CN108289407A - 用于在耕作操作期间监测土壤条件的装置、系统和方法以及耕作工具的控制 - Google Patents

用于在耕作操作期间监测土壤条件的装置、系统和方法以及耕作工具的控制 Download PDF

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CN108289407A
CN108289407A CN201680067381.2A CN201680067381A CN108289407A CN 108289407 A CN108289407 A CN 108289407A CN 201680067381 A CN201680067381 A CN 201680067381A CN 108289407 A CN108289407 A CN 108289407A
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詹森·斯托勒
贾斯丁·麦克梅纳米
马修·摩根
黛尔·科赫
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Precision Planting LLC
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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
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    • A01B76/00Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
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Abstract

一种耕作机具,其包括可操作地支撑耕作工具的框架以及包括仪表设备的土壤监测系统,该仪表设备可操作地由框架进行支撑并且设置成在土壤被耕作工具耕作之前、耕作之后或者耕作之前和之后对土壤条件进行检测。检测到的土壤条件是表面残茬条件、土块尺寸条件和土壤粉碎条件中的至少一种。

Description

用于在耕作操作期间监测土壤条件的装置、系统和方法以及 耕作工具的控制
背景技术
对于适当的种子萌发和植物生长而言,苗床准备至关重要。播种沟内的或者覆盖的作物残茬过多,会对种子萌发产生不利影响并且会干扰植物生长。另外,如果苗床表面存在大颗土块并且因根区内的压实层而导致土壤密度发生变化,可能会对种子萌发和植物生长带来不利影响。因此,需要一种能够在耕作操作期间监测土壤特性或条件的装置、系统和方法,以便在不停移动时对耕作机具以及其它机具进行调整,从而改善土壤条件和苗床准备情况。
附图说明
图1是耕作机具的实施例的侧视图。
图2是图1的耕作机具的俯视图。
图3是耕作工具的一个实施例上的土壤监测装置的一个实施例的示意图。
图4是装备的用于检测土壤粉碎条件的柄部耕作工具的一个实施例的图示。
图5A是用于检测土块尺寸条件的感测臂的一个实施例的图示。
图5B是用于检测土块尺寸条件的感测臂的另一个实施例的图示。
图6是装备的用于检测土壤粉碎条件的S形耙齿耕作工具的一个实施例的图示。
图7是具有电导率仪的柄状耕作工具的另一个实施例的图示。
图8是标识着可以测量或检测的土壤条件类型的图表。
具体实施方式
深耕是以超过十二英寸的深度进行耕作操作的做法,旨在粉碎该深度处的压实土壤。深耕机具的示例包括:美国专利第4,703,810号中公开的机具,例如Case IH 870凿式犁/松土机之类的市售机具,以及本领域技术人员公认的其它品牌和型号的市售深耕机具。
浅耕用于调节苗床并将养分掺入深度通常介于2英寸到6英寸之间的土壤深度。浅耕机具的示例包括:例如在美国专利第5,161,622号中所公开的农田耕作机,如Case IH200之类的市售农田耕作机,以及本领域技术人员公认的其它品牌和型号的市售农田耕作机。其它浅耕机具可以包括圆盘耙,如Case IH Tru-TandemTM 345圆盘耙以及本领域技术人员公认的其它品牌和型号的市售圆盘耙。其它类型的浅耕机具还包括土壤修整机,例如本领域技术人员公认的直齿耙、钉齿耙、滚笼耙等。
深耕机具和浅耕机具在本文中普遍被称为“耕作机具”10。图1是示出了耕作机具10的一个示例的侧视图。图2是图1的耕作机具10的俯视图。无论是何种类型的机具(即松土机,农田耕作机,圆盘耙,土壤修整机等类型),耕作机具10通常包括连接到拖拉机14牵引杆上的主框架12。主框架12可操作地支撑多个耕作工具20。根据耕种机具10的类型,耕作工具20可以包括:柄部、带有扫杆或尖端的耙齿、圆盘组、滚笼、坚钉、螺旋耙齿或者本领域技术人员公认的任何其它类型的耕作工具。如本领域所公知的,主框架12包括联接至轮组件32的高度调节致动器30,用于相对于主框架12升高或降低轮组件32以便对耕作工具20的工作深度进行调节,并且用于将耕作工具20升高到地面以上以便长途行驶。进一步地,耕作机具10可以包括分开的工具深度调节致动器40和联接到支撑各组耕作工具(例如,圆盘组)的副框架42的相关装配系统,以便相对于主框架12降低副框架42,从而增加仅由副框架42支撑的那些耕作工具的穿透深度。美国专利第5,462,123号中公开了一种具有工具深度调节致动器40和相关装配系统的耕作机具10的示例,该专利在此通过引用并入本文。进一步地,耕作机具10可以包括角度调节致动器50和联接在主框架12和副框架42之间的相关装配系统,用于相对于主框架12和耕作机具10的行进方向调节副框架42的角度。美国专利第5,161,622号中公开了一种具有角度调节致动器50和相关装配系统的耕作机具10的示例,该专利在此通过引用并入本文。进一步地,耕作机具10可以包括下压力调节致动器60(图3)和联接在主框架12和副框架42之间的相关装配系统,用于调节由耕作工具20(例如滚笼)施加的向下的力或向下的压力。
耕作机具10装备有土壤监测系统100(图3),用于监测刚刚耕作的土壤的某一土壤条件200。具有土壤监测系统100的仪表设备110可以安装到耕作工具20后方的耕作机具10上,以便仅在耕作之后对土壤进行监测、仅在耕作之前对土壤进行监测,或者作为可替换的选择方式,如图3所示,土壤监测系统100可以包括前后仪表设备110-1、110-2,用于检测或测量耕作机具10之前和之后的土壤条件200,以便提供土壤条件200的前后比较,从而检测或测量耕作机具10的效用,如土壤条件200的百分比差异。土壤监测系统100包括安装在拖拉机14驾驶室内的显示监测器112。仪表设备110电耦合到显示监测器112,以便将由仪表设备110生成的输出信号传送到显示监测器112,由显示监测器112向操作者现场或实时以可视的方式显示所测量或检测到的土壤条件200。显示监测器112与全球定位系统114接口连接,并且包括用户界面(如图形用户界面(GUI))和用于存储包括与GPS坐标有关的土壤条件200的数据的存储器,以便对整块田地的土壤条件200进行绘图。显示监测器112还可以电耦合至高度调节致动器30、工具深度调节致动器40、角度调节致动器50和下压力致动器60,用于后文中所述的自动致动。应当可以理解,为实现自动致动,致动器30、40、50、60将连接到电磁阀以接收由显示监测器112产生的信号,以响应于由测量或检测土壤条件200的仪表设备110所产生的信号。电磁阀对到致动器30、40、50、60的液压流体的流量进行控制,使得致动器柱塞伸出和缩回。仪表设备110可以是任何适合用于测量或检测土壤条件200的仪表设备,例如激光雷达(LiDar)、分光光度计、相机、飞行时间相机、探地雷达、声纳仪、X射线仪、光学测高仪、电导率仪和电磁感应仪。
所监测或测量的土壤条件200可以包括:土壤表面残茬条件200-1,例如作物残茬覆盖的土壤的百分比。用来监测或测量表面残茬条件200-1的仪表设备110可以包括:照相机、红外传感器或探地雷达(GPR),例如以下市售系统中的任一种:(1)可从新罕布什尔州纳舒厄的GSSI公司购得的Structure ScanTM Mini HR;(2)与3d-Radar VX系列和/或DX系列多通道天线耦合的3d-Radar GeoScopeTM Mk IV(全部可从挪威特隆赫姆的3d-Radar公司购得);或者(3)可从瑞典Mala的MALA Geoscience购得的MALA成像雷达阵列系统。可以使用市售软件生成来自GPR传感器的信号输出,该市售软件例如可以是从德国博尔肯的GeoHiResInternational公司购得的GPR-SLICE(例如,版本7.0)。因此,仪表设备110将会测量田地中每个位置处的表面残茬的百分比,从而绘制出整块田地上的残茬。
所监测或测量的另一种土壤条件200可以包括土块尺寸条件200-3。用于监测或测量土块尺寸条件200-3的仪表设备110可以包括表面扫描仪,例如设置成对耕作机具10后面的土壤表面进行扫描的激光雷达(LiDar)系统。用来监测或测量土块尺寸条件200-3的其它仪表设备110可以包括光学高度传感器,该光学高度传感器设置成检测土块相对于预定高度的变化高度,从而基于变化的距离表明土块的尺寸。其它仪表设备110可以是分光光度计、相机、飞行时间相机、探地雷达、声纳仪、X射线仪、电导率仪和电磁感应仪。用于监测或测量土块尺寸条件200-3的其它仪表设备110可以包括具有轮子132的臂130,该轮子132位于土壤表面上,如图5A所示。作为可替换的选择方式,弹性水平构件133(如滑板或压种器)可代替轮子132,如图5B所示。设置在臂上或者臂130的枢轴点处的旋转传感器或角度偏转传感器110-5基于臂130的旋转或角偏转来表明土块134尺寸。除了旋转传感器,还可以使用压力传感器或其他合适的传感器来检测臂130的角度偏转。
所监测或测量的另一种土壤条件200可以包括指示压实层破碎程度的土壤粉碎条件200-4。用于监测或测量土壤粉碎条件200-4的仪表设备110可以包括应变计110-3,其沿着一个或多个柄部的长度安装,柄部如图4所示并且如上文所述。如图6所示,用于监测或测量土壤粉碎条件200-4的其它仪表设备110可以包括弹性臂140上的应变计或偏转传感器110-6,例如农田耕作机的支撑扫杆或尖端142的S形耙齿,由此当弹性臂140在操作期间向后弯曲时,由偏转传感器110-6测量的向后弯曲或偏转的量与土壤压实量相关。
用于监测或测量土壤粉碎条件200-4的其它仪表设备110可以包括X射线仪、声纳仪、探地雷达、电磁感应仪和/或电导率仪。电导率测量可以在相邻的柄部(或其它耕作工具)上或之间进行,其中电导率与土壤粉碎水平相关。例如,较低的电导率与更大的土壤粉碎相关,这对应于较低的土壤压实。图7中示出了装备有电导率传感器110-7的柄部120的一个实施例。通过沿着柄部120的不同的位置处布置电导率传感器110-7,在不同深度处的电导率可以基于沿着柄部长度的电导率输出被识别出来。随着耕作机具10穿过田地,整个田地不同位置处的电导率将会形成土壤的深度与电导率分布图,从而生成田地的土壤电导率图。
所监测或测量的另一种土壤条件200可以包括基于空间土壤密度变化、或基于土壤密度变化的深度位置、或基于土壤密度变化的大小的土壤密度条件200-2。用来监测或测量基于空间密度变化的土壤密度条件200-2的仪表设备110可以包括GPR或应变计110-3,其安装到耕作机具10的耕作工具20上,如下文中更详细的讨论。作为可替换的选择方式,如图3所示,测力传感器110-4可以被结合到牵引杆连结销中。类似地,为了监测或测量基于土壤密度变化的深度位置或土壤密度变化的大小的土壤密度条件200-2,仪表设备可以包括GPR,电位计,或者应变计110-3。该应变计110-3沿着耕作工具20或支撑着耕作工具的臂布置在不同位置处,该应变计与土壤密度相关。例如,如图4所示,示出了柄部120的一个实施例,其中应变计110-3沿着柄部120布置在不同的位置处。通过将应变计110-3沿着柄部120布置在不同的位置处,在不同深度处的土壤压实层可以基于沿着柄部长度的应变计输出被识别出来,从而测量整块田地的土壤密度变化的深度和/或大小。随着耕作机具20穿过田地,由整个田地上不同位置处的应变计测量的应变将会形成土壤的深度与应变曲线图,从而生成田地的土壤密度图。
耕作机具控制
高度调节致动器30、深度调节致动器40、角度调节致动器50和下压力调节致动器60中的每一个,都可以由操作者基于在显示器112上向操作者显示的土壤条件200进行手动致动。作为可替换的选择方式,当土壤监测系统检测到土壤条件200在期望的范围之外时,高度调节致动器30、深度调节致动器40、角度调节致动器50以及下压力调节致动器60能够响应由土壤监测系统100产生的输出信号。
表面残茬控制
当土壤监测系统100检测到或以其它方式向操作者显示被作物残茬土壤覆盖的土壤百分比(即,表面残茬条件200-1)高于预定百分比时,可以致动角度调节致动器50调整由副框架42支撑的圆盘组或其它耕作工具,以便更有力地切碎残茬并抛洒土壤来减少表面残茬的数量。响应于由检测表面残茬条件200-1的仪表设备110(例如,相机、红外传感器、GPR)接收到的信号,显示监测器112上向操作者显示一个通知,角度调节致动器50可以由操作者从拖拉机驾驶室根据该通知手动致动。作为可替换的选择方式,响应于由检测表面残茬条件200-1的仪表设备110接收到的信号,显示监测器112产生一个信号,角度调节致动器50可以基于该由显示监测器112产生的信号自动致动。作为可替换的选择方式,或者进一步地,高度调节致动器30可以如上所述地进行手动或自动调节,以便相对于地面高度降低整个主框架12来增加耕作工具20进入土壤的穿透深度。进一步地,或者作为可替换的选择方式,联接到支撑圆盘组、滚笼耙或其它耕作工具的单个副框架42的深度调节致动器40或下压力致动器60,可以如上所述地进行手动或自动调节,以便相对于主框架12降低副框架42,从而增加到土壤的穿透深度或者提高由副框架支撑的耕作工具20的下压力。
土块尺寸控制
当土壤监测系统100检测到或者以其它方式向操作者显示土块尺寸条件200-3过大时,土壤监测系统100可以被编程为在显示监测器112上向操作者显示一个指示以便操作者调整行进速度。进一步地,或者作为可替换的选择方式,可以致动高度调节致动器30来提高向下的压力,迫使整个主框架12关于地面高度下降,以增加耕作工具20进入土壤的穿透深度。响应于由检测土块尺寸条件200-3的仪表设备110(例如激光雷达,光学测高仪或者臂旋转传感器或角度偏转传感器110-5(图5))接收到的信号,显示监测器112上向操作者显示一个通知,高度调节致动器30可以由操作者从拖拉机驾驶室根据该通知手动致动。作为可替换的选择方式,响应于由检测土块尺寸条件200-3的仪表设备110(例如激光雷达,光学测高仪或者臂旋转传感器或角度偏转传感器110-5(图5))接收到的信号,显示监测器112产生一个信号,高度调节致动器30可以基于该由显示监测器112产生的信号自动致动。进一步地,或者作为可替换的选择方式,联接到支撑圆盘组、滚笼耙或其它耕作工具的单个副框架42的深度调节致动器40或下压力致动器60,可以如上所述地进行手动或自动调节,以便相对于主框架12迫使副框架42下降,从而增加到由副框架支撑的耕作工具20到土壤的穿透深度,或者提高由耕作工具20施加的压力来打碎土块(例如,例如滚笼耙)。
土壤粉碎控制
当土壤监测系统100检测到或以其它方式向操作者显示由柄部上的应变计测量的应变或者支撑耕作工具的弹性臂的偏转测量值超出指示土壤粉碎条件200-4的预定应变或偏转时,可以致动高度调节致动器30相对于地面高度降低整个主框架12,以增加耕作工具20进入土壤的穿透深度。响应于由检测土壤粉碎条件200-4的仪表设备110(例如,应变计110-3(图4),或者偏转传感器110-6(图6))接收到的信号,显示监测器112上向操作者显示一个通知,高度调节致动器30可以由操作者从拖拉机驾驶室根据该通知手动致动。作为可替换的选择方式,响应于由检测土壤粉碎条件200-4的仪表设备110(例如,应变计110-3(图4),或者偏转传感器110-6(图6))接收到的信号,显示监测器112产生一个信息,高度调节致动器30可以基于该由显示监测器112产生的信号来自动致动。进一步地,或者作为可替换的选择方式,联接到支撑圆盘组、滚笼耙或其它耕作工具的单个副框架42的深度调节致动器40或下压力致动器60,可以如上所述地进行手动或自动调节,以便相对于主框架12降低副框架42,从而增加到土壤的穿透深度或者提高由副框架支撑的耕作工具20的下压力。
土壤密度控制
当土壤监测系统100检测到或以其它方式向操作者显示基于空间土壤密度变化或基于土壤密度变化的深度位置或基于土壤密度变化的大小的土壤密度条件200-2时,可以致动角度调节致动器50以调节由副框架42支撑的圆盘组或其它耕作工具。响应于由检测土壤密度条件200-2的仪表设备110(例如,连结销测力传感器110-4(图3),或者偏转传感器110-6(图6))接收到的信号,显示监测器112上向操作者显示一个通知,角度调节致动器50可以由操作者从拖拉机驾驶室根据该通知手动致动。作为可替换的选择方式,响应于由检测土壤密度条件200-2的仪表设备110(例如,连结销测力传感器110-4(图3),或者偏转传感器110-6(图6))接收到的信号,显示监测器112产生一个信号,高度调节致动器50可以基于该由显示监测器112产生的信号来自动致动。作为可替换的选择方式,或者进一步地,高度调节致动器30可以如上所述地进行手动或自动调节,以便相对于地面高度降低整个主框架12来增加耕作工具20进入土壤的穿透深度。进一步地,或者作为可替换的选择方式,联接到支撑圆盘组、滚笼耙或其它耕作工具的单个副框架42的深度调节致动器40或下压力致动器60,可以如上所述地进行手动或自动调节,以便相对于主框架12降低副框架42,从而增加到土壤的穿透深度或者提高由副框架支撑的耕作工具20的下压力。
其它机具的控制
除了在耕作操作期间调节耕作机具之外,在耕作操作期间采集的土壤条件200还可以用来在后面的在土壤上穿过期间(如在播种操作期间)对其它机具进行控制。例如,土壤监测系统100在耕作操作期间中生成的土壤条件图可以上传,或以其它方式传送,或与播种机监测器接口连接,使得在播种操作期间可以由操作者手动调节或者自动调节播种机。
例如,在播种操作期间,当播种机正在进入土壤条件图上已标识的表面残茬条件200-1超出某一百分比的田地的一部分时,播种机上行清洁器致动器可以由操作者从拖拉机驾驶室(根据在播种机监测器和/或显示监测器上向操作者显示的通知)手动调节,以便提高行清洁器致动器上的下压力。或者该行清洁器致动器可以基于由与土壤条件图接口连接的种植机监测器和/或显示监测器112生成的信号自动调节,以便提高行清洁器致动器上的下压力。美国专利第8,763,713号中公开了一种具有用于增加和减少向下压力的行清洁器致动器的播种机,该公开内容在此通过引用并入本文。
作为另一个示例,在播种操作期间,当播种机正在进入土壤条件图上已标识的土壤密度条件200-2高于某一阈值的田地的一部分时,设置在播种机上的下压力致动器可以由操作者从拖拉机驾驶室(根据在种植机监测器和/或显示监测器112上向操作者显示的通知)手动调节,以便提高播种机的下压力,确保当播种机穿过具有较高土壤密度的田地区域时形成合适的沟深。或者该下压力致动器可以基于由与土壤条件图接口连接的播种机监测器生成的信号自动调节,以便提高种植机的下压力,确保当种植机穿过具有较高土壤密度的田地区域时形成合适的沟深。公开号US2014/0026748中公开了一种具有下压力致动器的播种机,该公开内容在此通过引用并入本文。进一步地,或者作为可替换的选择方式,当播种机正在进入土壤条件图上已标识的土壤密度条件200-2高于某一阈值的田地的一部分时,播种机的闭合轮下压力致动器可以由操作者从拖拉机驾驶室(根据向操作者显示的通知)手动调节,以便提高闭合轮上的下压力,确保被播种的种子上方具有合适的土壤覆盖和压实程度。或者该播种机闭合轮下压力致动器可以基于由与土壤条件图接口连接的种植机监测器生成的信号自动调节,以便提高闭合轮上的下压力,确保被播种的种子上方具有合适的土壤覆盖和压实程度。美国专利第8,544,398号中公开了一种具有闭合轮下压力致动器的播种机,该公开内容在此通过引用并入本文。
上面已经描述了本发明的各种实施例,以说明其细节并且使本领域普通技术人员能够制造和使用本发明。所公开的实施例的细节和特征并非是限制性的,因为许多变化和修改对本领域技术人员而言将是显而易见的。因此,本发明的范围应当得到广义地解释并且包含落入所附权利要求及其合法等同物的范围和精神内的所有变化和修改。

Claims (36)

1.一种耕作机具,其包括:
框架,其可操作地支撑耕作工具;以及
土壤监测系统,其包括仪表设备,所述仪表设备可操作地由所述框架进行支撑并且设置成在所述土壤被所述耕作工具耕作之前、耕作之后或者耕作之前和之后对土壤条件进行检测,其中,所述检测到的土壤条件是表面残茬条件、土块尺寸条件和土壤粉碎条件中的至少一种。
2.如权利要求1所述的耕作机具,其特征在于:进一步包括至少一个高度调节致动器,所述高度调节致动器用于相对于土壤表面升高和降低所述主框架,以便调节所述耕作工具进入所述土壤表面的穿透深度,其中,所述的至少一个致动器被调节以响应于所述检测到的土壤条件。
3.如权利要求1或2中任一项所述的耕作机具,其特征在于:所述土壤监测系统在所述土壤被所述耕作工具耕作之前和之后检测土壤条件,包括:可操作地由所述耕作工具前方的所述框架进行支撑并且设置成在土壤被所述耕作工具耕作之前对土壤条件进行检测的仪表设备,以及可操作地由所述耕作工具后方的所述框架进行支撑并且设置成在土壤被所述耕作工具耕作之后对土壤条件进行检测的仪表设备。
4.如权利要求1所述的耕作机具,其特征在于:所述检测到的土壤条件是表面残茬条件。
5.如权利要求1所述的耕作机具,其特征在于:所述检测到的土壤条件是土块尺寸条件。
6.如权利要求2所述的耕作机具,其特征在于:所述检测到的土壤条件是表面残茬条件和土块尺寸条件中的至少一种。
7.如权利要求3所述的耕作机具,其特征在于:所述检测到的土壤条件是表面残茬条件和土块尺寸条件中的至少一种。
8.如权利要求1、2、4、5、6或7中任一项所述的耕作机具,其特征在于:所述仪表设备是选自激光雷达、分光光度计、相机、可测深度摄像头、探地雷达、声纳仪、X射线仪、光学测高仪、电导率仪和电磁感应仪中的至少一种仪表。
9.如权利要求3所述的耕作机具,其特征在于:所述仪表设备是选自激光雷达、分光光度计、相机、可测深度摄像头、探地雷达、声纳仪、X射线仪、光学测高仪、电导率仪和电磁感应仪中的至少一种仪表。
10.如权利要求5所述的耕作机具,其特征在于:所述仪表设备包括旋转传感器或角度偏转传感器,所述旋转传感器或角度偏转传感器通过臂连接到接合所述土壤表面的轮件或弹性构件。
11.如权利要求1或2中任一项所述的耕作机具,其特征在于:所述检测到的土壤条件是土壤粉碎条件,所述仪表设备是X射线、声纳仪、探地雷达、电导率仪和电磁感应仪中的至少一种。
12.如权利要求3所述的耕作机具,其特征在于:所述检测到的土壤条件是土壤粉碎条件,所述仪表设备是X射线仪、声纳仪、探地雷达、电导率仪和电磁感应仪中的至少一种。
13.如权利要求11所述的耕作机具,其特征在于:所述仪表设备是X射线仪。
14.如权利要求11所述的耕作机具,其特征在于:所述仪表设备是声纳仪。
15.如权利要求11所述的耕作机具,其特征在于:所述仪表设备是探地雷达。
16.如权利要求11所述的耕作机具,其特征在于:所述仪表设备是电导率仪。
17.如权利要求11所述的耕作机具,其特征在于:所述仪表设备是电磁感应仪。
18.如权利要求16所述的耕作机具,其特征在于:所述电导率仪设备设置在所述耕作工具上。
19.如权利要求12所述的耕作机具,其特征在于:所述仪表设备是X射线仪。
20.如权利要求12所述的耕作机具,其特征在于:所述仪表设备是声纳仪。
21.如权利要求12所述的耕作机具,其特征在于:所述仪表设备是探地雷达。
22.如权利要求12所述的耕作机具,其特征在于:所述仪表设备是电导率仪。
23.如权利要求12所述的耕作机具,其特征在于:所述仪表设备是电磁感应仪。
24.如权利要求22所述的耕作机具,其特征在于:所述电导率仪设备设置在所述耕作工具上。
25.如权利要求1或2中任一项所述的耕作机具,其特征在于:所述检测到的土壤条件是土壤粉碎深度条件,所述仪表设备是设置在弹性臂上的偏转传感器,所述弹性臂安装到所述框架上并且接合所述土壤。
26.如权利要求3所述的耕作机具,其特征在于:所述检测到的土壤条件是土壤粉碎深度条件,所述仪表设备是设置在弹性臂上的偏转传感器,所述弹性臂安装到所述框架上并且接合所述土壤。
27.如权利要求1或2中任一项所述的耕作机具,其特征在于:所述检测到的土壤条件是土壤粉碎深度条件,所述仪表设备是竖直设置在弹性臂上的多个应变计,所述弹性臂安装到所述框架上并且接合所述土壤。
28.如权利要求3所述的耕作机具,其特征在于:所述检测到的土壤条件是土壤粉碎深度条件,所述仪表设备是竖直设置在弹性臂上的多个应变计,所述弹性臂安装到所述框架上并且接合所述土壤。
29.如权利要求27所述的耕作机具,其特征在于:所述应变计沿着所述耕作机具的行进方向设置在所述弹性臂的后侧上。
30.如权利要求28所述的耕作机具,其特征在于:所述应变计沿着所述耕作机具的行进方向设置在所述弹性臂的后侧上。
31.如权利要求1至30中任一项所述的耕作机具,其特征在于:所述土壤监测系统包括显示监测器,以向操作者可视地显示所述检测到的土壤条件。
32.如权利要求1至30中任一项所述的耕作机具,其特征在于,进一步包括:
耕作工具深度调节致动器,其用于相对于所述框架独立地升高和降低所述耕作工具中的至少一些。
33.如权利要求1至30中任一项所述的耕作机具,其特征在于,进一步包括:
角度调节致动器,其用于关于所述框架和行进方向角度调节所述耕作工具中的至少一些。
34.如权利要求1至30中任一项所述的耕作机具,其特征在于,进一步包括:
下压力致动器,其用于相对于所述框架独立地增加或减少所述耕作工具中的至少一些。
35.如权利要求1至34中任一项所述的耕作机具,其特征在于:所述土壤监测系统与GPS单元接口连接,并且所述土壤监测系统对所述土壤条件关联于GPS坐标进行绘图。
36.一种基于由耕作机具绘制的土壤条件图来控制播种机的方法,其特征在于,所述方法包括:
基于如权利要求35所生成的土壤条件图调节所述播种机的操作。
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