connection 216. An actuator 218 is preferably arranged to apply lift and / or downward force to the row unit 200. A solenoid valve 390 is preferably in fluid communication with actuator 218 to modify the elevation and / or downward force applied by the actuator. An opening system 234 preferably includes two opening discs 244 mounted in a rolling manner on a downward extension rod 254 and arranged to open a V-shaped ditch in the ground 40. A pair of 248 gauge wheels is supported articulated by a pair of corresponding 260 gauge wheel arms; the height of the 248-gauge wheels in relation to the opening discs 244 defines the depth of the ditch 38. A depth adjustment rocker 268 limits the upstream travel of the measuring wheel arms 260 and therefore the upward travel of the wheels measurement 248. A depth adjustment actuator 380 is preferably configured to modify a position of the depth adjustment rocker 268 and therefore the

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9/66 height of measuring wheels 248. Actuator 380 is preferably a linear actuator mounted on row unit 200 and hingedly coupled to an upper end of rocker arm 268. In some embodiments, depth adjustment actuator 380 comprises a device as disclosed in International Patent Application Number PCT / US2012 / 035585 (Application '585), the disclosure of which is hereby incorporated by reference. An encoder 382 is preferably configured to generate a signal related to the linear extension of actuator 380; it should be appreciated that the linear extension of the actuator 380 is related to the depth of the ditch 38 when the arms of the gauge wheel 260 are in contact with the rocker 268. A downward force sensor 392 is preferably configured to generate a signal related to the quantity force imposed by the 248 gauge wheels on the ground 40; in some embodiments, the downforce sensor 392 comprises an instrument-equipped pin on which the rocker 268 is pivotally coupled to the row unit 200, such as the instrument-equipped pins disclosed in US Patent Application No. 12 / 522,253 of the applicant (US Publication Number 2010/0180695), the disclosure of which is incorporated into this document as a reference.

[0007] Continuing with reference to Figure 2, a 230 seed meter, such as that disclosed in Applicant's International Patent Application PCT / US2012 / 030192, whose

disclosure is incorporated to gift document by reference, is preferably willing to deposit seeds 42 in a hopper 226 in the ditch 38, for example,

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10/66 through a seed tube 232 arranged to guide the seeds towards the ditch. In some embodiments, instead of a 232 seed tube, a seed conveyor is implemented to transport seeds from the seed meter to the ditch at a controlled rate of speed, as disclosed in US Patent Application Serial Number 14 / 347,902 and / or US Patent Number 8,789,482, which are hereby incorporated by reference. In such embodiments, a support such as that shown in Figure 30 is preferably configured to mount the seed cutter on the stem through the side walls that extend laterally around the seed conveyor, so that the seed cutter is arranged behind the seed conveyor to set seeds in the soil after being deposited by the seed conveyor. In some embodiments, the meter is powered by an electric actuator 315 configured to drive a seed disk inside the seed meter. In other embodiments, the transmission 315 may comprise a hydraulic actuator configured to drive the seed disk. A 305 seed sensor (for example, an optical or electromagnetic seed sensor configured to generate a signal indicating the passage of a seed) is preferably mounted on the seed tube 232 and arranged to send light or electromagnetic waves through the path of the seeds. seeds 42. A closure system 236, including one or more closing wheels, is pivotally coupled to row unit 200 and configured to close ditch 38.

[0008] Returning to Figure 3, a control system

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11/66 depth and soil monitoring 300 is illustrated schematically. The monitor 50 is preferably in data communication with components associated with each row unit 200, including the actuators 315, the seed sensors 305, the GPS receiver 52, the downforce sensors 392, the valves 390, the adjustment actuator depth actuators 380 and depth actuator encoders 382. In some embodiments, particularly those in which each seed meter 230 is not driven by an individual trigger 315, monitor 50 is also preferably in data communication with clutches 310 configured to couple selectively and operationally the seed meter 230 to the driver 315.

[0009] Continuing to refer to Figure 3, monitor 50 is preferably in data communication with a cellular modem 330 or another component configured to place monitor 50 in data communication with the internet, indicated by reference number 335. The internet connection can comprise a wireless connection or a cellular connection. Via an internet connection, monitor 50 preferably receives data from a climatic data server 340 and a soil data server 345. Through an internet connection, monitor 50 preferably transmits measurement data (for example, measurements described in present document) for a recommendation server (which can be the same server as the weather data server 340 and / or soil data server 345) for storage and receives agronomic recommendations (for example, planting recommendations, such as planting depth , whether to plant, which fields to plant,

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12/66 which seeds to plant or which crop to plant) from a recommendation system stored on the server; in some modalities, the recommendation system updates the planting recommendations based on the measurement data provided by the monitor 50.

[0010] Continuing to refer to Figure 3, monitor 50 is also preferably in data communication with one or more 360 temperature sensors mounted on planter 10 and configured to generate a signal related to the temperature of the soil being worked by the units row planter 200._ Monitor 50 is preferably in data communication with one or more reflectivity sensors 350 mounted on planter 10 and configured to generate a signal related to the reflectivity of the soil being worked by planter row units 200.

[0011] With reference to Figure 3, monitor 50 is preferably in data communication with one or more electrical conductivity sensors 365 mounted on planter 10 and configured to generate a signal related to the temperature of the soil being worked by the row units planter 200.

[0012] In some modalities, a first set of 350 reflectivity sensors, 360 temperature sensors and electrical conductivity sensors are mounted on a 400 seed firm and arranged to measure reflectivity, temperature and electrical conductivity, respectively, of the soil in the ditch 38. In some embodiments, a second set of reflectivity sensors 350, temperature sensors 360 and sensors

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13/66 of electrical conductivity 370 are mounted on a set of reference sensors 1800 and arranged to measure reflectivity, temperature and electrical conductivity, respectively from the soil, preferably at a different depth from the sensors in the seed firm 400.

[0013] In some modalities, a subset of the sensors is in data communication with the monitor 50 through a bus 60 (for example, a CAN bus). In some embodiments, the sensors mounted on the seed firm 400 and the reference sensor set 1800 are also in data communication with the monitor 50 via bus 60. However, in the embodiment illustrated in Figure 3, the sensors mounted on the firm of seeds, the sensors mounted on the seed firm 400 and the reference sensor assembly 1800 are in data communication with the monitor 50, through a first wireless transmitter 62-1 and a second wireless transmitter 62-2, respectively . The wireless transmitters 62 in each row unit are preferably in data communication with a single wireless receiver 64, which in turn is in data communication with the monitor 50. The wireless receiver can be mounted on the toolbar 14 or in the tractor cab 5.

Soil Monitoring, Seed Monitoring and Seed Firming Device

[0014] Returning to Figures 4A-4C, a modality of a seed firmer 400 is illustrated with a plurality of sensors to detect the characteristics of the soil. The seed firm 400 preferably includes a portion

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14/66 flexible 410 mounted on stem 254 and / or seed tube 232 by a support 415. In some embodiments, support 415 is similar to one of the support modalities disclosed in US Patent No. 6,918,342, incorporated herein as reference. The seed firmer preferably includes a firmer body 490 arranged and configured to be received at least partially within the v-shaped ditch 38 and firm the seeds 42 at the bottom of the ditch. When the seed firmer 400 is lowered into the ditch 38, the flexible portion 410 preferably impels the body of the firmer 490 to perform resilient penetration with the ditch. In some embodiments, the flexible portion 410 preferably includes an external or internal reinforcement, as disclosed in PCT / US2013 / 066652, incorporated herein by reference. In some embodiments, the firming body 490 includes a removable portion 492; the removable portion 492 preferably slides in locking engagement with the rest of the firming body. The firming body 490 (preferably including the part of the firming body surrounding the soil, which in some embodiments comprises the removable portion 492) is preferably made of a material (or has an outer surface or coating) having hydrophobic properties and / or non-stick, for example having a Teflon graphite coating and / or comprising a polymer with a hydrophobic material (for example, silicone oil or polyetheretherketone) impregnated therein. Alternatively, the sensors can be arranged on the side of the seed firmer 400 (not shown).

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[0015] Returning to Figures 4A to 4C, the seed firmer 400 preferably includes a plurality of reflectivity sensors 350a, 350b. Each reflectivity sensor 350 is preferably arranged and configured to measure the reflectivity of the soil; in a preferred embodiment, the reflectivity sensor 350 is arranged to measure the soil in ditch 38 and, preferably, at the bottom of the ditch. The reflectivity sensor 350 preferably includes a lens arranged at the bottom of the body of the firmer 490 and arranged to penetrate the ground at the bottom of the ditch 38. In some embodiments, the reflectivity sensor 350 comprises one of the embodiments disclosed in 8,204,689 and / or Provisional Patent Application US 61/824975 (application '975), both of which are incorporated by reference in this document. In various modalities, the 350 reflectivity sensor is configured to measure reflectivity in the visible range (for example, 400 and / or 600 nanometers), in the near infrared range (for example, 940 nanometers) and / or elsewhere in the range infrared.

[0016] The seed firm 400 may also include a capacitive humidity sensor 351 arranged and configured to measure the soil capacitance humidity in the seed ditch 38 and, preferably, at the bottom of the ditch 38.

[0017] The seed firm 400 may also include an electronic tensiometer sensor of 352 arranged and configured to measure the soil moisture tension in the seed ditch 38 and, preferably, at the bottom of the ditch 38.

[0018] Alternatively, the soil moisture stress can be extrapolated from capacitive moisture measurements or reflectivity measurements (such as 1450 nm).

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This can be done using a characteristic soil water curve based on the type of soil.

[0019] The seed firm 400 may also include a 360 temperature sensor. The 360 temperature sensor is preferably arranged and configured to measure the soil temperature; in a preferred embodiment, the temperature sensor is arranged to measure the soil in ditch 38, preferably on or adjacent to the bottom of ditch 38. The temperature sensor 360 preferably includes ears (ears) 364, 366 that penetrate the soil, arranged to slide in on each side of the ditch 38 while the planter crosses the field. Ears 364, 366 preferably penetrate ditch 38 at or adjacent to the ditch bottom. The ears 364, 366 are preferably made of a thermally conductive material, such as copper. The ears 364 are preferably attached to the thermal communication and with a central portion 362 housed within the body of the firmer 490. The central portion 362 preferably comprises a thermally conductive material, such as copper; in some embodiments, the central portion 362 comprises a hollow copper rod. The central portion 362 is preferably in thermal communication with a thermocouple attached to the central portion. In other embodiments, the 360 temperature sensor may comprise a non-contact temperature sensor, such as an infrared thermometer. In some modalities, other measurements made by the 300 system (for example, reflectivity measurements, electrical conductivity measurements and / or measurements derived from these measurements) are temperature compensated using the temperature measurement made by

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17/66 360 temperature sensor. Adjustment of temperature-compensated measurement based on temperature is preferably carried out by consulting an empirical consultation table relating the compensated measurement to the soil temperature. For example, the measurement of reflectivity at the near infrared wavelength can be increased (or, in some instances, reduced) by 1% for every 1 degree Celsius in the soil temperature above 10 degrees Celsius.

[0020] The seed firmer preferably includes a plurality of electrical conductivity sensors 370r, 370f. Each 370 electrical conductivity sensor is arranged and configured, preferably, to measure the electrical conductivity of the soil; in a preferred embodiment, the electrical conductivity sensor is arranged to measure the electrical conductivity of the soil in ditch 38, preferably on or adjacent to the bottom of ditch 38. The electrical conductivity sensor 370 preferably includes ears that penetrate the ground 374, 376 arranged to slide down each side of the ditch 38, while the planter crosses the field. The ears 374, 376 preferentially penetrate the ditch 38 at or adjacent to the bottom of the ditch. The ears 374, 376 are preferably made of an electrically conductive material, such as copper. The ears 374 are preferably attached to and in electrical communication with a central portion 372 housed within the body of the firmer 490. The central portion 372 preferably comprises an electrically conductive material, such as copper; in some modalities the portion

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18/66 central 372 comprises a copper rod. The central portion 372 is preferably in electrical communication with an electrical wire attached to the central portion. The electrical conductivity sensor can measure electrical conductivity within a ditch, measuring the electrical current between the ears that penetrate the ground 374 and 376.

[0021] With reference to Figure 4B, in some modalities the system 300 measures the electrical conductivity of the soil adjacent to the ditch 38, measuring an electrical potential between the electrical conductivity sensor 370f forward and the electrical conductivity sensor 370f backwards. In other modalities, the electrical conductivity sensors 370f, 370r can be arranged in a longitudinally spaced relationship, at the bottom of the seed firm, in order to measure the electrical conductivity at the bottom of the seed ditch.

[0022] In other modalities, the 370 electrical conductivity sensors comprise one or more devices for working or contacting the ground (for example, disks or rods) that come into contact with the ground and are preferably electrically isolated from each other or from another voltage reference. The voltage potential between sensors 370 or another voltage reference is preferably measured by the 300 system. The voltage potential or other electrical conductivity value derived from the voltage potential is preferably reported to the operator. The electrical conductivity value can also be associated with the position reported by the GPS and used to generate a map of the spatial variation of electrical conductivity across the field. In some of these modalities, the sensors of

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19/66 electrical conductivity may comprise one or more opening discs from a planter row unit, row cleaning wheels from a planter row unit, planter ground contact rods, ground contact shoes , depending on a planter stem, stems from a tillage tool or disks from a tillage tool. In some embodiments, a first electrical conductivity sensor may comprise a component (eg, disc or stem) of a first agricultural row unit, while a second electrical conductivity sensor comprises a component (eg, disc or stem) of a second agricultural row unit, so that the electrical conductivity of the soil that extends transversely between the units of the first and second row is measured. It must be considered that at least one of the electrical conductivity sensors described in this document is preferably electrically isolated from the other sensor or voltage reference. In one example, the electrical conductivity sensor is mounted on an implement (for example, on the planter row unit or on the tillage tool) when first mounted on an electrically insulating component (for example, a component made of a electrically insulating material, such as polyethylene, polyvinyl chloride or rubber-like polymer) which in turn is mounted on the implement.

[0023] With reference to Figure 4C, in some modalities the system 300 measures the electrical conductivity of the soil between two row units 200 that have a first

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20/66 seed firmer 400-1 and a second seed firmer 400-2, respectively, measuring an electrical potential between an electrical conductivity sensor in the first seed firmer 400-1 and an electrical conductivity sensor in the second seed firmer 4002. In some of these embodiments, the 370 electrical conductivity sensor may comprise a larger electrode that penetrates the ground (for example, a firmer housing) made of metal or other conductive material. It should be considered that any of the electrical conductivity sensors described in this document can measure conductivity according to any of the following combinations: (1) between a first probe in a row unit component that penetrates the ground (for example, on a seed drive, a row cleaning wheel, an opening disc, a shoe, a stem, frog-type adapter sleeve, a vertical cutting blade or a closing wheel) and a second probe on the same unit component row that penetrates the ground of the same row unit; (2) between a first probe in a first row unit component that penetrates the ground (for example, in a seed cutting machine, a row cleaning wheel, an opening disc, a shoe, a rod, frog fixation, a vertical plow cutter blade or a closing wheel) and a second probe on a second row unit component that penetrates the ground (for example, on a seed firm, a row cleaning wheel, an opening disc, a shoe, a rod, frog-type adapter sleeve, a vertical cutting blade or a closing wheel) from the same row unit; or (3) between a

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21/66 first probe in a first row unit component that penetrates the ground (for example, in a seed cutting machine, a row cleaning wheel, an opening disc, a shoe, a rod, type adapter sleeve frog, a vertical cutting blade or a closing wheel) on a first row unit and a second probe on a second row unit component that penetrates the ground (for example, in a seed firm, a seed cleaning wheel) rows, an opening disc, a shoe, a rod, frog-type adapter sleeve, a vertical cutting blade or a closing wheel) in a second row unit. One or both of the row units described in combinations 1 to 3 above may comprise a row planting unit or another row unit (for example, a no-till row unit or a dedicated measuring row unit) that can be mounted to the front or back of the toolbar.

[0024] The reflectivity sensors 350, the temperature sensors 360, 360 ', 360 and the electrical conductivity sensors 370 (collectively, the sensors mounted on the fastener) are preferably in data communication with the monitor 50. In some modalities, the sensors mounted on the firmer are in data communication with the monitor 50 through a transceiver (for example, a CAN transceiver) and the bus 60. In other modalities, the sensors mounted on the firmer are in data communication with the monitor 50 via wireless transmitter 62-1 (preferably mounted on the seed firm) and wireless receiver 64. In some

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22/66 modalities, the sensors mounted on the firmer are in electrical communication with the wireless transmitter 62-1 (or the transceiver) through a multiple pin connector comprising a male coupler 472 and a female coupler 474. In the body modalities of the firmer having a removable portion 492, the male coupler 472 is preferably mounted on the removable portion and the female coupler 474 is preferably mounted on the remainder of the body of the firmer 190; the couplers 472, 474 are preferably arranged so that the couplers are electrically engaged while the removable portion is slidably mounted on the firmer body.

[0025] Returning to Figure 19A, another modality of the seed firmer 400 'is illustrated incorporating a fiber optic cable 1900. The fiber optic cable 1900 ends, preferably, in a 1902 lens at the bottom of the firmger 400. The cable fiber optic 1900 preferably extends to a reflectivity sensor 350a, which is preferably mounted separately from the seed firmer, for example, elsewhere in row unit 200. In operation, light reflected from the ground (preferably at the bottom) from ditch 28) moves to the reflectivity sensor 350a, through the fiber optic cable 1900, so that the reflectivity sensor 350a is activated to measure the reflectivity of the soil in a remote location of the seed firmer 400 '. In other modalities, such as the seed firming method 400 illustrated in Figure 19B, the fiber optic cable extends to a spectrometer 373 configured to analyze the light transmitted from the ground. The 373 spectrometer is preferably configured to

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23/66 analyze the reflectivity in a spectrum of wavelengths. Spectrometer 373 is preferably in data communication with monitor 50. Spectrometer 373 preferably comprises a fiber optic spectrometer, such as model number USB4000 available from Ocean Optics, Inc. in Dunedin, Florida. In the 400 'and 400 modes, a modified 415' fastener holder is preferably configured to secure the 1900 fiber optic cable.

[0026] Returning to Figures 25-26, another modality of the 2500 firm is illustrated. The fastener 2500 includes an upper portion 2510 having a mounting portion 2520. The mounting portion 2520 is preferably reinforced by the inclusion of a reinforcement insert made of more rigid material than the mounting portion (for example, the mounting portion may be made of plastic and the reinforcement insert can be made of metal) in an internal cavity 2540 of the mounting portion 2520. The mounting portion 2520 preferably includes mounting tabs 2526, 2528 to releasably secure the 2500 to a support on the row unit. The mounting portion 2520 preferably includes mounting hooks 2522, 2524 for attaching a liquid delivery conduit (for example, flexible tube) (not shown) to the fastener 2500. The upper portion 2510 preferably includes an internal cavity 2512 dimensioned to receive the liquid application duct. The internal cavity 2512 preferably includes a rear opening through which the liquid application conduit extends to distribute liquid behind the firmer 2500. It should be appreciated that a plurality of liquid conduits can be inserted into the

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24/66 internal cavity 2512; in addition, a nozzle can be included at an end end of the duct or ducts to redirect and / or divide the flow of liquid applied in the ditch behind the wedge 2500.

[0027] Firmer 2500 also preferably includes a portion that penetrates the soil 2530 mounted on the upper portion 2510. The portion that penetrates the soil 2530 can be removably mounted on the upper portion 2510; as illustrated, the portion that penetrates the ground is mounted on top by the threaded screws 2560, but in other modalities the penetration part in the soil can be installed and removed without the use of tools, for example, through a slot and groove arrangement . The soil penetrating portion 2530 can also be permanently mounted to the upper part 2510, for example, using rivets instead of the screws 2560 or molding the upper part into the part that penetrates the soil. The portion that penetrates the soil 2530 is preferably made of a material with greater wear resistance than plastic, such as metal (for example, stainless steel or hardened white iron), may include a wear-resistant coating (or a non-stick coating) , as described in this document) and may include a wear resistant portion, such as a tungsten carbide insert.

[0028] The portion that penetrates the soil 2530 preferably includes a sensor to detect ditch characteristics (for example, soil moisture, soil organic matter, soil temperature, presence of seeds, seed spacing, percentage of seeds firm, presence of soil residues), such as a temperature sensor

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25/66 reflectivity 2590, preferably housed in a cavity 2532 of the soil penetration portion. The reflectivity sensor preferably includes a 2596 sensor circuit board with a sensor arranged to receive reflected light from the ditch through a transparent window 2592. The transparent window 2592 is preferably mounted flush with a lower surface of the penetrating portion of the soil, so that the soil flows under the window without accumulating on the window or along an edge of the window. A 2594 electrical connection preferably connects the 2596 sensor circuit board to a wire or bus (not shown) placing the sensor circuit board in data in communication with the monitor 50.

[0029] Returning to Figures 5-14, another modality 500 of seed firmer is illustrated. A flexible portion 504 is preferably configured to resiliently press a body of the firmer 520 into the seed ditch 38. The mounting flaps 514, 515 releasably couple the flexible part 504 to the firmer holder 415, preferably as described in order '585.

[0030] A flexible liquid conduit 506 preferably conducts liquid (e.g. liquid fertilizer) from a container to an outlet 507 to deposit in or adjacent to ditch 38. Conduit 506 preferably extends through the body of the firm 520 , between outlet 507 and an accessory 529 that preferably restricts the conduit 506 from sliding in relation to the body of the firmer 520. The portion of the conduit can extend through an opening formed in the body of the firmer 520 or (as

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26/66 illustrated) through a channel covered by a removable cover 530. The cover 530 preferably penetrates the side walls 522, 524 of the firmer body 520 through the curved flaps 532. The curved flaps 532 preferentially prevent the side walls 522, 524 to deform outwardly, in addition to retaining the cap 530 on the body of the firmer 520. A screw 533 also preferably retains the cap 530 on the body of the firmer 520.

[0031] The conduit 506 is preferably retained in the flexible portion 504 of the seed firmer 500, by the mounting hooks 508, 509 and the mounting flaps 514, 515. A conduit 506 is preferably grasped resiliently by the arms 512, 513 of the mounting hooks 508, 509, respectively. The conduit 506 is preferably received in the slots 516, 517 of the mounting flaps 514, 515, respectively.

[0032] A 505 harness preferably comprises a wire or a plurality of wires in electrical communication with the more firmly mounted sensors described below. The harness is preferably received in the grooves 510, 511 of the mounting hooks 508, 509 and additionally retained in place by the conduit 506. The harness 505 is preferably gripped by the slits 518, 519 of the mounting flaps 514, 515, respectively; the harness 505 is preferably pressed through a resilient opening of each slot 518, 519 and the resilient opening returns to place, so that the slots retain the harness 505, unless the harness is forcibly removed.

[0033] In some embodiments, the lower trench opening portion of the seed firm 500 comprises

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27/66 a plate 540. Plate 540 may comprise a different material and / or a material with different properties than the rest of the body of the firmer 520; for example, plate 540 may have a greater hardness than the rest of the body of the firmer 5250 and may comprise powdered metal. In some embodiments, the entire body of the firmer 520 is made of a relatively hard material, such as powdered metal. In an installation phase, the plate 540 is mounted on the rest of the body of the firmer 520, for example, by the rods 592 fixed on the plate 540 and attached to the rest of the body of the firmer by the pressure rings 594; it must be appreciated that the plate can be removably mounted or permanently mounted on the rest of the firmer body.

[0034] The seed firm 500 is preferably

configured to receive in form removable one sensor in 350 reflectivity inside in an cavity 527 inside of body of firm 520. In an modality preferred, The

reflectivity sensor 350 is removably installed in the seed firmer 500 by sliding the reflectivity sensor 350 into the cavity 527 until the flexible tabs 525, 523 click into place, holding the reflectivity sensor 350 in place until the flexible tabs are folded out of the way to remove the reflectivity sensor. The reflectivity sensor 350 can be configured to perform any of the measurements described above in relation to the reflectance sensor of the seed firmer 400. The reflectivity sensor 350 preferably comprises a circuit board 580 (in some embodiments a printed circuit board overmolded). The reflectivity sensor 350 detects,

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28/66 preferably, the light transmitted through a lens 550 having a lower surface coextensive with the lower surface surrounding the body of the firmer 550, so that the soil and seeds are not dragged by the lens. In embodiments having a plate 540, the lower surface of lens 550 is preferably coextensive with a lower surface of plate 540. Lens 550 is preferably a transparent material, such as sapphire. The interface between circuit board 580 and lens 550 is preferably protected against dust and debris; in the illustrated embodiment, the interface is protected by a 552 o-ring, while in other embodiments the interface is protected by a potting compound. In a preferred embodiment, lens 550 is mounted on circuit board 580 and the lens slides in place within the lower surface of the firmer 520 (and / or plate 540) body when the reflectivity sensor 350 is installed. In such modalities,

flexible flaps 523 .525 hold preferably the sensor reflectivity in a position in which 550 lens is coextensive with the surface lower of body of firm 520. [0035] 0 firmer in seeds 500 includes, preferably, a sensor in temperature 360. . 0 sensor temperature 360 comprises in preference ' an probe 560. The 560 probe understands, in preference , 1 jma rod

thermal conductive (for example, a copper rod) that extends across the width of the firmer 500 body and with opposite ends extending from the firmer 500 body to contact both sides of the ditch 38. The 360 temperature sensor preferably too

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29/66 comprises a resistance temperature detector (RTD) 564 fixed (for example, screwed into a threaded hole) in probe 560; the RTD is preferably in electrical communication with the circuit board 580, through an electrical wire 585; the circuit board 580 is preferably configured to process reflectivity and temperature measurements and is preferably in electrical communication with the harness 505. In the modalities in which the plate 540 and / or the rest of the body of the firmer 520 comprises a thermally conductive material, a insulating material 562 preferably supports probe 560, so that temperature changes in the probe are minimally affected by contact with the firmer body; in such embodiments, the probe 560 is preferably surrounded mainly by air inside the body of the firmer 520 and the insulating material 562 (or firmer body) preferably comes into contact with a minimal surface area of the probe. In some embodiments, the insulating material comprises a low conductivity plastic, such as polystyrene or polypropylene.

[0036] Returning to Figure 15, another modality 400 'of the seed firmer is illustrated having a plurality of reflectivity sensors 350. The reflectivity sensors 350c, 350d and 350e are arranged to measure the reflectivity of the regions 352c, 352d and 352e, respectively, in and adjacent to the lower part of the ditch 38. The regions 352c, 352d and 352e preferably constitute a substantially contiguous region, preferably including all or substantially the entire portion of the ditch in which the seed rests after falling into the ditch

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30/66 by gravity. In other embodiments, a plurality of temperature and / or electrical conductivity sensors are arranged to measure a larger region, preferably substantially contiguous.

[0037] Returning to Figure 16, another embodiment of a seed firmer 400 is illustrated with a plurality of reflectivity sensors 350 arranged to measure on both sides of the ditch 38 at various depths within the ditch. The reflectivity sensors 350f, 350k are arranged to measure reflectivity at or adjacent to the top of ditch 38. The reflectivity sensors 350h, 350i are arranged to measure reflectivity at or adjacent to the bottom of ditch 38. Sensors of reflectivity 350g, 350j are arranged to measure reflectivity at an intermediate depth of ditch 38, for example, half the depth of the ditch. It must be considered that, in order to effectively take measurements of the soil at an intermediate depth of the ditch, it is desirable to modify the shape of the seed firmer, so that the side walls of the seed firmer penetrate the sides of the ditch at a depth middle of the ditch. Likewise, it must be considered that, in order to effectively make measurements of the soil at a depth close to the top of the ditch (that is, on the surface or near the surface of the soil 40), it is desirable to modify the shape of the seed firmer , so that the side walls of the seed firmer penetrate the sides of the ditch at or near the top. In other embodiments, a plurality of temperature and / or electrical conductivity sensors are arranged to measure temperature and / or conductivity

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31/66 electric, respectively, of the ground in a plurality of depths within the ditch 38.

[0038] As described above in relation to system 300, in some modalities, a second set of reflectivity sensors 350, temperature sensors 360 and electrical conductivity sensors 370 are mounted on a set of reference sensors 1800. Such modality is illustrated in Figure 18, in which the reference sensor assembly opens a ditch 39, in which a seed firmer 400 with sensors mounted on the firmer penetrates, resiliently, in order to detect the soil characteristics of the bottom of the ditch 39. The ditch 39 it is preferably at a shallow depth (for example, between 0.317 cm and 1.27 cm (1/8 and 1/2 inch) or the deepest (for example, between 7.62 cm and 12.7 cm (3 and 5 inches). The ditch is preferably opened by a pair of opening discs 1830-1, 1830-2 arranged to open a v-shaped ditch in the ground 40 and rotating around the lower cubes 1834. The depth of the trench is preferably defined by one or more 1820 gage wheels o around the upper hubs 1822. The upper and lower hubs are preferably fixedly mounted on an 1840 stem. The seed firm is preferably mounted on the 1840 stem by an 1845 firm holder. The 1840 stem is preferably mounted on the toolbar 14. In some embodiments, the rod 1840 is mounted on the toolbar 14 by a parallel arm arrangement 1810 for vertical movement in relation to the toolbar; in some of these modalities, the stem is tilted resiliently towards the ground by

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32/66 an 1812 adjustable spring (or other downward force applicator). In the illustrated embodiment, the rod 1840 is mounted in front of the tool bar 14; in other embodiments, the rod can be mounted behind the tool bar 14. In other embodiments, the fastener 400 can be mounted on the rod of row unit 254, on a closing wheel assembly or on a row cleaner set .

[0039] A modality of the 1800 'reference sensor including a stem equipped with 1840' instruments is illustrated in Figures 23 and 24. The 350u, 350m, 3501 reference sensors are preferably arranged at a lower end of the 1840 stem and arranged in contact with the soil in a side wall of ditch 39, at or adjacent to the top of the ditch, at an intermediate depth of the ditch and at or adjacent to the bottom of the ditch, respectively. The rod 1840 extends into the ditch and preferably includes an angled surface 1842, on which the reference sensors 350 are mounted; the angle of the surface 1842 is preferably parallel to the side wall of the ditch 39.

[0040] It should be appreciated that the sensor modality of Figures 4A-4C can be assembled and used in conjunction with implements other than seed planters, such as tillage tools. For example, the seed firm may be willing to come into contact with the soil in an open trench (or surface of the soil that was otherwise ignored) by a tillage implement, such as a disc harrow or a ripper. ground. In this equipment, the sensors can be mounted

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33/66 in a part of the equipment that comes in contact with the ground or in any extension connected to a part of the equipment and comes in contact with the ground. It must be considered that, in some of these modalities, the seed firm would not come into contact with the planted seeds, but would still measure and report the characteristics of the soil, as revealed in this document.

[0041] In another modality, any of the sensors (reflectivity sensor 350, temperature sensor 360, electrical conductivity sensor 370, capacitive humidity sensor 351 and electronic tensiometer sensor 352) can be arranged in the seed firmer 400 'with an exposure through one side of the seed firm 400 '. As illustrated in Figure 27A, in one embodiment, the seed firmer 400 'has a projection 401' on one side of the seed firmer 400 'through which the sensors detect. A lens 402 'is disposed on the projection 401'. The 401 'protrusion minimizes any buildup that blocks lens 402' and lens 402 'can remain in contact with the ground.

[0042] The 402 'lens can be made of any material that is durable to abrasion caused by contact with the ground and transparent to the wavelengths of the light used. In a certain embodiment, the material has a Mohs hardness of at least 8. In certain embodiments, the material is sapphire, ruby, diamond, moissanite (SiC) or tempered glass (such as Gorilla ™ glass). In one embodiment, the material is sapphire. In one embodiment, as illustrated in Figures 28A and 28B, lens 402 'has a trapezoidal shape with sides

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34/66 tilted from the rear 402'-b to the front 402'-f of the lens 402 '. In this embodiment, the lens 402 'can be seated on the projection 401' without retainers against the rear 402'-b of the lens 402 '. The sensors arranged behind the lens 402 'are not obstructed by these retainers. Alternatively, lens 402 'can be arranged in contrast to the previous embodiment, with the sloping sides of the front 402-f to the rear 402-b.

[0043] To facilitate the assembly and placement of the sensors in the seed firmer 400 ', the seed firmer 400' can be manufactured from component parts. In this embodiment, the seed firm 400 'has a resilient portion 410', which mounts on stem 254 and can propel the seed firm 490 'body portion for resilient penetration with ditch 38. The firm firm 490' includes a firmer base 495 ', sensor housing 496' and lens body 498 '. The base 495 'is illustrated in Figures 29A to 29C. The sensor housing 496 'is illustrated in Figure 30A and a cover 497' for mating with the sensor housing 496 'is illustrated in Figure 30B. The lens body 498 'is illustrated in Figures 31 A and 31 B, and the lens body 498' is arranged in aperture 499 'on the firmer base 495'. The lens 402 'is arranged in the lens opening 494' in the lens body 498 '. The sensors are discarded (as on a circuit board, such as 580 or 2596) in the 496 'sensor housing. As illustrated in Figure 27B, there is a conduit 493 disposed through one side of the resilient portion 410 'and entering the sensor housing 496' for the wiring (not shown), connecting to the sensors.

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35/66

[0044] The protrusion 401 'will be mainly in the lens body 498', but a portion of the protrusion 401 'can also be arranged in the body of the firmer 495' to one or both sides of the lens body 498 ', in order to create a taper out and back from the 401 'protrusion. The 401 'protrusion is expected to wear out on contact with the ground. The arrangement of a main portion of the protrusion 401 'in the lens body 498' allows the replacement of the lens body 498 'after the protrusion 401' and / or the lens 402 'wears out or breaks.

[0045] In another embodiment illustrated in Figure 53, a 360 'temperature sensor is disposed on a seed firm 400 (the reference to seed firm 400 in this paragraph is to any lawn mower, such as 400, 400', 400 or 400 ') to measure the temperature in an inner wall 409 that is in thermal conductivity with an exterior of the seed firm 400. The temperature sensor 360' measures the temperature of the inner wall 409. In one embodiment, the area of the inner wall 409 that the 360 'temperature sensor measures does not exceed 50% of the area of the internal wall 409. In other modalities, the area does not exceed 40%, it does not exceed 30%, it does not exceed 20%, it is not more than 10% or not more than 5%. The smaller the area, the faster the 360 'temperature sensor can react to changes in temperature. In one embodiment, the 360 'temperature sensor is a thermistor. The 360 'temperature sensor may be in electrical communication with a circuit board (such as circuit board 580 or 2596).

[0046] In another embodiment illustrated in Figure 54, a 360 temperature sensor is disposed through the

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36/66 seed firmer 400 (the reference to seed firmer 400 in this paragraph refers to any seed firmer, such as 400, 400 ', 400 or 400) to measure the soil temperature directly. The temperature sensor 360 has an internal thermally conductive material 1361 covered by a thermally insulating material 1362, with a portion of thermally conductive material 1361 exposed to contact with the ground. The thermally conductive material in one embodiment can be copper. The 360 temperature sensor may be in electrical communication with a circuit board (such as circuit board 580 or 2596).

[0047] In any of the modalities in Figures 53 and 54, the 360 ', 360 temperature sensor is modular. It can be a separate part that can be in communication with the monitor 50 and can be replaced separately from other parts.

[0048] In a 400 'seed firmer mode, the sensor is the reflectivity sensor 350. The reflectivity sensor 350 can consist of two components with a 350-e emitter and a 350-d detector. This modality is illustrated in Figure 32.

[0049] In certain modalities, the wavelength used in the reflectivity sensor 350 is in the range of 400 to 1600 nm. In another embodiment, the wavelength is 550 to 1450 nm. In one embodiment, there is a combination of wavelengths. In one embodiment, sensor 350 has a combination of 574 nm, 850 nm, 940 nm and 1450 nm. In another embodiment, sensor 350 has a combination of 589 nm, 850 nm, 940 nm and 1450 nm. In another embodiment, sensor 350 has a combination of 640 nm, 850 nm, 940 nm and 1450 nm. In another modality, the wavelength of 850 nm in

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37/66 any of the previous modalities is replaced by 1200 nm. In another embodiment, the wavelength of 574 nm in any of the previous modalities is replaced by 590 nm. For each of the wavelengths described in this document, it should be understood that the number is actually +/- 10 nm from the listed value.

[0050] In one embodiment, the field of view from the 402-f front of the 402 'lens to the ground surface is 0 to 7.5 mm (0 to 0.3 inches). In another mode, the field of view is 0 to 6.25 mm (0 to 0.25 inches). In another mode, the field of view is 0 to 5 mm (0 to 0.2 inches). In another embodiment, the field is 0 to 2.5 mm (0 to 0.1 inches).

[0051] As the seed firm 400 'moves through ditch 38, there may be cases where there is a space between ditch 38 and seed firm 400', so that ambient light is detected by the seed sensor. 350 reflectivity. This will give a falsely high result. In a mode to remove the increase in the ambient light signal, the 350-e emitter can be activated and deactivated. The background signal is measured when there is no signal from the 350-e transmitter. The measured reflectivity is then determined by subtracting the background signal from the raw signal when the 350-e emitter is emitting to provide the actual amount of reflectivity.

[0052] As shown in Figure 32, when the reflectivity sensor 350 has only a 350-e emitter and a 350-d detector, the overlap area between the area illuminated by the 350-e emitter and the area viewed by the 350-d detector can be limited. In a modality, such as

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38/66 illustrated in Figure 33, the emitter 350-e and detector 350-d can be angled towards each other to increase the overlap. While this is effective, this modality increases the manufacturing cost to tilt the 350-e emitter and the 350-d detector. In addition, when the surface of the ditch 38 is not smooth, there may be some ray of light 999 that will impact the ditch 38 and will not be reflected in the 350-d detector.

[0053] In another embodiment illustrated in Figure 34, the configuration of Figure 32 can be used and a prism 450 'with an inclined side 451' placed under the 350-e emitter can refract the light from the 350-e emitter towards the area visualized by the 350-d detector. Again, with a single 350-e emitter, the light beam 999 can impact ditch 38 and not be reflected in the 350-d detector.

[0054] In another embodiment illustrated in Figure 35, the sensor 350 can have two emitters 350-e-l and 350-e-2 and a detector 350-d. This increases the overlap between the area visualized by the 350-d detector and the area illuminated by the 350-e-l and 350-e-2 emitters. In another embodiment, to further increase the overlap, emitters 350-e-l and 350-e-2 can be angled towards detector 350-d, as shown in Figure 36.

[0055] In another embodiment illustrated in Figure 37, two emitters 350-e-l and 350-e-2 are arranged close to detector 350-d. A 450 prism has two inclined surfaces 459-1 and 459-2 to refract the light from the 350-e-l and 350-e-2 emitters towards the area viewed by the 350-d detector.

[0056] In another embodiment illustrated in Figure 38, a single 350-e emitter can be used in conjunction with a

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39/66 prism 400 to approximate a double emitter. The Prism 450'is designed with angled sides to use the critical angle of the material used to make the prism 450 (to keep light inside the material). The angles vary depending on the material. In one embodiment, the material for the 450 'prism is polycarbonate. A portion of the light from the 350-e emitter will impact side 451 and be reflected on side 452 to side 453 to side 454 before leaving bottom 455. Optionally, spacers 456-1 and 456-2 can be arranged on the side bottom 455 to provide a space between the prism 450 'and the lens 550.

[0057] In another modality, illustrated in Figure 39, the reflectivity sensor has a 350-e emitter and two detectors 350-d-l and 350-d-2. As shown, emitter 350e and detector 350-d-l are aligned as shown in the figure. The 350-d-2 detector is tilted towards the 350-1 emitter and the 350-d-2 detector.

[0058] In another mode that can be used with any of the previous or following modes, an opening plate 460 can be arranged adjacent to the sensor 350, with openings 461 adjacent to each emitter 350-e and detector 350-d. This modality is illustrated in Figure 40 with the modality of Figure 37. Opening plate 460 can assist in the control of intermediate angles.

[0059] In another embodiment illustrated in Figure 41, a reflectivity sensor 350 has an emitter 350-e and a detector 350-d. Adjacent to the detector is an orifice plate 460 that controls only the incoming light detector 350-d. Prism 450 is then disposed adjacent to emitter 350-e and detector 350-d.

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[0060] In another embodiment of a prism, several views of the prism 450 can be seen in Figures 42A-42G.

[0061] Figure 43 is a cross-sectional view of the seed firm 400 'of Figure 27A taken in section A-A. Two 350-e-l and 350-e-2 emitters and a 350-d detector are arranged in the 496 'sensor housing. Prism 450 of Figures 42A-42G is arranged between emitters 350-e-1 and 350-e-2 and detector 350-d and lens 402 '.

[0062] In another modality, as illustrated in

Figures 44A and 44B, there is a reflectivity sensor 350 that has two emitters 350-e-l and 350-e-2 aligned with a detector 350-d-l. As seen, emitters 350-e-l and 350-e-2 are pointed out of the paper and the view of the detector 350-d-l is pointed out of the paper. There is a second detector that bypasses the 350-e-l and 350-e-2 emitters and the 350-d-l detector. In another mode (not shown) the 350-e-2 emitter is omitted. As seen in Figure 44B, detector 350-d-2 is tilted vertically by an angle α and is being viewed towards emitters 350-e-l and 350-e-2 and detector 350-d-l, aligned to the paper. In one embodiment, the angle α is 30 to 60 °. In another embodiment, the angle α is 45 °. In one embodiment, the wavelength of the light used in this array is 940 nm. This arrangement allows the measurement of empty spaces on the ground. The detection of empty spaces in the soil will inform the effectiveness of the crop. Smaller or smaller voids indicate more compaction and less efficient preparation. Larger or larger empty spaces indicate better soil preparation. Have this measurement of the effectiveness of soil tillage

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41/66 allows adjustment of the downforce in row unit 200, as described in this document.

[0063] The depth of the seed firm 400, 400 'and the length of the empty spaces can be measured by this arrangement. For short distances (usually up to 2.5 cm (1 inch) or up to about 1.27 cm (0.5 inches), the signal output from the 350-d-2 detector increases as the distance from the target surface While the signal from the primary reflectance detector, 350-dl, remains mostly from constant to slightly decreasing. An illustrative reflectance measurement is shown in Figure 47, along with a corresponding calculated height off-target. 350-dl 9001 and the reflectance measurement of 350-d-2 9002 are shown. When the reflectance measurement of 350-dl 9001 and the reflectance measurement of 350-d-2 9002 are approximately the same, the 9003 region is when the target ground is leveled with the 402 'lens. As a void is detected in the 9004 region, the reflectance measurement of 350-dl 9001 remains approximately the same or decreases, and the reflectance measurement of 350-d-2 9002 The distance from the target surface is a function of the ratio between the signals acidized by 350-d-1 and 350-d-2. In one mode, the distance is calculated as (signal 350-d-2 - signal 350-d1) / (signal 350-d-2 + signal 350-d-l) * scale constant. The scale constant is a number that converts the reflectance measurement into distance. For the illustrated configuration, the scale factor is 0.44. The scale factor is measured and depends on the location of the emitter and detector, the dimensions of the opening plate and the geometry of the prism. In

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42/66 a modality, a scale factor can be determined by placing a target at a known distance. A graph of the calculated target distance produces a 9005 elevation profile across the scanned surface. Knowing the travel speed, the 9006 length, the 9007 depth and the 9008 spacing of these voids can be calculated. A continuous average of these void characteristics (length 9006, depth 9007 and spacing 9008) can be calculated and then reported as another metric to characterize the texture of the soil being scanned. For example, once every second, a summary of the average void length, average void depth and number of voids during that period can be recorded / transmitted to monitor 50. The time interval can be any longer selected time period than 0. With a shorter period of time, a smaller space is analyzed. An example of monitor 50 showing on screen 2310 the length of space 2311, the depth of space 2312 and the number of spaces 2313 is illustrated in Figure 48.

[0064] In another mode, any scratches or films that form on lens 402 'will affect the reflectivity detected by the reflectivity sensor 350. There will be an increase in internal reflectivity within the seed firmers 400, 400'. The increase in reflectivity will increase the reflectance measurement. This increase can be accounted for when the seed firm 400, 400 'is removed from ditch 38. The seed firm 400, 400' reading at this point will become the new base reading, for example, reset. The next time the seed firm 400, 400 'is used in ditch 38, the reflectivity above the

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new base or gives reading zero will be the reading really measure. [0065] In another modality, The measurement in reflectivity of sensor reflectivity 350 allows to one

seed germination moisture value is obtained from a data table and displayed to an operator on monitor 50. Seed germination humidity is a dimensionless measure related to the amount of water available for a seed for each soil type. For different types of soil, water is retained differently. For example, sandy soil does not cling to water as much as clayey soil. Although there may be more water in the clay than in the sand, there may be the same amount of water that is released from the soil to the seed. The germination moisture of the seeds is a measure of the weight gain of a seed that has been placed in the soil. The seed is placed in the soil for a period of time sufficient to allow moisture to enter the seed. In one mode, the period is three days. The weight of the seed before and after is measured. In addition, the reflectivity of soils with different water content is stored in a data table. A scale of 1 to 10 can be used. Numbers in the middle of the range, such as 4-7, can be associated with the water content in each soil type which is an acceptable water level for the seeds. Low numbers, such as 1-3, can be used to indicate that the soil is too dry for the seed. High numbers, like 8-10, can be used to indicate that the soil is too moist for the seed. Knowing the type of soil as input by the operator and the measured reflectivity, the humidity of the germination of the seeds can be obtained in the table of

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44/66 data. The result can be displayed on monitor 50 with the actual number. In addition, the result can be accompanied by a color. For example, the source color of the reported result or the color of the screen on the monitor 50 may be green for values within the acceptable level and another color, such as yellow or red, for high or low values. An example of monitor 50 showing on screen 2300, the germination humidity of seeds 2301, is illustrated in Figure 45. Alternatively, the germination humidity of seeds 2301 can be displayed on monitor 50 in Figure 20. In addition, uniform humidity can be displayed on monitor 50 (not shown). Uniform moisture is the standard deviation of moisture from seed germination.

[0066] Depending on the reading of the germination moisture of the seeds, the depth of planting can be adjusted as described in this document. If the germination humidity of the seeds is indicating very dry conditions, the depth can be increased to deepen until a specified moisture level is reached. If the germination humidity of the seeds is indicating too much moisture, the depth may be reduced to become shallower until a specified moisture level is reached.

[0067] In another modality, humidity uniformity or humidity variability can be measured and displayed on monitor 50. An example of monitor 50 showing humidity uniformity 2321 on screen 2320 and / or displaying humidity variability 2331 on screen 2330 are illustrated in Figures 50 and 51. One or both can be displayed, or both can be displayed on the same screen. The uniformity of

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humidity is 1 - variability of moisture. Any of them of readings moisture Can be used, like moisture in capacitance, moisture germination of seeds or up until

same volumetric water content or matrix potential or days until germination, to calculate moisture uniformity and humidity variability. Humidity variability is a deviation from the average measurement. In one embodiment, the humidity variability is calculated by dividing the standard deviation by the average using any of the moisture measurements. This provides a percentage. Any other mathematical method for expressing variation in measurement can also be used. In one embodiment, the mean square of the root can be used in place of the standard deviation. In addition to displaying the result on monitor 50, the result can be accompanied by a color. For example, the source color of the reported result or the color of the screen on the monitor 50 may use green for values within the acceptable level and another color, such as yellow or red, for unacceptable values. In the days

previous germination, That is determined through gives creation of a bank Dice, putting seeds in many different humidity levels and measuring the days until The

germination. The uniformity and variability of moisture is then the variability in the days until germination.

[0068] Depending on the uniformity of the humidity reading or the variability of the humidity, the depth of the planting can be adjusted as described in this document. In one embodiment, the depth can be adjusted to maximize moisture uniformity and minimize moisture variability.

[0069] In another modality, a score of

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46/66 emergency environment can be calculated and displayed on monitor 50. An example of monitor 50 showing on the 2340 screen an emergency environment score 2441 is illustrated in Figure 52. The emergency environment score is a combination of temperature and humidity correlated with the time it takes a seed to germinate under these conditions. A database can be created by placing seeds in different combinations of temperature and humidity and measuring the days until germination. The emergency environment score displayed on monitor 50 can constitute the days until the germination of the database. In another modality, the emergency environment score may be the percentage of seeds planted that will germinate within a selected number of days. The number of days selected can be entered on monitor 50. In another embodiment, a scale score can be used based on a scale of 1 to 10, with 1 representing the smallest number of days a seed takes to germinate and 10 representing the greatest number of days that a seed takes to germinate. For example, if a seed can germinate within 2 days, this value will be assigned ale, if the longest time it takes for the seed to germinate is 17 days, a value of 10. In addition to displaying the result on monitor 50, the result can be accompanied by a color. For example, the font color of the reported result or the color of the screen on the monitor 50 can use green for values within the selected number of days and another color, such as yellow or red, for values greater than the selected number of days.

[0070] Depending on the score of the emergency environment, the depth of planting can be adjusted

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47/66 as described in this document. In one embodiment, the depth can be adjusted to minimize the number of days until germination.

[0071] In another embodiment, any of the foregoing modalities may be in a separate device from the firmer 400, 400 '. As shown in Figure 46, any of the sensors described in this document (sensor 350 is illustrated in the Figure) is arranged on the sensor arm 5000. The sensor arm 5000 has a flexible portion 5001 which is attached to the seed firmer 400 'at the end the flexible portion 410 'of the seed firm 400' close to the portion 411 'of the support insert. At the opposite end of the flexible portion 5001 is the base 5002. The sensor 350 is arranged on the base 5002 behind the lens 5003. Although it is desirable that any of the sensors be on the firmer at 400 ', there may be times when a difference in the applied force. In one embodiment, the seed of firmer 400 'may need a lesser amount of force to firm a seed, but greater force is needed to keep the sensor in contact with the soil. A different amount of stiffness can be projected on the flexible portion 5001, compared to the flexible portion 410 '. With the seed firmly placed by the seed firmer 400, 400 'first, then the polarization of the sensor arm 5000 does not touch the seed that has already been established in ditch 38 or does not move the seed if contact is made.

[0072] In other modalities, any of the sensors does not need to be arranged in a firm and, in particular, any of the modalities illustrated in the

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Figures 27A to 54. The sensors can be on any implement that is arranged on an agricultural implement in contact with the soil. For example, the body of the 490 firm can be mounted on any support and arranged anywhere on an agricultural implement and in contact with the ground. Examples of an agricultural implement include, but are not limited to, planters, harvesters, sprayers, side bars, plowing devices, fertilizer spreaders and a tractor.

[0073] Figure 49 illustrates a flowchart of a 4900 method modality for obtaining soil measurements and then generating a signal to trigger any implement on any agricultural implement. The 4900 method is run by hardware (circuit, dedicated logic, etc.), software (as it runs on a general-purpose computer system or on a dedicated machine or device) or a combination of both. In one embodiment, the 4900 method is performed by at least one system or device (for example, monitor 50, soil monitoring system, seed firm, sensors, implement, row unit, etc.). The system executes instructions from an application or software program with processing logic. The application or software program can be started by a system or can notify an operator or user of a machine (for example, tractor, planter, harvester) depending on whether soil measurements cause a signal to trigger an implement.

[0074] In any form of this document, in operation 4902, a system or device (for example, soil monitoring system, monitor 50,

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49/66 seeds, sensors) can obtain soil measurements (for example, measurements of moisture, organic matter, porosity, soil texture / type, furrow residue, etc.). In operation 4904, the system or device (for example, soil monitoring system, monitor 50) can generate a signal to trigger any implement on any agricultural device (for example, changing a planted seed population by controlling a seed meter, changing the variety of seeds (eg hybrid), change the depth of the furrow, change the application rate of fertilizer, fungicide and / or insecticide, change the downward or upward force of an agricultural implement, such as a planter or device for plowing the soil, controlling the force applied by a row cleaner) in response to obtaining soil measurements. This can be done in real time anywhere. Examples of soil measurements that can be made and implement control include, but are not limited to:

A) moisture, organic matter, porosity or texture / soil type to alter a population of seeds planted by controlling a seed meter;

B) humidity, organic matter, porosity or texture / soil type to change the variety of seeds (for example, hybrid);

C) humidity, organic matter, porosity or texture / soil type to change the depth of the furrow;

D) moisture, organic matter, porosity or texture / soil type to change the application rate of fertilizer, fungicide and / or insecticide:

E) humidity, organic matter, porosity or

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50/66 texture / soil type to change the downward or upward applied force of an agricultural implement, such as a planter or device for plowing the land;

F) furrow residue to control the force applied by a row cleaner.

Data processing and display

[0075] With reference to Figure 20, implement monitor 50 can display a summary of soil 2000 data displaying a representation (for example, numeric or legend-based representation) of the soil data collected using the firmer 400 and associated sensors . Soil data can be displayed in windows such as a soil moisture window 2020 and a soil temperature window 2025. A depth adjustment window 2030 can additionally show the current depth adjustment of the implement row units, for example , the depth at which 400 seed firmers are making their respective measurements. A 2035 reflectivity variation window can show a statistical reflectivity variation during a cutoff period (for example, the previous 30 seconds) or over a cutoff distance traveled by the implement (for example, the previous 9 meters (30 feet)) . The statistical reflectivity variation can comprise any function of the reflectivity signal (for example, generated by each reflectivity sensor 350), such as the variation or standard deviation of the reflectivity signal. Monitor 50 can additionally display a representation of a predicted agronomic result (for example, percentage of plants successfully emerged) based on the value of the reflectivity variation. For example, values of

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51/66 emergency reflectivity can be used to search for a predicted plant emergency value in an empirically generated database (for example, stored in implement 50 monitor memory or stored and updated on a remote server in data communication with the monitor implement) associating reflectivity values to the expected emergence of the plant.

[007 6] Each window in the soil data summary 2100 preferably shows an average value for all rows in which the measurement is made and, optionally, the row unit for which the value is higher and / or lower, together with the value associated with that row unit or row units. The selection (for example, click or tap) in each window preferably shows the individual values (row by row) of the data associated with the window for each of the row units in which the measurement is made.

[0077] A 2005 carbon content window preferably displays an estimate of the carbon content of the soil. The carbon content is preferably estimated based on the electrical conductivity measured by the 370 electrical conductivity sensors, for example, using an empirical relationship or empirical query table that relates the electrical conductivity to an estimated percentage of carbon content. The 2005 window preferably also displays the electrical conductivity measured by the 370 electrical conductivity sensors.

[0078] An organic matter window 2010 preferably displays an estimate of the organic matter content of the soil. The organic matter content is

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52/66 preferably estimated based on reflectivity at one or several wavelengths measured by the reflectivity sensors 350, for example, using an empirical relationship or empirical query table relating reflectivity at one or more wavelengths to an organic value estimated percentage of matter.

[0079] A soil component window 2015 preferably displays an estimate of the fractional presence of one or more soil components, for example, nitrogen, phosphorus, potassium and carbon. Each soil component estimate is preferably based on reflectivity at one or several wavelengths measured by the reflectivity sensors 350, for example, using an empirical relationship or empirical query table relating reflectivity at one or several wavelengths to an estimated fractional presence of a soil component. In some modalities, the estimate of the soil component is preferably determined based on a signal or signals generated by the 373 spectrometer. In some modalities, the 2015 window additionally displays a proportion between the carbon and nitrogen components of the soil.

[0080] A 2020 humidity window preferably displays an estimate of the soil moisture. The moisture estimate is preferably based on reflectivity at one or several wavelengths (eg 930 or 940 nanometers) measured by the reflectivity sensors 350, for example, using an empirical relationship or an empirical query table relating to reflectivity in one or a plurality of lengths of

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wave to one moisture estimated. In some modalities, the measurement of moisture is determined nothing compliant revealed in '97 order 5. [0081] An window of temperature 2025 displays,

preferably, an estimate of the soil temperature. The temperature estimate is based, preferably, on the signal generated by one or more temperature sensors 350.

[0082] A 2030 depth window preferably displays the current depth setting. Monitor 50 preferably also allows the user to remotely operate row unit 200 to a desired trench depth, as revealed in International Patent Application Number PCT / US2014 / 029352, incorporated into this document as a reference.

[0083] Returning to Figure 21, monitor 50 is preferably configured to display one or more map windows 2100, in which a plurality of soil data, measurements and / or estimated values (such as the reflectivity variation) are represented by blocks 2122, 2124, 2126, each block having a color or pattern associating the measurement at the position of the block with the intervals 2112, 2114, 2116, respectively (from legend 2110) in which the measurements fall. A 2100 map window is preferably generated and displayed for each soil data, measurement and / or estimate displayed on the 2000 soil data screen, preferably including carbon content, electrical conductivity, organic matter, soil components (including nitrogen, phosphorus and potassium), soil moisture and temperature. The subsets can correspond to numerical ranges of reflectivity variation. The subsets

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54/66 can be named according to an agronomic indication empirically associated with the range of reflectivity variation. For example, a reflectivity variation below a first threshold at which no emergency failure is expected can be labeled as Good; a reflectivity variation between the first limit and a second limit in which the predicted emergency failure is agronomically unacceptable (for example, it probably affects the yield in more than one yield limit) can be labeled as Acceptable; a reflectivity variation above the second limit can be labeled as Bad predicted emergency.

[0084] Returning to Figure 22, monitor 50 is preferably configured to display one or more planting data windows, including planting data measured by seed sensors 305 and / or reflectivity sensors 350. Window 2205 preferably displays a good spacing value calculated based on the seed pulses of the optical (or electromagnetic) seed sensors 305. Window 2210 preferably displays a good spacing value based on the seed pulses of the reflectivity sensors 350. Referring to Figure 17 , the seed pulses 1502 at a reflectivity signal 1500 can be identified by a reflectance level that exceeds a T limit associated with the passage of a seed below the firmest. A time for each 1502 seed pulse can be set to be the midpoint of each period P between the first and the second crossing of the T limit. Once the seed pulse times are identified (either on the 305 seed sensor or on the sensor

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55/66 reflectivity 350), the pulse times of the seeds are preferably used to calculate a good spacing value, as disclosed in US Patent Application No. 13 / 752,031 (application '031), incorporated by reference in this document. In some modalities, in addition to good spacing, other seed planting information (including, for example, population, singulation, skips and multiples) is also calculated and displayed on screen 2200, according to the methods revealed in the '031 application. In some modalities, the same wavelength (and / or the same 350 reflectivity sensor) is used to detect seeds such as moisture and other measurements of soil data; in some embodiments, the wavelength is about 940 nanometers. Where the reflectivity signal 1500 is used for seed detection and soil measurement (for example, moisture), the portion of the signal identified as a seed pulse (for example, P periods) is not preferably used in calculating the measurement of the ground; for example, the signal during each period P can be considered a row between the immediately preceding times and immediately after the period P, or in other modalities, the average value of the signal during the previous 30 seconds of signal that does not fall within of any seed pulse period P. In some modes, screen 2200 also displays a percentage or absolute difference between good spacing values or other seed planting information determined based on the seed sensor pulses and the same information determined based on the pulses reflectivity sensor.

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[0085] In some modalities, seed detection is improved by selectively measuring reflectivity at a wavelength or wavelengths associated with a characteristic or characteristics of the seed being planted. In some of these modalities, system 300 asks the operator to select a crop, type of seed, seed hybrid, seed treatment and / or other characteristic of the seed to be planted. The wavelength or wavelengths at which reflectivity is measured to identify seed pulses are preferably selected, based on the characteristic or characteristics of the seeds selected by the operator.

[0086] In some modalities, the values of good spacing are calculated based on the seed pulse signals generated by the optical or electromagnetic seed sensors 305 and the reflectivity sensors 350.

[0087] In some of these modalities, the value of good spacing for a row unit is based on the seed pulses generated in the reflectivity sensor 350 associated with the row unit, which are filtered based on the signal generated by the 305 optical seed sensor in the same row unit. For example, a confidence value can be associated with each seed pulse generated by the optical seed sensor, for example, directly related to the amplitude of the optical seed pulse from the seed sensor; this confidence value can then be modified based on the signal from the optical seed sensor, for example, increased if a seed pulse was observed in the optical seed sensor within a cut-off period before the

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57/66 seed pulse of the reflectivity sensor and decreased if a seed pulse is not observed in the optical seed sensor within a threshold period prior to the seed pulse of the reflectivity sensor. A seed pulse is then recognized and stored as a seed placement if the modified confidence value exceeds a threshold.

[0088] In other of these modalities, the value of good spacing for a row unit is based on the seed pulses generated in the optical seed sensor 305 associated with the row unit, which are modified based on the signal generated by the reflectivity sensor 350 , in the same row unit. For example, the seed pulses generated by the optical seed sensor 305 can be associated with the time of the next seed pulse generated by the reflectivity sensor 350. If no seed pulse is generated by the reflectivity sensor 350 within a time limit after the seed pulse generated by the 305 seed sensor, then the seed pulse generated by the 305 seed sensor can be ignored (for example, if a confidence value associated with the seed sensor seed pulse is below a threshold) or adjusted by an average delay between the reflectivity sensor seed pulses and the seed sensor seed pulses (for example, the average time delay of the last 10, 100 or 300 seeds).

[0089] In addition to displaying seed planting information, such as good spacing values, in some modalities the measured seed pulses can be used to deposit liquid time in the ditch and others

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58/66 harvest inputs, in order to time the application, so that the applied crop input appears in the seed, adjacent to the seed or between the seeds, as desired. In some of these embodiments, a liquid applicator valve that allows liquid to selectively flow from outlet 507 of liquid conduit 506 is briefly opened for a period of time (for example, 0 seconds, 1 ms, 10 ms, 100 ms or 1 second) after a seed pulse 1502 is identified at signal 1500 of the reflectivity sensor 350 associated with the same row unit 200 as the liquid applicator valve.

[0090] A signal generated by the reflectivity sensor can also be used to identify the presence of crop residue (for example, corn stalks) in the seed ditch. Where the reflectivity in a range of wavelengths associated with the crop residue (for example, between 560 and 580 nm) exceeds a limit, system 300 will preferentially determine that the crop residue is present in the ditch at the current location reported by the GPS. The spatial variation in the residue can then be mapped and displayed to a user. In addition, the negative pressure supplied to a row cleaner set (for example, a pressure controlled row cleaner as disclosed in US Patent No. 8,550,020, incorporated herein by reference) can be automatically adjusted by the 300 system in response to residue identification or adjusted by the user. In one example, the system can command a valve associated with a row cleaner negative pressure actuator to increase by 34473.8

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Pa (5 psi) in response to an indication that crop residues are present in the seed ditch. Likewise, a closing wheel down force actuator can also be adjusted by the system 300 or by the operator, in response to an indication that crop residues are present in the seed ditch.

[0091] In some embodiments, an orientation of each seed is determined based on the width of the seed pulse periods P based on reflectivity. In some of these modalities, pulses with a period greater than a limit (an absolute limit or a percentage of an upper limit than the average pulse period) are categorized in a first category, while pulses with periods shorter than the limit are categorized in a second category. The first and second categories correspond preferably to the first and second seed orientations. Percentages of seeds in the previous 30 seconds that are in the first and / or second category can be displayed on screen 2200. The orientation of each seed is preferably mapped spatially using the GPS coordinates of the seed, so that the individual performance of the plant can be compared to seed orientation during observation operations.

[0092] In some modalities, a determination of the contact seed with the soil is done based on existence or lack in a pulse of seed recognized, generated by sensor in reflectivity 350. For example,

when a seed pulse is generated by the optical seed sensor 305 and no seed pulse is generated by the reflectivity sensor 350 within a time limit after the pulse

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60/66 seed of the optical seed sensor, a value of seed contact with weak soil is preferably stored and associated with the location where the seed pulse of the reflectivity sensor was expected. A contact index between the seed and the soil can be generated for a row or rows, comparing the number of seeds that have weak contact between the seed and the soil over a limit number of seeds planted, distance covered or elapsed time. The operator can then be alerted via monitor 50 to the row or rows that exhibit seed contact with the soil below an index threshold value. In addition, the spatial variation in the seed contact with the soil can be mapped and displayed to the user. In addition, a criterion representing the percentage of seeds settled (for example, without weak contact with the soil) during a previous period of time or number of seeds can be displayed to the operator.

[0093] In one mode, the depth of planting can be adjusted based on the soil properties measured by sensors and / or camera, so that the seeds are planted where the desired temperature, humidity and / or conductance are found in the ditch 38 A signal can be sent to the depth adjustment actuator 380 to modify the position of the depth adjustment rocker 268 and therefore the height of the measuring wheels 248, in order to place the seed at the desired depth. In one embodiment, a general objective is to make the seeds germinate at almost the same time. This leads to greater consistency and yield of the harvest. When certain seeds germinate before others, the resulting plants

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61/66 can shade the resulting plants to deprive them of the necessary sunlight and can disproportionately absorb more nutrients from the surrounding soil, which reduces the yield of later germinating seeds. Germination days are based on a combination of moisture availability (soil moisture stress) and temperature.

[0094] In another mode, the depth can be adjusted based on a combination of the current temperature and humidity conditions in the field and the temperature and humidity forecast provided from a weather forecast. This process is described in US Patent Publication Number 2016/0037709, which is incorporated herein by reference.

[0095] In any of the previous modalities for depth control of humidity, the control can be further limited by a minimum threshold temperature. A minimum threshold temperature (for example, 10 ° C (50 ° F)) can be set so that the planter does not plant below a depth where the temperature is the minimum limit. This can be based on the actual measured temperature or accounting for the measured temperature at a specific time of day. During the day, the soil is heated by the sun or cooled at night. The minimum threshold temperature can be based on an average soil temperature over a 24 hour period. The difference between the actual temperature at a specific time of the day and the average temperature can be calculated and used to determine the depth of planting, so that the temperature is above a minimum threshold temperature.

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[0096] The conditions of conductivity, humidity, temperature and / or reflectance of the soil can be used to directly vary the planted population (seed / m ² (seeds / acre)), the application of nutrients (liter / m ² (gallons / acre)) and / or the application of pesticides (Kg / m ² (Ib./acre)) based on areas created by organic matter, soil moisture and / or electrical conductivity.

[0097] In another mode, any of the sensors or cameras can be adapted to collect energy, in order to feed the sensor and / or wireless communication. As the sensors are dragged across the ground, the heat generated by contact with the ground or the movement of the sensors can be used as a power source for the sensors.

Sensor leveling

[0098] In an implement that has sensors throughout the implement to measure properties, a method is provided to level the results of the sensors. This may be necessary when a measured property is sensitive to variations in what the sensor is measuring. When measuring organic matter using the reflectance of light, the calculated organic matter is sensitive to the reflection value. In an implement designed in a field, organic matter is not changing significantly throughout the implement. The leveling of

readings sensor provides a measurement more need of field. [0099] 0 leveling of sensor compares to reading in each sensor with the average in all the sense res in one

implement, with the average of all sensors in a section or with the adjacent sensors. One type of sensor is a reflectance sensor that measures reflected light. THE

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63/66 reflectance can be at a single wavelength or at a plurality of wavelengths. When measuring reflectance at various wavelengths, leveling can be performed on each wavelength separately.

[00100] In one mode, the reflectance sensors measure the reflectance to determine the organic matter or the level of moisture in the soil. Examples of implements include, among others, a planting implement

(like an planter row, an air seeder or an drill in grains), one implement in soil preparation, an bar in fertilization of roof, one spray or an

combine harvester.

[00101] In one embodiment, as the sensors are moved across a field, an accumulated average for each row will be approximately the same for all rows after a period of time, such as at least 10 minutes or 10 to 15 minutes.

[00102] The following example illustrates the leveling of the sensor for a six-row planter with a reflectance sensor in each row. Any of the reflectance sensors described above can be used. Row 1 will be illustrated in a wavelength. The same leveling can also occur for each row and for each wavelength. In the example, readings are taken at 5 Hz. However, readings can be taken at any chosen frequency.

[00103] First, it can be determined that the sensor readings can be used in a current average. Examples include, but are not limited to, sensors on the ground,

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64/66 implement in motion and / or the implement conducting an operation, such as planting.

[00104] The reading of row 1 is measured and compared with the average of all sensors. If the reading is not defective, as described below, the reading will be added to a filtered reflectance value table, which is represented in Figure 55A. The reflectance readings continue to accumulate as the implement passes through the field, which may have different soil zones, as shown in Figure 55B. When sufficient readings have been taken to be able to make a correlation, such as linear regression, a correlation between the data points is calculated to provide a correction factor for the line, illustrated in Figure 55C.

[00105] The reported number, which is the corrected number, is reported to monitor 50 and / or stored in memory to create a map of the reading in the GPS coordinate. The reported number can be the actual reflectance or the organic matter or the corresponding humidity level.

[00106] Readings can continue to be added to the average for any selected period of time, after which, readings prior to the selected time are discarded from the calculation. In one embodiment, the time is at least 20 minutes or any time period of 20 to 30 minutes. Other examples of filtering old readings include, but are not limited to, the following. A variable rate filter can be used. This is based on how long the readings were taken (such as during planting). A quick response filter can be used primarily to level the row initially at

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65/66 departure; then, the filter is gradually decreased over time to the maximum filter time after initialization. In another modality, data points can be collected and timed, and expired data can be removed. In another embodiment, the data can be grouped by building a 2D histogram of the data received over time.

[00107] In another mode, subintervals throughout the interval that the sensor reads can be created and leveling can occur in these subintervals. For example, using reflectance, sub-intervals can be created for 0-3%, 36%, 6-10%, 10-15%, 15-20%, 20-30%, 30-40% and 40- 60%. In the previous ranges, the value when changing from one interval to the next can be included in the lower range or the upper range. For example, 3 can be included with 0 to 3%, which means that the next range is a value greater than 3 to 6. The number of subintervals can be any number chosen. In one modality, there are eight subintervals. The data in each sub-interval is maintained for the selected period, as described above. The use of subintervals can provide greater accuracy.

[00108] In another mode, a sensor reading will not be included in any calculation when the sensor reading is defective. A faulty reading can occur when a sensor reading exceeds a selected percentage difference from the average of all sensors for a specified period of time. For example, if a sensor reading is more than 3% different from the average for all sensors, the sensor will be considered defective. Another faulty reading can be based on readings that

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6/66 are not possible for the medium being measured. For example, for the ground, if the reflectance at 589 nm is greater than the reflectance at 940 nm, the reading is determined to be defective, as this scenario is not possible for the ground.

[00109] The leveling of the sensor above is exemplified using reflectance measurements. The same method can be applied to organic matter (OM) values or moisture levels. A benefit to reflectance is that reflectance is usually a linear relationship; while OM can be non-linear.

[00110] Figures 56A to 56D illustrate a field with zones of 3% organic matter (OM) and 1% OM and the different types of media. Figure 56A illustrates the zones as they are in the field with the 1% OM zone 5602 arranged at a 45 ° angle within the 3% OM zone 5604. Figure 56B shows the readings from the reflectance sensors without the mean or correction used. Figure 56C illustrates the average width of the single planter, without correction for the reflectance sensor readings. Figure 56D illustrates the leveling above of the reflectance sensor readings. With leveling, zones in the field are mapped more accurately.

Claims (20)

1. Computer-implemented method to level readings from a plurality of sensors in an agricultural implement, characterized by the fact that it comprises: for each of a plurality of periods within a period of time during which the agricultural implement travels a distance: receiving, by a processor, a reading from a first sensor of the plurality of sensors in the agricultural implement; computation, by the processor, of an accumulated aggregate of readings received from a set of the plurality of sensors during the period of time so far; computation of a difference between the reading and the accumulated aggregate; determining whether the reading should be filtered; and storage, in response to the determination that the reading should not be filtered, of a difference between the reading and the accumulated aggregate; calculation of a correction factor for the first sensor, based on one or more differences corresponding to one or more among the plurality of readings received from the first sensor; updating one or more readings using the correction factor. 2. Method implemented by computer, according to claim 1, characterized by the fact that the agricultural implement comprises a planting implement, an implement for direct planting, a fertilizer bar of Petition 870190108898, of 10/25/2019, p. 31/38 2/7 cover, a sprayer or a combine. 3. Method implemented by computer, according to claim 1, characterized by the fact that each of the plurality of sensors detects reflectivity, temperature, electrical conductivity, humidity, organic matter, presence of seeds, seed spacing, percentage of seeds established or presence of residues in the soil. 4. Method implemented by computer, according to claim 1, characterized by the fact that the set of sensors includes the plurality of sensors, sensors within a section of the agricultural implement, sensors adjacent to each other or sensors that produce readings within a specific interval. 5. Method implemented by computer, according to claim 1, characterized by the fact that: the agricultural implement supports multiple row units, the set of sensors including sensors in a row unit. 6. Method implemented by computer, according to the claim 1, characterized by the fact that: each of the plurality of sensors detects reflectivity, the sensor set includes sensors measuring reflectance at a specific wavelength. 7. Method implemented by computer, according to claim 1, characterized by the fact that it also comprises: determining whether the specific readings received from the sensor array during the period should be Petition 870190108898, of 10/25/2019, p. 32/38 3/7 used to compute the aggregate based on whether the implement is moving or conducting an operation when readings were taken by the sensor array, the computation of a cumulative aggregate, based on specific readings in response to the determination that specific readings should be used to compute the aggregate. 8. Method implemented by computer, according to claim 1, characterized by the fact that the determination comprises judging whether the reading is faulty, based on a range of predetermined normal values for the plurality of sensors. 9. Method implemented by computer, according to claim 1, characterized by the fact that: the period of time being at least 10 minutes, the period being at most 1/5 of a second. 10. Method implemented by computer, according to claim 1, characterized by the fact that the calculation comprises the application of a linear regression technique. 11. Method implemented by computer, according to claim 1, characterized by the fact that it also comprises, for each of the plurality of periods: receiving a second reading from a second sensor of a second plurality of GPS sensors in the agricultural implement, the second sensor corresponding to the first sensor; storage, in response to the determination that the reading is not filtered, of the second reading in association with the reading to form a map with the readings Petition 870190108898, of 10/25/2019, p. 33/38 4 / Ί produced by the first plurality of sensors. 12. One or more non-transient, computer-readable storage media characterized by the fact that they store instructions which, when executed, cause performance of a method of leveling a plurality of sensors in an agricultural implement, the method comprising: for each of a plurality of periods within a period of time during which the implement travels at a distance: receiving a reading from a first sensor of the plurality of sensors in the agricultural implement; computing an accumulated aggregate of readings received from a set of the plurality of sensors during the time period so far; computation of a difference between the reading and the accumulated aggregate; determining whether the reading should be filtered; and in response to the determination that the reading should not be filtered, storing a difference between the reading and the accumulated aggregate; calculation of a correction factor for the first sensor based on one or more differences corresponding to one or more among the plurality of readings received from the first sensor; updating one or more readings using the correction factor. 13. One or more non-transient, computer-readable storage media according to claim 12, Petition 870190108898, of 10/25/2019, p. 34/38 5/7 characterized by the fact that the agricultural implement comprises a planting implement, a soil tillage implement, a mulch bar, a sprayer or a combine. 14. One or more non-transitory, computer-readable storage media according to claim 12, characterized by the fact that each of the plurality of sensors that detect reflectivity, temperature, electrical conductivity, humidity, organic matter, presence of seeds, spacing between seeds, percentage of seeds established or presence of residues in the soil. 15. One or more non-transient, computer-readable storage media according to claim 12, characterized by the fact that the set of sensors includes The plurality in sensors, sensors inside in an section of implement agr icon, adjacent sensors one to other or sensors what produce readings inside in one specific range. 16. One or more non-transitory, computer-readable storage media according to claim 12, characterized by the fact that: the agricultural implement supports multiple row units, the set of sensors includes sensors in one row unit. 17. One or more non-transitory, computer-readable storage media according to claim 12, characterized by the fact that: each of the plurality of sensors detects reflectivity, Petition 870190108898, of 10/25/2019, p. 35/38 6 / Ί ο sensor set includes sensors that measure reflectance at a specific wavelength. 18. One or more non-transitory, computer-readable storage media according to claim 12, characterized by the fact that the method further comprises: determining whether the specific readings received from the set of sensors during the period should be used to compute the aggregate based on the movement of the implement or conduct an operation when the readings were taken by the set of sensors, computing an accumulated aggregate having based on specific readings in response to the determination that specific readings should be used to compute the aggregate. 19. One or more non-transitory, computer-readable storage media according to claim 12, characterized by the fact that the determination comprises judging whether the reading is faulty based on a range of predetermined normal values for the plurality of sensors. 20. One or more non-transitory, computer-readable storage media according to claim 12, characterized by the fact that the method further comprises, for each of the plurality of periods: receiving a second reading from a second sensor of a second plurality of GPS sensors in the agricultural implement, the second sensor corresponding to the first sensor; in response to the determination that reading is not Petition 870190108898, of 10/25/2019, p. 36/38 7/7 filtered, storing the second reading in association with the reading to form a map with the readings produced by the first plurality of sensors.