US20220248592A1 - Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring - Google Patents
Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring Download PDFInfo
- Publication number
- US20220248592A1 US20220248592A1 US17/660,957 US202217660957A US2022248592A1 US 20220248592 A1 US20220248592 A1 US 20220248592A1 US 202217660957 A US202217660957 A US 202217660957A US 2022248592 A1 US2022248592 A1 US 2022248592A1
- Authority
- US
- United States
- Prior art keywords
- soil
- measurement device
- data
- collecting
- moisture
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C21/00—Methods of fertilising, sowing or planting
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C21/00—Methods of fertilising, sowing or planting
- A01C21/007—Determining fertilization requirements
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
- A01C7/10—Devices for adjusting the seed-box ; Regulation of machines for depositing quantities at intervals
- A01C7/102—Regulating or controlling the seed rate
- A01C7/105—Seed sensors
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
- A01C7/201—Mounting of the seeding tools
- A01C7/203—Mounting of the seeding tools comprising depth regulation means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/066—Devices for covering drills or furrows
- A01C5/068—Furrow packing devices, e.g. press wheels
Definitions
- FIG. 1 is a top view of an embodiment agricultural planter.
- FIG. 2 is a side elevation view of an embodiment of a planter row unit.
- FIG. 3 schematically illustrates an embodiment of a soil monitoring and depth control system.
- FIG. 4A is a side elevation view of an embodiment of a temperature sensor and an embodiment of a moisture sensor.
- FIG. 4B is a rear elevation view of the temperature sensor and moisture sensor of FIG. 4A .
- FIG. 4C is a rear elevation view of another embodiment of a temperature sensor.
- FIG. 5 illustrates an embodiment of a process for controlling trench depth based on soil moisture.
- FIG. 6 illustrates an embodiment of a process for controlling trench depth based on soil temperature.
- FIG. 7 illustrates an embodiment of a process for controlling trench depth based on soil temperature and soil moisture.
- FIG. 8 illustrates another embodiment of a process for controlling trench depth based on soil temperature and soil moisture.
- FIG. 9 illustrates still another embodiment of a process for controlling trench depth based on soil temperature and soil moisture.
- FIG. 10 is a side elevation view of another embodiment of a temperature sensor.
- FIG. 11 illustrates an embodiment of a process for controlling trench depth based on soil data.
- FIG. 12 illustrates an embodiment of a process for controlling trench depth based on soil data and soil temperature.
- FIG. 13 illustrates an embodiment of a process for controlling trench depth based on weather data.
- FIG. 14 illustrates an embodiment of a process for controlling trench depth based on weather data and soil temperature.
- FIG. 15 illustrates an embodiment of a process for controlling trench depth based on soil moisture and soil moisture measurements made at a base station.
- FIG. 16 illustrates an embodiment of a process for controlling trench depth based on weather data as well as soil moisture and soil moisture measurements made at a base station.
- FIG. 17 illustrates an embodiment of a planter monitor screen displaying a soil temperature map.
- FIG. 18 illustrates an embodiment of a planter monitor screen displaying a soil moisture map.
- FIG. 19 illustrates an embodiment of a planter monitor screen displaying a trench depth map.
- FIG. 20 illustrates an embodiment of a planter monitor screen displaying summarized planting data and planting recommendations.
- FIG. 21 illustrates an embodiment of a planter monitor screen displaying row-by-row planting data.
- FIG. 22 illustrates an embodiment of a planter monitor screen displaying row-specific planting data.
- FIG. 23 illustrates an embodiment of a planter monitor depth control setup screen.
- FIG. 24 is a side elevation view of an embodiment of a base station for monitoring and transmitting soil data and weather data.
- FIG. 25 is a side elevation of an embodiment of a measurement unit.
- FIG. 26 is a side elevation view of an embodiment of a depth sensor.
- FIG. 27 illustrates an embodiment of a planter monitor screen for setting trench depth and displaying soil data.
- FIG. 1 illustrates a tractor 5 drawing an agricultural implement, e.g., a planter 10 , comprising a toolbar 14 operatively supporting multiple row units 200 .
- An implement monitor 50 preferably including a central processing unit (“CPU”), memory and graphical user interface (“GUI”) (e.g., a touch-screen interface) is preferably located in the cab of the tractor 10 .
- a global positioning system (“GPS”) receiver 52 is preferably mounted to the tractor 10 .
- GPS global positioning system
- the row unit 200 is a planter row unit.
- the row unit 200 is preferably pivotally connected to the toolbar 14 by a parallel linkage 216 .
- An actuator 218 is preferably disposed to apply lift and/or downforce on the row unit 200 .
- a solenoid valve 390 is preferably in fluid communication with the actuator 218 for modifying the lift and/or downforce applied by the actuator.
- An opening system 234 preferably includes two opening discs 244 rollingly mounted to a downwardly-extending shank 254 and disposed to open a v-shaped trench 38 in the soil 40 .
- a pair of gauge wheels 248 is pivotally supported by a pair of corresponding gauge wheel arms 260 ; the height of the gauge wheels 248 relative to the opener discs 244 sets the depth of the trench 38 .
- a depth adjustment rocker 268 limits the upward travel of the gauge wheel arms 260 and thus the upward travel of the gauge wheels 248 .
- a depth adjustment actuator 380 is preferably configured to modify a position of the depth adjustment rocker 268 and thus the height of the gauge wheels 248 .
- the actuator 380 is preferably a linear actuator mounted to the row unit 200 and pivotally coupled to an upper end of the rocker 268 .
- the depth adjustment actuator 380 comprises a device such as that disclosed in International Patent Application No.
- An encoder 382 is preferably configured to generate a signal related to the linear extension of the actuator 380 ; it should be appreciated that the linear extension of the actuator 380 is related to the depth of the trench 38 when the gauge wheel arms 260 are in contact with the rocker 268 .
- a downforce sensor 392 is preferably configured to generate a signal related to the amount of force imposed by the gauge wheels 248 on the soil 40 ; in some embodiments the downforce sensor 392 comprises an instrumented pin about which the rocker 268 is pivotally coupled to the row unit 200 , such as those instrumented pins disclosed in Applicant's co-pending U.S. patent application Ser. No. 12/522,253 (Pub. No. US 2010/0180695), the disclosure of which is hereby incorporated herein by reference.
- a seed meter 230 such as that disclosed in Applicant's co-pending International Patent Application No. PCT/US2012/030192, the disclosure of which is hereby incorporated herein by reference, is preferably disposed to deposit seeds 42 from a hopper 226 into the trench 38 , e.g., through a seed tube 232 disposed to guide the seeds toward the trench.
- the meter is powered by an electric drive 315 configured to drive a seed disc within the seed meter.
- the drive 315 may comprise a hydraulic drive configured to drive the seed disc.
- a seed sensor 305 (e.g., an optical or electromagnetic seed sensor configured to generate a signal indicating passage of a seed) is preferably mounted to the seed tube 232 and disposed to send light or electromagnetic waves across the path of seeds 42 .
- a closing system 236 including one or more closing wheels is pivotally coupled to the row unit 200 and configured to close the trench 38 .
- the monitor 50 is preferably in electrical communication with components associated with each row unit 200 including the drives 315 , the seed sensors 305 , the GPS receiver 52 , the downforce sensors 392 , the valves 390 , the depth adjustment actuator 380 , the depth actuator encoders 382 (and in some embodiments an actual depth sensor 385 described later herein), and the solenoid valves 390 .
- the monitor 50 is also preferably in electrical communication with clutches 310 configured to selectively operably couple the seed meter 230 to the drive 315 .
- the monitor 50 is preferably in electrical communication with a cellular modem 330 or other component configured to place the monitor 50 in data communication with the Internet, indicated by reference numeral 335 .
- the monitor 50 preferably receives data from a weather data server 340 and a soil data server 345 .
- the monitor 50 is also preferably in electrical communication with one or more temperature sensors 360 mounted to the planter 10 and configured to generate a signal related to the temperature of soil being worked by the planter row units 200 .
- one or more of the temperature sensors 360 comprise thermocouples disposed to engage the soil; in such embodiments the temperature sensors 360 preferably engage the soil at the bottom of the trench 38 .
- FIG. 4A One such embodiment is illustrated in FIG. 4A , in which a seed firmer 410 is illustrated mounted to the shank 254 by a bracket 415 .
- the seed firmer is preferably designed to resiliently engage the bottom of the trench 38 in order to press seeds 42 into the soil before the trench is closed.
- FIG. 4A a seed firmer 410 is illustrated mounted to the shank 254 by a bracket 415 .
- the seed firmer is preferably designed to resiliently engage the bottom of the trench 38 in order to press seeds 42 into the soil before the trench is closed.
- the thermocouple is housed partially inside the firmer 410 and extends slightly from a bottom surface of the firmer in order to engage the soil such that the temperature sensor 360 generates a signal related to the temperature of the soil at the bottom of the trench 38 .
- the temperature sensor 360 preferably extends from the firmer 410 at a transverse distance from the centerline of the firmer such that the temperature sensor does not contact seeds 42 passing beneath the bottom surface of the firmer.
- the thermocouple is in contact with a soil-contacting component, e.g., a hollow copper tube 420 housed partially within the firmer 410 and extending therefrom to contact the soil near the bottom of the trench 38 .
- the tube 420 contacts the soil on both sides of the trench 38 such that the signal generated by the thermocouple is related to the temperature of the soil at the points of contact between the tube 420 and the soil.
- one or more of the temperature sensors 360 may comprise a sensor disposed and configured to measure the temperature of the soil without contacting the soil as disclosed in International Patent Application No. PCT/US2012/035563, the disclosure of which is hereby incorporated herein in its entirety by reference.
- the monitor 50 is preferably in electrical communication with one or more moisture sensors 350 mounted to the planter 10 and configured to generate a signal related to the temperature of soil being worked by the planter row units 200 .
- one or more of the moisture sensors 350 comprise moisture probes (e.g., sensors configured to measure the electrical conductivity or dielectric permittivity) disposed to engage the soil; in such embodiments the temperature sensors 360 preferably engage the soil at the bottom of the trench 38 .
- moisture probes e.g., sensors configured to measure the electrical conductivity or dielectric permittivity
- the moisture sensor 350 in which the moisture sensor 350 is housed partially inside the firmer 410 and extends slightly from a bottom surface of the firmer in order to engage the soil such that the moisture sensor 350 generates a signal related to the temperature of the soil at the bottom of the trench 38 .
- the moisture sensor 350 preferably extends from the bottom of the firmer 410 at a transverse distance from the centerline of the firmer such that the moisture sensor does not contact seeds 42 passing beneath the bottom surface of the firmer.
- the moisture sensor 350 includes two co-planar capacitor plates 1020 a and 1020 b housed within the firmer 410 which pass adjacent to the bottom of the trench without displacing soil at the bottom of the trench.
- the firmer 410 includes a region 1030 disposed above the capacitor plates 1020 , the region 1030 having a low permittivity (e.g., in embodiments in which the region 1030 comprises an air cavity or a material having a low permittivity) or a high permittivity (e.g., in embodiments in which the region 1030 contains a material having high permittivity).
- a low permittivity e.g., in embodiments in which the region 1030 comprises an air cavity or a material having a low permittivity
- a high permittivity e.g., in embodiments in which the region 1030 contains a material having high permittivity
- one or more of the moisture sensors 350 may comprise a sensor disposed and configured to measure the moisture content of the soil without contacting the soil, e.g., one or more infrared or near-infra-red sensors disposed to measure electromagnetic waves generated by one or more emitters (e.g., light-emitting diodes) and reflected from the soil surface (e.g., the bottom of the trench 38 ).
- a sensor disposed and configured to measure the moisture content of the soil without contacting the soil, e.g., one or more infrared or near-infra-red sensors disposed to measure electromagnetic waves generated by one or more emitters (e.g., light-emitting diodes) and reflected from the soil surface (e.g., the bottom of the trench 38 ).
- the monitor 50 is preferably in electrical communication with a mobile receiver 54 (e.g., a wireless data receiver) configured to receive data wirelessly (e.g., via a radio transmitter) from a base station 325 located in a field of interest.
- a mobile receiver 54 e.g., a wireless data receiver
- the base station 325 preferably includes one or more temperature probes 2420 , 2422 disposed at multiple depths in the soil in order to measure soil temperature at multiple depths.
- the base station 325 preferably includes one or more moisture probes 2430 , 2432 disposed at multiple depths in the soil 40 in order to measure soil moisture at multiple depths.
- Each soil and moisture probe is preferably in electrical communication with a processor 2405 .
- the processor 2405 is preferably in communication with a wireless transmitter 2415 .
- the processor 2405 is preferably configured to convert signals to a format suitable for transmission via the wireless transmitter 2415 and to transmit the resulting formatted signals via the wireless transmitter.
- the base station 325 preferably includes a digital rain gauge 2410 (e.g., an optical, acoustic or weighing-type gauge) and a digital air temperature sensor 2412 , both of which are preferably in electrical communication with the processor 2405 .
- a temperature and/or moisture measurement may be made by a measurement unit independent of the row units 200 .
- An embodiment of a measurement unit 2500 is illustrated in FIG. 25 .
- the measurement unit 2500 preferably includes a coulter 2530 disposed to open a trench 39 in the soil 40 ; in some embodiments the measurement unit instead includes two angled opening discs disposed to open a more v-shaped trench).
- the coulter 2530 is preferably rollingly mounted to a bracket 2540 .
- the bracket 2540 preferably has sufficient weight to urge the coulter 2530 into the soil.
- a gauge wheel 2520 (or pair of gauge wheels) is preferably rollingly mounted to the bracket 2540 and disposed to ride along the surface of the soil, thus limiting the depth of the trench 39 .
- the depth of the trench 39 is preferably set to a depth of interest; e.g., a default trench depth such as 1.75 inches.
- the measuring unit 2500 incorporates a depth adjustment actuator in electrical communication with the monitor 50 and configured to modify the vertical distance between the mounting points of the coulter 2530 and the gauge wheel 2520 in order to adjust the trench depth.
- the bracket 2540 is preferably mounted to the toolbar 14 via a parallel arm arrangement 2526 such that the bracket is permitted to translate vertically with respect to the toolbar.
- a spring 2518 is preferably mounted to the parallel arm arrangement in order to urge the coulter 2530 into the soil 40 .
- a temperature and/or moisture sensor 2550 is preferably mounted to the measurement unit 2500 (or in some embodiments the toolbar 14 ) and configured to measure temperature and/or moisture of soil in the trench 39 .
- the sensor 2550 may comprise a sensor configured to measure temperature and/or moisture without contacting the soil such as an infrared sensor.
- the sensor 2550 may incorporate sensors configured to engage the soil at the bottom of the trench 39 similar to those described herein, e.g., with respect to FIG. 4A .
- the system 300 sends a command signal to the depth adjustment actuator 380 which corresponds to a desired depth or desired depth adjustment.
- the actuator 380 is preferably calibrated such that a set of depths and corresponding command signals are stored in the memory of the monitor 50 .
- the system 300 sends a command signal to the depth adjustment actuator 380 in order to increase or decrease the trench depth until the desired depth or depth adjustment has been indicated by the depth actuator encoder 382 .
- the system 300 sends a command signal to the depth adjustment actuator 380 in order to increase or decrease the trench depth until the desired depth or depth adjustment has been indicated by a depth sensor 385 configured to measure the actual depth of the trench.
- the depth sensor 385 may comprise a sensor (or multiple sensors) disposed to measure a rotational position of the gauge wheel arms 260 relative to the row unit 200 as disclosed in Applicant's co-pending Provisional Patent Application No. 61/718,073, the disclosure of which is hereby incorporated herein in its entirety by reference.
- the depth sensor 385 comprises a sensor disposed to directly measure the depth of the trench 38 .
- the depth sensor 385 includes a ski 2610 configured to ride along the surface of the soil to the side of the trench 38 .
- the ski 2610 includes two ground-engaging portions disposed to ride the surface of the soil on either side of the trench 38 .
- An arm 2620 is preferably mounted to an upper surface of a portion of the firmer 410 which engages the trench 38 .
- the arm 2620 preferably extends through an aperture in the ski 2610 such that the arm slides vertically relative to the ski as the firmer 410 deflects up and down.
- a magnet 2640 is preferably mounted to the arm 2620 .
- a Hall-effect sensor 2630 is preferably mounted to the ski 2610 .
- the Hall-effect sensor 2630 preferably comprises a circuit board including multiple Hall-effect sensors vertically spaced along a surface of the circuit board adjacent a plane defined by the range of motion of the magnet 2640 .
- the Hall-effect sensor 2630 is preferably configured to generate a signal related to the position of the magnet 2640 .
- the Hall-effect sensor 2630 is preferably in electrical communication with the monitor 50 .
- the monitor 50 is preferably configured to determine the depth of the trench 38 based on the signal generated by the Hall-effect sensor 2630 , for example, using an empirical lookup table.
- the system 300 preferably controls the depth of the trench 38 in which seeds are planted according to various processes based on one or more measurements or data inputs obtained by the system 300 .
- the trench depth for an individual row unit 200 or group of row units may be controlled by measurements made by a sensor on the row unit or by a sensor on another row unit or remote from the row units 200 (e.g., on a measurement unit 2500 as described herein) or remote from the implement 10 (e.g., on a base station 325 as described herein).
- the depth control methods described herein may be used to control the trench depth for a single row unit or a group of row units.
- a single temperature measurement may be made at a single row unit 200 and used to determine a desired depth at multiple row units 200 .
- the moisture measurements used in the processes described herein may be obtained either from one of the moisture sensors described herein or using multiple temperature measurements at multiple depths, e.g., by generating a best-fit linear temperature-depth relationship and consulting a lookup table or empirically-developed equation correlating the slope of the temperature-depth relationship to soil moisture.
- a process 500 for controlling trench depth based on soil moisture is illustrated in FIG. 5 .
- the system 300 preferably commands the depth adjustment actuator 380 to set the trench depth to a default depth Dd, e.g., 1.75 inches.
- the system 300 preferably monitors the signal from a moisture sensor 350 .
- the system 300 preferably compares the measured moisture M to a predetermined range, preferably defined by a low moisture Ml (e.g., 15%) and an high moisture Mh (e.g., 35%).
- Moisture values are expressed herein as a volumetric percentage of water content; it should be appreciated that other units or measures of soil moisture as are known in the art may be substituted for these values.
- the system 300 preferably determines whether the current depth D is less than or equal to a maximum depth Dmax (e.g., 2.25 inches); if it is, then at step 525 the system 300 preferably increases the depth D by an increment (e.g., 0.175 inches) and again monitors the soil moisture; if not, then at step 505 the system 300 preferably sets the depth D to the default depth.
- a maximum depth Dmax e.g., 2.25 inches
- the system 300 preferably determines whether the current depth D is greater than or equal to a minimum depth Dmin (e.g., 1.25 inches); if it is, then at step 535 the system 300 preferably decreases the depth D by an increment (e.g., 0.175 inches); if not, then at step 510 the system 300 preferably again monitors the moisture measurement signal. If at step 515 the current moisture M is between Ml and Mh, then at step 517 the system 300 preferably retains the current depth setting D and returns to monitoring the moisture measurement signal.
- a minimum depth Dmin e.g., 1.25 inches
- the system adjusts the depth D to the default depth. In other embodiments of the method 500 reflected by alternate path 522 , if M is less than Ml and D is greater than Dmax, then the system 300 returns to monitoring the moisture measurement signal without adjusting the depth D to the default depth.
- a process 600 for controlling trench depth based on soil temperature is illustrated in FIG. 6 .
- the system 300 preferably commands the depth adjustment actuator 380 to set the trench depth to a default depth, e.g., 1.75 inches.
- the system 300 preferably monitors the signal from a temperature sensor 360 .
- the system 300 preferably compares the measured temperature T to a predetermined range, preferably defined by a low temperature Tl (e.g., 55 degrees Fahrenheit) and a high temperature Th (e.g., 65 degrees Fahrenheit).
- the system 300 preferably determines whether the current depth D is less than or equal to a maximum depth Dmax (e.g., 2.25 inches); if it is, then at step 625 the system 300 preferably increases the depth D by an increment (e.g., 0.175 inches) and again monitors the soil temperature; if not, then at step 605 the system 300 preferably sets the depth D to the default depth.
- a maximum depth Dmax e.g., 2.25 inches
- the system 300 determines whether the current depth D is greater than or equal to a minimum depth Dmin (e.g., 1.25 inches); if it is, then at step 635 the system 300 preferably decreases the depth D by an increment (e.g., 0.175 inches); if not, then at step 610 the system 300 preferably again monitors the moisture measurement signal. If at step 615 the current temperature T is between Tl and Th, then at step 617 the system 300 preferably retains the current depth D and returns to monitoring the temperature measurement signal.
- a minimum depth Dmin e.g., 1.25 inches
- the system 300 if T is greater than Th and D is greater than Dmax, the system 300 returns to monitoring the temperature measurement signal without adjusting the depth D to the default depth. In other embodiments of the process 600 reflected by alternate path 624 , if T is less than Tl and D is less than Dmin, then the system 300 adjusts the depth D to the default depth before returning to monitoring the moisture measurement signal. In still other embodiments of the process 600 reflected by alternate path 626 , if T is greater than Th and D is less than or equal to Dmax, then the system 300 returns to monitoring the temperature measurement signal without adjusting the depth D to the default depth.
- a stationary probe or on-planter temperature probe is configured and disposed to determine the soil temperature at a constant depth (e.g., 4 inches) Dc greater than or equal to Dmax.
- the system preferably compares the measured temperature at depth D to the measured temperature at Dc and determines a distribution of temperatures between D and Dc.
- the desired depth is then selected corresponding to a desired temperature within the distribution.
- a process 700 for controlling depth based on soil moisture and soil temperature is illustrated in FIG. 7 .
- the system 300 preferably runs the process 500 and the process 600 simultaneously.
- the term “simultaneously” as used herein means that the processes generally run at the same time and does not require that any particular corresponding step in each process be carried out at or near the same time; however, in a preferred embodiment, after each cycle of the processes 500 , 600 (the term “cycle” meaning, e.g., a sequence resulting in a depth change recommendation even if the recommendation is to retain the current depth) is completed, each process (e.g., process 500 ) preferably waits for the current cycle of the other process (e.g., process 600 ) to complete before moving on to step 710 .
- the system 300 preferably determines whether one process is recommending a depth change while the other process is recommending a depth change; if so, at step 715 the system 300 preferably follows the recommendation requesting a depth change.
- the system 300 preferably determines whether the moisture process 500 is recommending increased depth while the temperature process 600 is requesting reduced depth; if not, then at step 715 the system 300 preferably follows the recommendation requesting a depth change; if so, then at step 725 the system 300 preferably adjusts the trench depth up and down by increments relative to the current depth setting (e.g., by 0.175 inches deeper and shallower than the current depth setting) in order to determine whether a threshold increase in moisture or temperature is obtained at depths above and below the current depth setting; after cycling up and down at step 725 , the system 300 preferably returns to the current depth setting.
- the current depth setting e.g., by 0.175 inches deeper and shallower than the current depth setting
- the system 300 preferably determines whether temperature or moisture increases at the increased or reduced depths sampled at step 725 . If temperature does not increase by at least a threshold (e.g., 2 degrees Fahrenheit) at decreased depth but moisture increases by at least a threshold (e.g., 2%) at increased depth, then at step 732 the system 300 preferably increases the depth by the increment recommended by the moisture process 500 . If temperature increases by at least a threshold (e.g., 2 degrees Fahrenheit) at decreased depth but moisture does not increase by at least a threshold (e.g., 2%) at increased depth, then at step 734 the system 300 preferably reduces the depth by the increment recommended by the temperature process 600 . In all other cases, at step 736 the system 300 preferably retains the current depth setting.
- a threshold e.g., 2 degrees Fahrenheit
- FIG. 8 Another process 800 for controlling depth based on soil temperature and soil moisture is illustrated in FIG. 8 .
- the system preferably runs the process 500 and the process 600 simultaneously.
- the system 300 preferably waits until both processes have supplied a depth recommendation.
- the system 300 preferably sums the recommended depth adjustment increments recommended by both processes 500 , 600 ; it should be appreciated that if either of the processes 500 , 600 recommend retaining the current depth, then that process contributes zero to the summed increment.
- the system 300 preferably adjusts the depth setting by the summed increment.
- a modified process 800 ′ for controlling depth based on soil temperature and soil moisture is illustrated in FIG. 9 .
- the modified process 800 ′ is similar to the process 800 , but at step 812 multipliers are preferably applied to each of the incremental depth adjustments recommended by the processes 500 , 600 .
- the multipliers may be based on the relative agronomic cost associated with lost moisture and/or temperature; for example, assuming a greater agronomic cost is associated with lost moisture than with lost temperature, the multipliers may be 0.9 for the temperature recommendation and 1.1 for the moisture recommendation.
- multipliers may be applied to the input values rather than the resulting recommendations of processes 500 , 600 ; for example, a multiplier of 0.9 per degree Fahrenheit may be applied to the temperature measurement and a multiplier of 1.1 per 1% moisture content may be applied to the moisture measurement.
- a process 1100 for controlling depth based on soil data is illustrated in FIG. 11 .
- the system 300 preferably accesses soil data (e.g., a geo-referenced soil data map such as a shape file associating soil data with geo-referenced positions); the monitor 50 may obtain the soil data from the soil data server 345 , although in some embodiments the soil data may be stored in the memory of the monitor 50 .
- the system 300 preferably compares a current location of the planter 10 (e.g., as reported by the GPS receiver 52 ) to the geo-referenced soil data in order to determine a soil characteristic (e.g., soil type) of the soil at the current location.
- a soil characteristic e.g., soil type
- the system 300 preferably determines a desired depth based on the retrieved soil data, e.g., using a lookup table relating desired depths to soil characteristic ranges.
- the lookup table may include a set of soil types, each associated with a desired depth; e.g., Ipava soil may be associated with a desired depth of 1.75 inches while Sable soil may be associated with a desired depth of 1.8 inches.
- the system 300 uses a formula to calculate a desired depth Dd based on the soil data, e.g., using the equation:
- C is the clay content of the soil, expressed as a percentage.
- the system 300 preferably adjusts the trench depth to the desired depth.
- a process 1200 for controlling depth based on soil data and soil temperature is illustrated in FIG. 12 .
- the system 300 preferably accesses soil data as described above with respect to step 1105 of process 1100 .
- the system 300 preferably determines a soil characteristic by comparing the current location to the geo-referenced soil data as described above with respect to step 1110 of process 1100 .
- the system 300 preferably determines a temperature multiplier using a lookup table or equation relating temperature multipliers to soil characteristic ranges; e.g., a multiplier of 1.1 may be associated with Ipava soil while a multiplier of 0.9 may be associated with Sable soil.
- the system 300 preferably determines the current temperature from the temperature sensor signal.
- the system 300 preferably applies the temperature multiplier to the measured temperature.
- the system 300 preferably determines a recommended depth adjustment using the modified (multiplier-applied) temperature, e.g., using the process 600 described herein.
- the system 300 preferably applies the recommended depth adjustment. It should be appreciated that the process 1200 could be modified in order to control depth based on soil type and other measured soil characteristics such as soil moisture.
- the monitor 50 consults a lookup table to determine values of Mh and Ml for the soil type corresponding to the current position of the row unit; e.g., the values of Mh, Ml may be 30%, 15% respectively for silt loam and 36%, 20% respectively for sandy clay loam.
- a process 1300 for controlling depth based on weather data is illustrated in FIG. 13 .
- the system 300 preferably accesses weather data, e.g. from the weather data server 340 .
- the system 300 determines a desired depth based on the weather data, which may include, inter alia, predicted precipitation, predicted air temperature, past precipitation, or past air temperature.
- the system 300 obtains the predicted air temperature and determines the number of growing degree days G between the time of planting and the time of germination, e.g., using the equation below in which preferred values are specified for corn:
- the system 300 preferably determines a desired depth based on the number of predicted growing days.
- the system 300 consults a lookup table stored in the memory of the monitor 50 ; for example, a depth of 1.75 inches may be desired for growing degree days greater than 30, a depth of 1.5 inches may be desired for growing degree days between 15 and 30, and a depth of 1.25 inches may be desired for growing degree days between 0 and 15 degrees. It should be appreciated that a shallower depth is generally desired for lesser growing degree day values.
- the system 300 preferably adjusts the trench depth to the desired depth determined at step 1315 .
- a process 1400 for controlling depth based on weather data and soil temperature is illustrated in FIG. 14 .
- the system 300 preferably accesses weather data as described above with respect to process 1300 .
- the system 300 preferably determines a number of growing degree days as described above with respect to process 1300 .
- the system 300 preferably determines the current temperature based on the signal received from the temperature sensor 360 .
- the system 300 preferably applies a multiplier to the measured temperature; the multiplier is preferably based on the number of growing degree days calculated at step 1410 .
- the system 300 preferably determines a recommended depth adjustment based on the modified (multiplier-applied) temperature, e.g., using the process 600 described herein.
- the system 300 preferably adjusts the trench depth according to the adjustment determined at step 1425 .
- a process 1500 for controlling depth based on data received from the base station 325 is illustrated in FIG. 15 .
- the system 300 preferably receives temperature measurements at multiple depths from the base station 325 .
- the system 300 preferably determines an empirical relationship between depth and temperature, e.g., by determining a linear or other equation that best fits the temperature measurements at the base station 325 .
- the system 300 preferably receives moisture measurements at multiple depths from the base station 325 .
- the system 300 preferably determines an empirical relationship between depth and moisture, e.g., by determining a linear or other equation that best fits the moisture measurements at the base station 325 .
- the system 300 preferably determines a desired depth based on the moisture and depth measurements received from the base station 325 . In some embodiments, the system 300 selects a depth at which the loss L resulting from a lack of moisture and temperature is minimized, e.g., where the loss L is determined by the equation:
- the system 300 preferably selects a depth corresponding to the minimum L-value for all depths between the maximum depth Dmax and minimum depth Dmin. If the minimum value of L is within a threshold (e.g., 5%) of the maximum L-value, then the system 300 preferably selects a default depth (e.g., 1.75 inches) instead of the depth corresponding to the minimum L-value. At step 1530 , the system 300 preferably adjusts the trench depth to the depth selected at step 1525 .
- a threshold e.g., 5%
- a default depth e.g., 1.75 inches
- a process 1600 for controlling depth based on soil and moisture data and weather data is illustrated in FIG. 16 .
- the system 300 preferably receives temperature measurements at multiple depths from the base station 325 as described above with respect to the process 1500 .
- the system 300 preferably determines an empirical relationship between temperature and depth as described above with respect to the process 1500 .
- the system 300 preferably receives moisture measurements at multiple depths from the base station 325 as described above with respect to the process 1500 .
- the system 300 preferably determines an empirical relationship between moisture and depth as described above with respect to the process 1500 .
- the system 300 receives temperature data, preferably from the base station 325 and/or the weather data server 340 .
- the temperature data may include past recorded air temperature (e.g., recorded local air temperature during the previous 24 hours) as well as forecasted air temperature (e.g., forecasted local air temperature during the following 60 hours); the temperature data may also include recorded cloud conditions and forecasted cloud conditions.
- the system 300 preferably adjusts the temperature-depth relationship based on the temperature data. For example, in some embodiments the system 300 may adjust the temperature-depth relationship based on the local air temperature recorded during a period prior to planting and the forecasted temperature during the germination period (e.g., 60 hours) after planting. In one such embodiment, the system 300 modifies the temperature-depth relationship T(d) to a modified temperature-depth relationship T′(d) using the equation:
- T ′ ( d ) T ⁇ ( d ) ⁇ H p H f ⁇ ⁇ 0 H ⁇ f A ⁇ ( h ) ⁇ d ⁇ h ⁇ - H ⁇ p 0 A ⁇ ( h ) ⁇ d ⁇ h
- the system 300 receives precipitation data, preferably from the base station 325 and/or the weather data server 340 .
- the precipitation data may include past recorded rainfall (e.g., recorded local rainfall during the previous 24 hours) as well as forecasted rainfall (e.g., forecasted local rainfall during the following 60 hours).
- the system 300 preferably adjusts the moisture-depth relationship based on the precipitation data. For example, in some embodiments the system 300 may adjust the moisture-depth relationship based on local rainfall recorded during a period prior to planting and the forecasted rainfall during the germination period (e.g., 60 hours) after planting. In one such embodiment, the system 300 modifies the moisture-depth relationship M(d) to a modified moisture-depth relationship M′(d) using the equation:
- M ′ ( d ) M ⁇ ( d ) ⁇ H p H f ⁇ ⁇ 0 H ⁇ f R ⁇ ( h ) ⁇ d ⁇ h ⁇ - H ⁇ p 0 R ⁇ ( h ) ⁇ d ⁇ h
- step 1645 the system 300 preferably determines a desired depth based on the modified temperature-depth and modified moisture-depth relationships generated at steps 1630 , 1640 ; in some embodiments, step 1645 is carried out as described herein with respect to step 1525 of process 1500 .
- the system 300 preferably adjusts the trench depth to the desired depth.
- the monitor 50 is preferably configured to display a screen 1700 displaying spatial soil temperature data.
- the screen 1700 preferably displays the live position of the planter 10 and each of the associated row units 200 (numbered 1 through 4 in FIG. 17 ).
- temperature measurements are made at each row unit 200 .
- Each temperature measurement is preferably time-stamped and associated with a GPS position; the screen 1700 preferably displays resulting temperature-location data points 1722 , 1724 , 1726 associated (e.g., by color or hatching) with legend ranges 1712 , 1714 , 1716 , which are preferably illustrated in a legend 1710 .
- An interface 90 preferably enables the user to navigate between map screens.
- the monitor 50 is preferably configured to display a screen 1800 displaying spatial soil moisture data.
- the screen 1800 preferably displays the live position of the planter 10 and each of the associated row units 200 (numbered 1 through 4 in FIG. 18 ).
- moisture measurements are made at each row unit 200 .
- Each moisture measurement is preferably time-stamped and associated with a GPS position; the screen 1800 preferably displays resulting moisture-location data points 1822 , 1824 , 1826 associated with legend ranges 1812 , 1814 , 1816 , which are preferably illustrated in a legend 1810 .
- the monitor 50 is preferably configured to display a screen 1900 displaying spatial trench depth data.
- the screen 1900 preferably displays the live position of the planter 10 and each of the associated row units 200 (numbered 1 through 4 in FIG. 19 ).
- trench depth measurements (or records of commanded trench depth) are made at each row unit 200 .
- Each trench depth measurement is preferably time-stamped and associated with a GPS position; the screen 1900 preferably displays resulting depth-location data points 1922 , 1924 , 1926 associated with legend ranges 1912 , 1914 , 1916 , which are preferably illustrated in a legend 1910 .
- the screens 1700 , 1800 and/or 1900 include a map overlay comprising spatial data from prior operations and/or prior seasons.
- the map overlay may be compared side-by-side with or partially transparent and superimposed over the temperature, moisture or depth data.
- the map overlay comprises aerial imagery (e.g., photographic, NDVI, plant emergence, or thermal imagery) previously captured for the same field.
- the map overlay comprises application data (e.g., planting data gathered from seed sensors or nitrogen application rate data).
- the map overlay comprises yield data recorded during harvest in a prior season.
- the monitor 50 is preferably configured to display a germination summary screen 2000 .
- a window 2005 preferably displays the percentage of seeds S planted at a desired moisture level, which the monitor 50 preferably calculates according to the equation:
- the value of Sm is preferably determined on a row-by-row basis and then summed.
- each moisture sensor is associated with one or more row units and the value of Sm is determined on a row-by-row basis with each row unit using the moisture measurements of its associated moisture sensor.
- the monitor 50 also determines the value of S for each individual row and identifies the row having the lowest value of S in window 2005 .
- the germination summary screen 2000 also preferably includes a window 2010 displaying the percentage of seeds R planted at a desired temperature, which the monitor 50 preferably calculates according to the equation:
- R R t S t ⁇ 1 ⁇ 0 ⁇ 0 ⁇ %
- the value of Rm is preferably determined on a row-by-row basis and then summed.
- each temperature sensor is associated with one or more row units and the value of Rm is determined on a row-by-row basis with each row unit using the temperature measurements of its associated temperature sensor.
- the monitor 50 also determines the value of R for each individual row and identifies the row having the lowest value of R in window 2010 .
- the screen 2000 also preferably includes a window 2015 displaying an estimate of the probability P of successful germination of seeds planted during the current planting operation (e.g., in the current field), which the monitor 50 preferably calculates using the equation:
- the monitor 50 preferably calculates the germination probability P using the equation:
- the monitor 50 preferably calculates the germination probability P using the equation:
- the screen 2000 preferably includes a window 2020 displaying the average of the current moisture measurements obtained from the moisture sensors 350 .
- the window 2020 preferably identifies the row unit or section (i.e., group of row units associated with a single moisture sensor 350 ) from which the lowest moisture measurement is obtained.
- the screen 2000 preferably includes a window 2025 displaying the average of the current temperature measurements obtained from the temperature sensors 360 .
- the window 2025 preferably identifies the row unit or section (i.e., group of row units associated with a single temperature sensor 360 ) from which the lowest temperature measurement is obtained.
- the screen 2000 also preferably includes a window 2030 displaying the current average depth setting commanded to the depth adjustment actuators 380 (or in some embodiments, the current average actual depth measurement obtained from depth sensors 385 ).
- the window 2030 also preferably identifies the row units having the shallowest and deepest trench depths.
- the screen 2000 also preferably includes an interface 2040 enabling the user to navigate to row detail screens described later herein.
- the screen 2000 preferably includes a planting recommendation window 2035 displaying a recommendation indicating whether planting is recommended (e.g., “Keep Planting”) or not recommended (e.g., “Stop Planting”).
- the monitor 50 preferably determines which recommendation to display based on current moisture and/or temperature measurements made by the system 300 or the average measurements made during the current planting operation (e.g., in the current field). In some embodiments the monitor recommends planting only if the loss L (calculated as described above) is less than a threshold, e.g., 20.
- the monitor 50 preferably recommends planting only if the moisture measurement displayed in window 2020 is greater than a threshold, e.g., 15%. In embodiments in which the system 300 includes temperature sensors 360 but no moisture sensors 350 , the monitor 50 preferably recommends planting only if the temperature measurement displayed in window 2025 is greater than a threshold, e.g., 55 degrees Fahrenheit.
- the moisture and temperature values displayed in the screen 2000 and used to calculate the germination potential value (window 2015 ) and determine the planting recommendation (window 2035 ) may be adjusted based on weather data as described earlier herein.
- the monitor 50 is preferably configured to display a row by row summary screen 2100 .
- the screen 2100 preferably includes a graph 2110 illustrating the trench depth at each row unit, a graph 2130 illustrating the moisture measured at each row unit, a graph 2120 illustrating the germination potential determined for each row unit, and a graph 2140 illustrating the temperature measured at each row unit.
- the monitor 50 is preferably configured to display a row details screen 2200 for each row unit 200 .
- the row details screen preferably includes windows 2205 , 2210 , 2215 , 2220 , 2225 , 2230 displaying individual row values used to calculate the average values displayed in windows 2005 , 2010 , 2015 , 2020 , 2025 , 2030 , respectively, of the screen 2000 .
- the monitor 50 is preferably configured to display a setup screen 2300 enabling the user to vary the parameters used in the depth control processes described herein.
- the screen 2300 preferably includes a depth interface 2310 for setting the minimum depth Dmin, the default depth Dd, and the maximum depth Dmax.
- the screen 2300 preferably includes a temperature interface 2320 for setting the high temperature Th and the low temperature Tl.
- the screen 2300 preferably includes a moisture interface 2330 for setting a high moisture Mh and a low moisture Ml.
- the screen 2300 preferably includes an interface 2340 enabling the user to select which variables are used to control depth.
- the monitor 50 is preferably configured to select a depth control process which uses the variables selected by the user as in puts and does not require the variables not selected by the user.
- the system 300 preferably uses the process 500 to control trench depth, whereas if the user selects only “Live Moisture” and “Live Temperature”, the system 300 preferably uses one of the processes 700 , 800 , or 800 ′ to control trench depth.
- the screen 2300 preferably includes a depth control interface 2350 enabling allowing the user to turn off all of the depth control processes (e.g., by selecting “Off”) such that the system 300 leaves the trench depth at each row unit 200 at the current setting (or in some embodiments, returns each row unit to the default depth Dd).
- the screen 2300 also preferably includes a user approval interface 2360 enabling the user to select whether the monitor 50 requests user approval before requesting. If the user selects “On” in the interface 2360 , then the monitor 50 preferably prompts the user to approve or reject changes in depth requested by the depth control processes described herein (e.g., by a window superimposed over the active screen).
- the monitor 50 is preferably configured to display a screen 2700 for manually setting trench depth and preferably for viewing moisture and temperature data.
- the screen 2700 preferably displays a graph 2710 illustrating the relationship between depth and moisture and between depth and temperature.
- the depth-temperature relationship illustrated in the graph 2710 is preferably generated by averaging the temperature measurements made by the system 300 at various depths.
- the depth-moisture relationship illustrated in the graph 2720 is preferably generated by averaging the moisture measurements made by the system 300 at various depths. It should be appreciated that the graph 2620 assists the user in selecting a depth at which the desired moisture and temperature are available.
- the screen 2700 preferably displays a depth interface (e.g., a sliding interface as illustrated) allowing the user to set a trench depth; the system 300 preferably adjusts the trench depth at each row unit to the manually selected trench depth if a manual override interface 2605 is set to “On”.
- a depth interface e.g., a sliding interface as illustrated
Abstract
Systems, methods and apparatus are provided for monitoring soil properties including soil moisture and soil temperature during an agricultural input application. Embodiments include a soil moisture sensor and/or a soil temperature sensor mounted to a seed firmer for measuring moisture and temperature in a planting trench. Additionally, systems, methods and apparatus are provided for adjusting depth based on the monitored soil properties.
Description
- In recent years, the availability of advanced location-specific agricultural application and measurement systems (used in so-called “precision farming” practices) has increased grower interest in determining spatial variations in soil properties and in varying input application variables (e.g., planting depth) in light of such variations. However, the available mechanisms for measuring properties such as temperature are either not effectively locally made throughout the field or are not made at the same time as an input (e.g. planting) operation. Moreover, available methods for adjusting depth are not effectively responsive to changes in soil properties such as depth and temperature.
- Thus there is a need in the art for a method for monitoring soil properties during an agricultural input application. Moreover, there is a need in the art for adjusting depth based on the monitored soil properties.
-
FIG. 1 is a top view of an embodiment agricultural planter. -
FIG. 2 is a side elevation view of an embodiment of a planter row unit. -
FIG. 3 schematically illustrates an embodiment of a soil monitoring and depth control system. -
FIG. 4A is a side elevation view of an embodiment of a temperature sensor and an embodiment of a moisture sensor. -
FIG. 4B is a rear elevation view of the temperature sensor and moisture sensor ofFIG. 4A . -
FIG. 4C is a rear elevation view of another embodiment of a temperature sensor. -
FIG. 5 illustrates an embodiment of a process for controlling trench depth based on soil moisture. -
FIG. 6 illustrates an embodiment of a process for controlling trench depth based on soil temperature. -
FIG. 7 illustrates an embodiment of a process for controlling trench depth based on soil temperature and soil moisture. -
FIG. 8 illustrates another embodiment of a process for controlling trench depth based on soil temperature and soil moisture. -
FIG. 9 illustrates still another embodiment of a process for controlling trench depth based on soil temperature and soil moisture. -
FIG. 10 is a side elevation view of another embodiment of a temperature sensor. -
FIG. 11 illustrates an embodiment of a process for controlling trench depth based on soil data. -
FIG. 12 illustrates an embodiment of a process for controlling trench depth based on soil data and soil temperature. -
FIG. 13 illustrates an embodiment of a process for controlling trench depth based on weather data. -
FIG. 14 illustrates an embodiment of a process for controlling trench depth based on weather data and soil temperature. -
FIG. 15 illustrates an embodiment of a process for controlling trench depth based on soil moisture and soil moisture measurements made at a base station. -
FIG. 16 illustrates an embodiment of a process for controlling trench depth based on weather data as well as soil moisture and soil moisture measurements made at a base station. -
FIG. 17 illustrates an embodiment of a planter monitor screen displaying a soil temperature map. -
FIG. 18 illustrates an embodiment of a planter monitor screen displaying a soil moisture map. -
FIG. 19 illustrates an embodiment of a planter monitor screen displaying a trench depth map. -
FIG. 20 illustrates an embodiment of a planter monitor screen displaying summarized planting data and planting recommendations. -
FIG. 21 illustrates an embodiment of a planter monitor screen displaying row-by-row planting data. -
FIG. 22 illustrates an embodiment of a planter monitor screen displaying row-specific planting data. -
FIG. 23 illustrates an embodiment of a planter monitor depth control setup screen. -
FIG. 24 is a side elevation view of an embodiment of a base station for monitoring and transmitting soil data and weather data. -
FIG. 25 is a side elevation of an embodiment of a measurement unit. -
FIG. 26 is a side elevation view of an embodiment of a depth sensor. -
FIG. 27 illustrates an embodiment of a planter monitor screen for setting trench depth and displaying soil data. - Referring now to the drawings, wherein like reference numerals designate identical or corresponding parts throughout the several views,
FIG. 1 illustrates atractor 5 drawing an agricultural implement, e.g., aplanter 10, comprising atoolbar 14 operatively supportingmultiple row units 200. An implement monitor 50 preferably including a central processing unit (“CPU”), memory and graphical user interface (“GUI”) (e.g., a touch-screen interface) is preferably located in the cab of thetractor 10. A global positioning system (“GPS”)receiver 52 is preferably mounted to thetractor 10. - Turing to
FIG. 2 , an embodiment is illustrated in which therow unit 200 is a planter row unit. Therow unit 200 is preferably pivotally connected to thetoolbar 14 by aparallel linkage 216. Anactuator 218 is preferably disposed to apply lift and/or downforce on therow unit 200. Asolenoid valve 390 is preferably in fluid communication with theactuator 218 for modifying the lift and/or downforce applied by the actuator. Anopening system 234 preferably includes twoopening discs 244 rollingly mounted to a downwardly-extendingshank 254 and disposed to open a v-shaped trench 38 in thesoil 40. A pair ofgauge wheels 248 is pivotally supported by a pair of correspondinggauge wheel arms 260; the height of thegauge wheels 248 relative to theopener discs 244 sets the depth of thetrench 38. Adepth adjustment rocker 268 limits the upward travel of thegauge wheel arms 260 and thus the upward travel of thegauge wheels 248. A depth adjustment actuator 380 is preferably configured to modify a position of thedepth adjustment rocker 268 and thus the height of thegauge wheels 248. The actuator 380 is preferably a linear actuator mounted to therow unit 200 and pivotally coupled to an upper end of therocker 268. In some embodiments the depth adjustment actuator 380 comprises a device such as that disclosed in International Patent Application No. PCT/US2012/035585, the disclosure of which is hereby incorporated herein by reference. Anencoder 382 is preferably configured to generate a signal related to the linear extension of the actuator 380; it should be appreciated that the linear extension of the actuator 380 is related to the depth of thetrench 38 when thegauge wheel arms 260 are in contact with therocker 268. Adownforce sensor 392 is preferably configured to generate a signal related to the amount of force imposed by thegauge wheels 248 on thesoil 40; in some embodiments thedownforce sensor 392 comprises an instrumented pin about which therocker 268 is pivotally coupled to therow unit 200, such as those instrumented pins disclosed in Applicant's co-pending U.S. patent application Ser. No. 12/522,253 (Pub. No. US 2010/0180695), the disclosure of which is hereby incorporated herein by reference. - Continuing to refer to
FIG. 2 , aseed meter 230 such as that disclosed in Applicant's co-pending International Patent Application No. PCT/US2012/030192, the disclosure of which is hereby incorporated herein by reference, is preferably disposed todeposit seeds 42 from ahopper 226 into thetrench 38, e.g., through aseed tube 232 disposed to guide the seeds toward the trench. In some embodiments, the meter is powered by anelectric drive 315 configured to drive a seed disc within the seed meter. In other embodiments, thedrive 315 may comprise a hydraulic drive configured to drive the seed disc. A seed sensor 305 (e.g., an optical or electromagnetic seed sensor configured to generate a signal indicating passage of a seed) is preferably mounted to theseed tube 232 and disposed to send light or electromagnetic waves across the path ofseeds 42. Aclosing system 236 including one or more closing wheels is pivotally coupled to therow unit 200 and configured to close thetrench 38. - Turning to
FIG. 3 , a depth control andsoil monitoring system 300 is schematically illustrated. Themonitor 50 is preferably in electrical communication with components associated with eachrow unit 200 including thedrives 315, theseed sensors 305, theGPS receiver 52, thedownforce sensors 392, thevalves 390, the depth adjustment actuator 380, the depth actuator encoders 382 (and in some embodiments anactual depth sensor 385 described later herein), and thesolenoid valves 390. In some embodiments, particularly those in which eachseed meter 230 is not driven by anindividual drive 315, themonitor 50 is also preferably in electrical communication withclutches 310 configured to selectively operably couple theseed meter 230 to thedrive 315. - Continuing to refer to
FIG. 3 , themonitor 50 is preferably in electrical communication with acellular modem 330 or other component configured to place themonitor 50 in data communication with the Internet, indicated byreference numeral 335. Via the Internet connection, themonitor 50 preferably receives data from aweather data server 340 and asoil data server 345. - Continuing to refer to
FIG. 3 , themonitor 50 is also preferably in electrical communication with one ormore temperature sensors 360 mounted to theplanter 10 and configured to generate a signal related to the temperature of soil being worked by theplanter row units 200. In some embodiments one or more of thetemperature sensors 360 comprise thermocouples disposed to engage the soil; in such embodiments thetemperature sensors 360 preferably engage the soil at the bottom of thetrench 38. One such embodiment is illustrated inFIG. 4A , in which a seed firmer 410 is illustrated mounted to theshank 254 by abracket 415. As is known in the art, the seed firmer is preferably designed to resiliently engage the bottom of thetrench 38 in order to pressseeds 42 into the soil before the trench is closed. In the embodiment ofFIG. 4A , the thermocouple is housed partially inside the firmer 410 and extends slightly from a bottom surface of the firmer in order to engage the soil such that thetemperature sensor 360 generates a signal related to the temperature of the soil at the bottom of thetrench 38. As illustrated in the rear elevation view ofFIG. 4B , thetemperature sensor 360 preferably extends from the firmer 410 at a transverse distance from the centerline of the firmer such that the temperature sensor does not contactseeds 42 passing beneath the bottom surface of the firmer. In another embodiment illustrated inFIG. 4C , the thermocouple is in contact with a soil-contacting component, e.g., ahollow copper tube 420 housed partially within the firmer 410 and extending therefrom to contact the soil near the bottom of thetrench 38. In the illustrated embodiment, thetube 420 contacts the soil on both sides of thetrench 38 such that the signal generated by the thermocouple is related to the temperature of the soil at the points of contact between thetube 420 and the soil. In other embodiments, one or more of thetemperature sensors 360 may comprise a sensor disposed and configured to measure the temperature of the soil without contacting the soil as disclosed in International Patent Application No. PCT/US2012/035563, the disclosure of which is hereby incorporated herein in its entirety by reference. - Referring to
FIG. 3 , themonitor 50 is preferably in electrical communication with one ormore moisture sensors 350 mounted to theplanter 10 and configured to generate a signal related to the temperature of soil being worked by theplanter row units 200. In some embodiments one or more of themoisture sensors 350 comprise moisture probes (e.g., sensors configured to measure the electrical conductivity or dielectric permittivity) disposed to engage the soil; in such embodiments thetemperature sensors 360 preferably engage the soil at the bottom of thetrench 38. One such embodiment is illustrated inFIG. 4A , in which themoisture sensor 350 is housed partially inside the firmer 410 and extends slightly from a bottom surface of the firmer in order to engage the soil such that themoisture sensor 350 generates a signal related to the temperature of the soil at the bottom of thetrench 38. As illustrated in the rear elevation view ofFIG. 4B , themoisture sensor 350 preferably extends from the bottom of the firmer 410 at a transverse distance from the centerline of the firmer such that the moisture sensor does not contactseeds 42 passing beneath the bottom surface of the firmer. In another embodiment illustrated inFIG. 10 , themoisture sensor 350 includes twoco-planar capacitor plates region 1030 disposed above the capacitor plates 1020, theregion 1030 having a low permittivity (e.g., in embodiments in which theregion 1030 comprises an air cavity or a material having a low permittivity) or a high permittivity (e.g., in embodiments in which theregion 1030 contains a material having high permittivity). In other embodiments, one or more of themoisture sensors 350 may comprise a sensor disposed and configured to measure the moisture content of the soil without contacting the soil, e.g., one or more infrared or near-infra-red sensors disposed to measure electromagnetic waves generated by one or more emitters (e.g., light-emitting diodes) and reflected from the soil surface (e.g., the bottom of the trench 38). - Referring to
FIG. 3 , themonitor 50 is preferably in electrical communication with a mobile receiver 54 (e.g., a wireless data receiver) configured to receive data wirelessly (e.g., via a radio transmitter) from abase station 325 located in a field of interest. Turning toFIG. 24 , thebase station 325 preferably includes one ormore temperature probes base station 325 preferably includes one ormore moisture probes soil 40 in order to measure soil moisture at multiple depths. Each soil and moisture probe is preferably in electrical communication with aprocessor 2405. Theprocessor 2405 is preferably in communication with awireless transmitter 2415. Theprocessor 2405 is preferably configured to convert signals to a format suitable for transmission via thewireless transmitter 2415 and to transmit the resulting formatted signals via the wireless transmitter. Thebase station 325 preferably includes a digital rain gauge 2410 (e.g., an optical, acoustic or weighing-type gauge) and a digitalair temperature sensor 2412, both of which are preferably in electrical communication with theprocessor 2405. - In some embodiments, a temperature and/or moisture measurement may be made by a measurement unit independent of the
row units 200. An embodiment of ameasurement unit 2500 is illustrated inFIG. 25 . Themeasurement unit 2500 preferably includes acoulter 2530 disposed to open atrench 39 in thesoil 40; in some embodiments the measurement unit instead includes two angled opening discs disposed to open a more v-shaped trench). Thecoulter 2530 is preferably rollingly mounted to abracket 2540. Thebracket 2540 preferably has sufficient weight to urge thecoulter 2530 into the soil. A gauge wheel 2520 (or pair of gauge wheels) is preferably rollingly mounted to thebracket 2540 and disposed to ride along the surface of the soil, thus limiting the depth of thetrench 39. The depth of thetrench 39 is preferably set to a depth of interest; e.g., a default trench depth such as 1.75 inches. In some embodiments, themeasuring unit 2500 incorporates a depth adjustment actuator in electrical communication with themonitor 50 and configured to modify the vertical distance between the mounting points of thecoulter 2530 and thegauge wheel 2520 in order to adjust the trench depth. Thebracket 2540 is preferably mounted to thetoolbar 14 via a parallel arm arrangement 2526 such that the bracket is permitted to translate vertically with respect to the toolbar. Aspring 2518 is preferably mounted to the parallel arm arrangement in order to urge thecoulter 2530 into thesoil 40. A temperature and/ormoisture sensor 2550 is preferably mounted to the measurement unit 2500 (or in some embodiments the toolbar 14) and configured to measure temperature and/or moisture of soil in thetrench 39. As in the illustrated embodiment, thesensor 2550 may comprise a sensor configured to measure temperature and/or moisture without contacting the soil such as an infrared sensor. In other embodiments, thesensor 2550 may incorporate sensors configured to engage the soil at the bottom of thetrench 39 similar to those described herein, e.g., with respect toFIG. 4A . - Various methods disclosed herein in the section titled “Depth Control Methods” determine desired depths and/or desired depth adjustments. The actual adjustment of depth to the desired depth may be accomplished according to one of several methods as described in this section.
- In a first method, the
system 300 sends a command signal to the depth adjustment actuator 380 which corresponds to a desired depth or desired depth adjustment. The actuator 380 is preferably calibrated such that a set of depths and corresponding command signals are stored in the memory of themonitor 50. - In a second method, the
system 300 sends a command signal to the depth adjustment actuator 380 in order to increase or decrease the trench depth until the desired depth or depth adjustment has been indicated by thedepth actuator encoder 382. - In a third method, the
system 300 sends a command signal to the depth adjustment actuator 380 in order to increase or decrease the trench depth until the desired depth or depth adjustment has been indicated by adepth sensor 385 configured to measure the actual depth of the trench. In some embodiments, thedepth sensor 385 may comprise a sensor (or multiple sensors) disposed to measure a rotational position of thegauge wheel arms 260 relative to therow unit 200 as disclosed in Applicant's co-pending Provisional Patent Application No. 61/718,073, the disclosure of which is hereby incorporated herein in its entirety by reference. In other embodiments, thedepth sensor 385 comprises a sensor disposed to directly measure the depth of thetrench 38. One such embodiment is illustrated inFIG. 26 , in which thedepth sensor 385 includes aski 2610 configured to ride along the surface of the soil to the side of thetrench 38. In some embodiments, theski 2610 includes two ground-engaging portions disposed to ride the surface of the soil on either side of thetrench 38. Anarm 2620 is preferably mounted to an upper surface of a portion of the firmer 410 which engages thetrench 38. Thearm 2620 preferably extends through an aperture in theski 2610 such that the arm slides vertically relative to the ski as the firmer 410 deflects up and down. Amagnet 2640 is preferably mounted to thearm 2620. A Hall-effect sensor 2630 is preferably mounted to theski 2610. The Hall-effect sensor 2630 preferably comprises a circuit board including multiple Hall-effect sensors vertically spaced along a surface of the circuit board adjacent a plane defined by the range of motion of themagnet 2640. The Hall-effect sensor 2630 is preferably configured to generate a signal related to the position of themagnet 2640. The Hall-effect sensor 2630 is preferably in electrical communication with themonitor 50. Themonitor 50 is preferably configured to determine the depth of thetrench 38 based on the signal generated by the Hall-effect sensor 2630, for example, using an empirical lookup table. - The
system 300 preferably controls the depth of thetrench 38 in which seeds are planted according to various processes based on one or more measurements or data inputs obtained by thesystem 300. It should be appreciated that the trench depth for anindividual row unit 200 or group of row units may be controlled by measurements made by a sensor on the row unit or by a sensor on another row unit or remote from the row units 200 (e.g., on ameasurement unit 2500 as described herein) or remote from the implement 10 (e.g., on abase station 325 as described herein). Likewise, the depth control methods described herein may be used to control the trench depth for a single row unit or a group of row units. Thus, for example, a single temperature measurement may be made at asingle row unit 200 and used to determine a desired depth atmultiple row units 200. Additionally, the moisture measurements used in the processes described herein may be obtained either from one of the moisture sensors described herein or using multiple temperature measurements at multiple depths, e.g., by generating a best-fit linear temperature-depth relationship and consulting a lookup table or empirically-developed equation correlating the slope of the temperature-depth relationship to soil moisture. - A
process 500 for controlling trench depth based on soil moisture is illustrated inFIG. 5 . At step 505, thesystem 300 preferably commands the depth adjustment actuator 380 to set the trench depth to a default depth Dd, e.g., 1.75 inches. Atstep 510, thesystem 300 preferably monitors the signal from amoisture sensor 350. Atstep 515, thesystem 300 preferably compares the measured moisture M to a predetermined range, preferably defined by a low moisture Ml (e.g., 15%) and an high moisture Mh (e.g., 35%). Moisture values are expressed herein as a volumetric percentage of water content; it should be appreciated that other units or measures of soil moisture as are known in the art may be substituted for these values. If the moisture M is less than Ml, then atstep 520 thesystem 300 preferably determines whether the current depth D is less than or equal to a maximum depth Dmax (e.g., 2.25 inches); if it is, then atstep 525 thesystem 300 preferably increases the depth D by an increment (e.g., 0.175 inches) and again monitors the soil moisture; if not, then at step 505 thesystem 300 preferably sets the depth D to the default depth. If atstep 515 the moisture M is greater than Mh, then atstep 530 thesystem 300 preferably determines whether the current depth D is greater than or equal to a minimum depth Dmin (e.g., 1.25 inches); if it is, then atstep 535 thesystem 300 preferably decreases the depth D by an increment (e.g., 0.175 inches); if not, then atstep 510 thesystem 300 preferably again monitors the moisture measurement signal. If atstep 515 the current moisture M is between Ml and Mh, then atstep 517 thesystem 300 preferably retains the current depth setting D and returns to monitoring the moisture measurement signal. In some embodiments of themethod 500 reflected byalternate path 524, if M is greater than Mh and D is less than Dmin, the system adjusts the depth D to the default depth. In other embodiments of themethod 500 reflected byalternate path 522, if M is less than Ml and D is greater than Dmax, then thesystem 300 returns to monitoring the moisture measurement signal without adjusting the depth D to the default depth. - A
process 600 for controlling trench depth based on soil temperature is illustrated inFIG. 6 . At step 605, thesystem 300 preferably commands the depth adjustment actuator 380 to set the trench depth to a default depth, e.g., 1.75 inches. Atstep 610, thesystem 300 preferably monitors the signal from atemperature sensor 360. Atstep 615, thesystem 300 preferably compares the measured temperature T to a predetermined range, preferably defined by a low temperature Tl (e.g., 55 degrees Fahrenheit) and a high temperature Th (e.g., 65 degrees Fahrenheit). If the temperature T is greater than Th, then atstep 620 thesystem 300 preferably determines whether the current depth D is less than or equal to a maximum depth Dmax (e.g., 2.25 inches); if it is, then atstep 625 thesystem 300 preferably increases the depth D by an increment (e.g., 0.175 inches) and again monitors the soil temperature; if not, then at step 605 thesystem 300 preferably sets the depth D to the default depth. If atstep 615 the temperature T is less than Tl, then atstep 630 thesystem 300 preferably determines whether the current depth D is greater than or equal to a minimum depth Dmin (e.g., 1.25 inches); if it is, then atstep 635 thesystem 300 preferably decreases the depth D by an increment (e.g., 0.175 inches); if not, then atstep 610 thesystem 300 preferably again monitors the moisture measurement signal. If atstep 615 the current temperature T is between Tl and Th, then atstep 617 thesystem 300 preferably retains the current depth D and returns to monitoring the temperature measurement signal. In some embodiments of theprocess 600 reflected byalternate path 622, if T is greater than Th and D is greater than Dmax, thesystem 300 returns to monitoring the temperature measurement signal without adjusting the depth D to the default depth. In other embodiments of theprocess 600 reflected byalternate path 624, if T is less than Tl and D is less than Dmin, then thesystem 300 adjusts the depth D to the default depth before returning to monitoring the moisture measurement signal. In still other embodiments of theprocess 600 reflected byalternate path 626, if T is greater than Th and D is less than or equal to Dmax, then thesystem 300 returns to monitoring the temperature measurement signal without adjusting the depth D to the default depth. - In other embodiments of the
process 600, a stationary probe or on-planter temperature probe is configured and disposed to determine the soil temperature at a constant depth (e.g., 4 inches) Dc greater than or equal to Dmax. The system preferably compares the measured temperature at depth D to the measured temperature at Dc and determines a distribution of temperatures between D and Dc. The desired depth is then selected corresponding to a desired temperature within the distribution. - A
process 700 for controlling depth based on soil moisture and soil temperature is illustrated inFIG. 7 . Atstep 705, thesystem 300 preferably runs theprocess 500 and theprocess 600 simultaneously. The term “simultaneously” as used herein means that the processes generally run at the same time and does not require that any particular corresponding step in each process be carried out at or near the same time; however, in a preferred embodiment, after each cycle of theprocesses 500, 600 (the term “cycle” meaning, e.g., a sequence resulting in a depth change recommendation even if the recommendation is to retain the current depth) is completed, each process (e.g., process 500) preferably waits for the current cycle of the other process (e.g., process 600) to complete before moving on to step 710. Once bothprocesses step 710 thesystem 300 preferably determines whether one process is recommending a depth change while the other process is recommending a depth change; if so, atstep 715 thesystem 300 preferably follows the recommendation requesting a depth change. If not, then atstep 720 thesystem 300 preferably determines whether themoisture process 500 is recommending increased depth while thetemperature process 600 is requesting reduced depth; if not, then atstep 715 thesystem 300 preferably follows the recommendation requesting a depth change; if so, then atstep 725 thesystem 300 preferably adjusts the trench depth up and down by increments relative to the current depth setting (e.g., by 0.175 inches deeper and shallower than the current depth setting) in order to determine whether a threshold increase in moisture or temperature is obtained at depths above and below the current depth setting; after cycling up and down atstep 725, thesystem 300 preferably returns to the current depth setting. Atstep 730, thesystem 300 preferably determines whether temperature or moisture increases at the increased or reduced depths sampled atstep 725. If temperature does not increase by at least a threshold (e.g., 2 degrees Fahrenheit) at decreased depth but moisture increases by at least a threshold (e.g., 2%) at increased depth, then atstep 732 thesystem 300 preferably increases the depth by the increment recommended by themoisture process 500. If temperature increases by at least a threshold (e.g., 2 degrees Fahrenheit) at decreased depth but moisture does not increase by at least a threshold (e.g., 2%) at increased depth, then atstep 734 thesystem 300 preferably reduces the depth by the increment recommended by thetemperature process 600. In all other cases, atstep 736 thesystem 300 preferably retains the current depth setting. - Another
process 800 for controlling depth based on soil temperature and soil moisture is illustrated inFIG. 8 . Atstep 805, the system preferably runs theprocess 500 and theprocess 600 simultaneously. Atstep 810, after each cycle of theprocesses system 300 preferably waits until both processes have supplied a depth recommendation. Atstep 815, thesystem 300 preferably sums the recommended depth adjustment increments recommended by bothprocesses processes step 820, thesystem 300 preferably adjusts the depth setting by the summed increment. - A modified
process 800′ for controlling depth based on soil temperature and soil moisture is illustrated inFIG. 9 . The modifiedprocess 800′ is similar to theprocess 800, but atstep 812 multipliers are preferably applied to each of the incremental depth adjustments recommended by theprocesses processes - A
process 1100 for controlling depth based on soil data is illustrated inFIG. 11 . Atstep 1105, thesystem 300 preferably accesses soil data (e.g., a geo-referenced soil data map such as a shape file associating soil data with geo-referenced positions); themonitor 50 may obtain the soil data from thesoil data server 345, although in some embodiments the soil data may be stored in the memory of themonitor 50. Atstep 1110, thesystem 300 preferably compares a current location of the planter 10 (e.g., as reported by the GPS receiver 52) to the geo-referenced soil data in order to determine a soil characteristic (e.g., soil type) of the soil at the current location. Atstep 1115, thesystem 300 preferably determines a desired depth based on the retrieved soil data, e.g., using a lookup table relating desired depths to soil characteristic ranges. In one illustrative example, the lookup table may include a set of soil types, each associated with a desired depth; e.g., Ipava soil may be associated with a desired depth of 1.75 inches while Sable soil may be associated with a desired depth of 1.8 inches. In other embodiments, atstep 1115 thesystem 300 uses a formula to calculate a desired depth Dd based on the soil data, e.g., using the equation: -
D d=1.75+0.007×(C−10) - Where: C is the clay content of the soil, expressed as a percentage.
- At
step 1120 thesystem 300 preferably adjusts the trench depth to the desired depth. - A
process 1200 for controlling depth based on soil data and soil temperature is illustrated inFIG. 12 . Atstep 1205, thesystem 300 preferably accesses soil data as described above with respect to step 1105 ofprocess 1100. Atstep 1210, thesystem 300 preferably determines a soil characteristic by comparing the current location to the geo-referenced soil data as described above with respect to step 1110 ofprocess 1100. Atstep 1215, thesystem 300 preferably determines a temperature multiplier using a lookup table or equation relating temperature multipliers to soil characteristic ranges; e.g., a multiplier of 1.1 may be associated with Ipava soil while a multiplier of 0.9 may be associated with Sable soil. Atstep 1220, thesystem 300 preferably determines the current temperature from the temperature sensor signal. Atstep 1225, thesystem 300 preferably applies the temperature multiplier to the measured temperature. Atstep 1230, thesystem 300 preferably determines a recommended depth adjustment using the modified (multiplier-applied) temperature, e.g., using theprocess 600 described herein. Atstep 1235, thesystem 300 preferably applies the recommended depth adjustment. It should be appreciated that theprocess 1200 could be modified in order to control depth based on soil type and other measured soil characteristics such as soil moisture. In some embodiments, themonitor 50 consults a lookup table to determine values of Mh and Ml for the soil type corresponding to the current position of the row unit; e.g., the values of Mh, Ml may be 30%, 15% respectively for silt loam and 36%, 20% respectively for sandy clay loam. - A
process 1300 for controlling depth based on weather data is illustrated inFIG. 13 . Atstep 1305, thesystem 300 preferably accesses weather data, e.g. from theweather data server 340. Thesystem 300 then determines a desired depth based on the weather data, which may include, inter alia, predicted precipitation, predicted air temperature, past precipitation, or past air temperature. In the illustrated example, atstep 1310 thesystem 300 obtains the predicted air temperature and determines the number of growing degree days G between the time of planting and the time of germination, e.g., using the equation below in which preferred values are specified for corn: -
-
- Where: N is the number of days between planting to germination, e.g. 5;
- Tmax is the maximum predicted temperature in Fahrenheit during each successive 24-hour period following the time of planting;
- Tmin is the minimum predicted temperature in Fahrenheit during each successive 24-hour period following the time of planting, or Tbase if the minimum predicted temperature is less than Tbase; and
- Tbase is the base temperature for the seed, e.g., 50 degrees Fahrenheit.
- Where: N is the number of days between planting to germination, e.g. 5;
- Once the number of predicted growing degree days is determined, at
step 1315 thesystem 300 preferably determines a desired depth based on the number of predicted growing days. In some embodiments, thesystem 300 consults a lookup table stored in the memory of themonitor 50; for example, a depth of 1.75 inches may be desired for growing degree days greater than 30, a depth of 1.5 inches may be desired for growing degree days between 15 and 30, and a depth of 1.25 inches may be desired for growing degree days between 0 and 15 degrees. It should be appreciated that a shallower depth is generally desired for lesser growing degree day values. Atstep 1335, thesystem 300 preferably adjusts the trench depth to the desired depth determined atstep 1315. - A
process 1400 for controlling depth based on weather data and soil temperature is illustrated inFIG. 14 . Atstep 1405, thesystem 300 preferably accesses weather data as described above with respect toprocess 1300. Atstep 1410, thesystem 300 preferably determines a number of growing degree days as described above with respect toprocess 1300. Atstep 1415, thesystem 300 preferably determines the current temperature based on the signal received from thetemperature sensor 360. Atstep 1420, thesystem 300 preferably applies a multiplier to the measured temperature; the multiplier is preferably based on the number of growing degree days calculated atstep 1410. For example, a multiplier of 1 may be applied for growing degree days greater than 15 and a multiplier of 0.8 may be applied for growing degree days less than 15; it should be appreciated that resulting modified soil temperature is preferably smaller for smaller growing degree day values. Atstep 1425, thesystem 300 preferably determines a recommended depth adjustment based on the modified (multiplier-applied) temperature, e.g., using theprocess 600 described herein. Atstep 1430, thesystem 300 preferably adjusts the trench depth according to the adjustment determined atstep 1425. - A
process 1500 for controlling depth based on data received from thebase station 325 is illustrated inFIG. 15 . Atstep 1505, thesystem 300 preferably receives temperature measurements at multiple depths from thebase station 325. Atstep 1510, thesystem 300 preferably determines an empirical relationship between depth and temperature, e.g., by determining a linear or other equation that best fits the temperature measurements at thebase station 325. Atstep 1515, thesystem 300 preferably receives moisture measurements at multiple depths from thebase station 325. Atstep 1520, thesystem 300 preferably determines an empirical relationship between depth and moisture, e.g., by determining a linear or other equation that best fits the moisture measurements at thebase station 325. Atstep 1525, thesystem 300 preferably determines a desired depth based on the moisture and depth measurements received from thebase station 325. In some embodiments, thesystem 300 selects a depth at which the loss L resulting from a lack of moisture and temperature is minimized, e.g., where the loss L is determined by the equation: -
L=L m +L t -
- Where: Lt=Tl−T for T<Tl, Lt=0 for T≥Tl;
- Lm=15−Ml for M<Ml, Lm=0 for M≥Ml;
- Ml is the minimum moisture level as described elsewhere herein, e.g., 15%; and
- Tl is the minimum temperature described elsewhere herein, e.g., 50 degrees F.
- Where: Lt=Tl−T for T<Tl, Lt=0 for T≥Tl;
- The
system 300 preferably selects a depth corresponding to the minimum L-value for all depths between the maximum depth Dmax and minimum depth Dmin. If the minimum value of L is within a threshold (e.g., 5%) of the maximum L-value, then thesystem 300 preferably selects a default depth (e.g., 1.75 inches) instead of the depth corresponding to the minimum L-value. Atstep 1530, thesystem 300 preferably adjusts the trench depth to the depth selected atstep 1525. - A
process 1600 for controlling depth based on soil and moisture data and weather data is illustrated inFIG. 16 . Atstep 1605, thesystem 300 preferably receives temperature measurements at multiple depths from thebase station 325 as described above with respect to theprocess 1500. Atstep 1610, thesystem 300 preferably determines an empirical relationship between temperature and depth as described above with respect to theprocess 1500. Atstep 1615, thesystem 300 preferably receives moisture measurements at multiple depths from thebase station 325 as described above with respect to theprocess 1500. Atstep 1620, thesystem 300 preferably determines an empirical relationship between moisture and depth as described above with respect to theprocess 1500. Atstep 1625, thesystem 300 receives temperature data, preferably from thebase station 325 and/or theweather data server 340. The temperature data may include past recorded air temperature (e.g., recorded local air temperature during the previous 24 hours) as well as forecasted air temperature (e.g., forecasted local air temperature during the following 60 hours); the temperature data may also include recorded cloud conditions and forecasted cloud conditions. Atstep 1630, thesystem 300 preferably adjusts the temperature-depth relationship based on the temperature data. For example, in some embodiments thesystem 300 may adjust the temperature-depth relationship based on the local air temperature recorded during a period prior to planting and the forecasted temperature during the germination period (e.g., 60 hours) after planting. In one such embodiment, thesystem 300 modifies the temperature-depth relationship T(d) to a modified temperature-depth relationship T′(d) using the equation: -
-
- Where: A(h) is air temperature as a function of time in hours h;
- Hp is the number of hours prior to planting over which recorded air temperature is used; and
- Hf is the number of hours after planting over which forecasted air temperature is used.
- Where: A(h) is air temperature as a function of time in hours h;
- Continuing to refer to process 1600 of
FIG. 16 , atstep 1635 thesystem 300 receives precipitation data, preferably from thebase station 325 and/or theweather data server 340. The precipitation data may include past recorded rainfall (e.g., recorded local rainfall during the previous 24 hours) as well as forecasted rainfall (e.g., forecasted local rainfall during the following 60 hours). Atstep 1640, thesystem 300 preferably adjusts the moisture-depth relationship based on the precipitation data. For example, in some embodiments thesystem 300 may adjust the moisture-depth relationship based on local rainfall recorded during a period prior to planting and the forecasted rainfall during the germination period (e.g., 60 hours) after planting. In one such embodiment, thesystem 300 modifies the moisture-depth relationship M(d) to a modified moisture-depth relationship M′(d) using the equation: -
-
- Where: R(h) is rainfall as a function of time in hours h;
- Hp is the number of hours prior to planting over which recorded rainfall is used; and
- Hf is the number of hours after planting over which forecasted rainfall is used.
- Where: R(h) is rainfall as a function of time in hours h;
- Continuing to refer to process 1600 of
FIG. 16 , atstep 1645 thesystem 300 preferably determines a desired depth based on the modified temperature-depth and modified moisture-depth relationships generated atsteps step 1645 is carried out as described herein with respect to step 1525 ofprocess 1500. At step 1650, thesystem 300 preferably adjusts the trench depth to the desired depth. - As illustrated in
FIG. 17 , themonitor 50 is preferably configured to display ascreen 1700 displaying spatial soil temperature data. Thescreen 1700 preferably displays the live position of theplanter 10 and each of the associated row units 200 (numbered 1 through 4 inFIG. 17 ). In the embodiment ofFIG. 17 , temperature measurements are made at eachrow unit 200. Each temperature measurement is preferably time-stamped and associated with a GPS position; thescreen 1700 preferably displays resulting temperature-location data points legend 1710. Aninterface 90 preferably enables the user to navigate between map screens. - As illustrated in
FIG. 18 , themonitor 50 is preferably configured to display ascreen 1800 displaying spatial soil moisture data. Thescreen 1800 preferably displays the live position of theplanter 10 and each of the associated row units 200 (numbered 1 through 4 inFIG. 18 ). In the embodiment ofFIG. 18 , moisture measurements are made at eachrow unit 200. Each moisture measurement is preferably time-stamped and associated with a GPS position; thescreen 1800 preferably displays resulting moisture-location data points legend 1810. - As illustrated in
FIG. 19 , themonitor 50 is preferably configured to display ascreen 1900 displaying spatial trench depth data. Thescreen 1900 preferably displays the live position of theplanter 10 and each of the associated row units 200 (numbered 1 through 4 inFIG. 19 ). In the embodiment ofFIG. 19 , trench depth measurements (or records of commanded trench depth) are made at eachrow unit 200. Each trench depth measurement is preferably time-stamped and associated with a GPS position; thescreen 1900 preferably displays resulting depth-location data points legend 1910. - In some embodiments, the
screens - Turning to
FIG. 20 , themonitor 50 is preferably configured to display agermination summary screen 2000. Awindow 2005 preferably displays the percentage of seeds S planted at a desired moisture level, which themonitor 50 preferably calculates according to the equation: -
-
- Where: St is the total number of seeds planted during the current planting operation (e.g., in the current field); and
- Sm is the number of seeds planted within a threshold distance (e.g., 6 inches) of a GPS location associated with a moisture measurement of at least a threshold value (e.g., 15%).
- Where: St is the total number of seeds planted during the current planting operation (e.g., in the current field); and
- In embodiments of the
system 300 having amoisture sensor 350 at each row, the value of Sm is preferably determined on a row-by-row basis and then summed. In embodiments havingfewer moisture sensors 350 thanrow units 200, each moisture sensor is associated with one or more row units and the value of Sm is determined on a row-by-row basis with each row unit using the moisture measurements of its associated moisture sensor. Themonitor 50 also determines the value of S for each individual row and identifies the row having the lowest value of S inwindow 2005. - The
germination summary screen 2000 also preferably includes awindow 2010 displaying the percentage of seeds R planted at a desired temperature, which themonitor 50 preferably calculates according to the equation: -
-
- Where: Rt is the number of seeds planted within a threshold distance (e.g., 6 inches) of a GPS location associated with a temperature measurement of at least a threshold value (e.g., 55 degrees Fahrenheit).
- In embodiments of the
system 300 having atemperature sensor 360 at each row, the value of Rm is preferably determined on a row-by-row basis and then summed. In embodiments havingfewer temperature sensors 360 thanrow units 200, each temperature sensor is associated with one or more row units and the value of Rm is determined on a row-by-row basis with each row unit using the temperature measurements of its associated temperature sensor. Themonitor 50 also determines the value of R for each individual row and identifies the row having the lowest value of R inwindow 2010. - The
screen 2000 also preferably includes awindow 2015 displaying an estimate of the probability P of successful germination of seeds planted during the current planting operation (e.g., in the current field), which themonitor 50 preferably calculates using the equation: -
- In embodiments of the
system 300 having moisture sensors but no temperature sensors, themonitor 50 preferably calculates the germination probability P using the equation: -
- In embodiments of the
system 300 having moisture sensors but no temperature sensors, themonitor 50 preferably calculates the germination probability P using the equation: -
- Continuing to refer to
FIG. 20 , thescreen 2000 preferably includes awindow 2020 displaying the average of the current moisture measurements obtained from themoisture sensors 350. Thewindow 2020 preferably identifies the row unit or section (i.e., group of row units associated with a single moisture sensor 350) from which the lowest moisture measurement is obtained. Thescreen 2000 preferably includes awindow 2025 displaying the average of the current temperature measurements obtained from thetemperature sensors 360. Thewindow 2025 preferably identifies the row unit or section (i.e., group of row units associated with a single temperature sensor 360) from which the lowest temperature measurement is obtained. Thescreen 2000 also preferably includes awindow 2030 displaying the current average depth setting commanded to the depth adjustment actuators 380 (or in some embodiments, the current average actual depth measurement obtained from depth sensors 385). Thewindow 2030 also preferably identifies the row units having the shallowest and deepest trench depths. Thescreen 2000 also preferably includes aninterface 2040 enabling the user to navigate to row detail screens described later herein. - Continuing to refer to
FIG. 20 , thescreen 2000 preferably includes aplanting recommendation window 2035 displaying a recommendation indicating whether planting is recommended (e.g., “Keep Planting”) or not recommended (e.g., “Stop Planting”). Themonitor 50 preferably determines which recommendation to display based on current moisture and/or temperature measurements made by thesystem 300 or the average measurements made during the current planting operation (e.g., in the current field). In some embodiments the monitor recommends planting only if the loss L (calculated as described above) is less than a threshold, e.g., 20. In embodiments in which thesystem 300 includesmoisture sensors 350 but notemperature sensors 360, themonitor 50 preferably recommends planting only if the moisture measurement displayed inwindow 2020 is greater than a threshold, e.g., 15%. In embodiments in which thesystem 300 includestemperature sensors 360 but nomoisture sensors 350, themonitor 50 preferably recommends planting only if the temperature measurement displayed inwindow 2025 is greater than a threshold, e.g., 55 degrees Fahrenheit. - It should be appreciated that the moisture and temperature values displayed in the
screen 2000 and used to calculate the germination potential value (window 2015) and determine the planting recommendation (window 2035) may be adjusted based on weather data as described earlier herein. - Turning to
FIG. 21 , themonitor 50 is preferably configured to display a row byrow summary screen 2100. Thescreen 2100 preferably includes agraph 2110 illustrating the trench depth at each row unit, agraph 2130 illustrating the moisture measured at each row unit, agraph 2120 illustrating the germination potential determined for each row unit, and agraph 2140 illustrating the temperature measured at each row unit. - Turning to
FIG. 22 , themonitor 50 is preferably configured to display a row detailsscreen 2200 for eachrow unit 200. The row details screen preferably includeswindows windows screen 2000. - Turning to
FIG. 23 , themonitor 50 is preferably configured to display asetup screen 2300 enabling the user to vary the parameters used in the depth control processes described herein. Thescreen 2300 preferably includes adepth interface 2310 for setting the minimum depth Dmin, the default depth Dd, and the maximum depth Dmax. Thescreen 2300 preferably includes atemperature interface 2320 for setting the high temperature Th and the low temperature Tl. Thescreen 2300 preferably includes amoisture interface 2330 for setting a high moisture Mh and a low moisture Ml. Thescreen 2300 preferably includes aninterface 2340 enabling the user to select which variables are used to control depth. Themonitor 50 is preferably configured to select a depth control process which uses the variables selected by the user as in puts and does not require the variables not selected by the user. For example, if the user selects only “Live Moisture”, thesystem 300 preferably uses theprocess 500 to control trench depth, whereas if the user selects only “Live Moisture” and “Live Temperature”, thesystem 300 preferably uses one of theprocesses - Continuing to refer to
FIG. 23 , thescreen 2300 preferably includes adepth control interface 2350 enabling allowing the user to turn off all of the depth control processes (e.g., by selecting “Off”) such that thesystem 300 leaves the trench depth at eachrow unit 200 at the current setting (or in some embodiments, returns each row unit to the default depth Dd). Thescreen 2300 also preferably includes auser approval interface 2360 enabling the user to select whether themonitor 50 requests user approval before requesting. If the user selects “On” in theinterface 2360, then themonitor 50 preferably prompts the user to approve or reject changes in depth requested by the depth control processes described herein (e.g., by a window superimposed over the active screen). - Turning to
FIG. 27 , themonitor 50 is preferably configured to display ascreen 2700 for manually setting trench depth and preferably for viewing moisture and temperature data. Thescreen 2700 preferably displays a graph 2710 illustrating the relationship between depth and moisture and between depth and temperature. The depth-temperature relationship illustrated in the graph 2710 is preferably generated by averaging the temperature measurements made by thesystem 300 at various depths. The depth-moisture relationship illustrated in thegraph 2720 is preferably generated by averaging the moisture measurements made by thesystem 300 at various depths. It should be appreciated that thegraph 2620 assists the user in selecting a depth at which the desired moisture and temperature are available. Thescreen 2700 preferably displays a depth interface (e.g., a sliding interface as illustrated) allowing the user to set a trench depth; thesystem 300 preferably adjusts the trench depth at each row unit to the manually selected trench depth if a manual override interface 2605 is set to “On”. - The foregoing description is presented to enable one of ordinary skill in the art to make and use the invention and is provided in the context of a patent application and its requirements. Various modifications to the preferred embodiment of the apparatus, and the general principles and features of the system and methods described herein will be readily apparent to those of skill in the art. Thus, the present invention is not to be limited to the embodiments of the apparatus, system and methods described above and illustrated in the drawing figures, but is to be accorded the widest scope consistent with the spirit and scope of the appended claims.
Claims (32)
1. A system for measuring multiple soil properties on-the-go, comprising:
an implement for traversing a field; an optical module carried by said implement for collecting soil reflectance data from soil in said field;
a soil electrical conductivity measurement device carried by said implement for collecting soil electrical conductivity data from soil in said field;
a soil moisture measurement device carried by said implement for collecting soil moisture data from soil in said field;
whereby said optical module, said soil electrical conductivity measurement device and said soil moisture measurement device are arranged to measure soil reflectance, soil electrical conductivity and soil moisture, respectively, at approximately the same soil depth;
wherein said soil electrical conductivity measurement device and said soil moisture measurement device are arranged to measure soil electrical conductivity and soil moisture, respectively, in proximity to said optical module;
wherein said soil electrical conductivity measurement device and said soil moisture measurement device include at least one soil contact member carried by said implement, said at least one soil contact member being arranged for collecting both soil electrical conductivity data and soil moisture data from soil in said field; and
wherein said optical module includes a hardened wear plate with a window, and wherein said at least one soil contact member protrudes from or is exposed on a bottom side of said hardened wear plate.
2. The system according to claim 1 , wherein said at least one soil contact member includes two metal soil contact blades protruding from the bottom side of said hardened wear plate.
3. A system for measuring multiple soil properties on-the-go, comprising:
an implement for traversing a field;
an optical module carried by said implement for collecting soil reflectance data from soil in said field;
a soil electrical conductivity measurement device carried by said implement for collecting soil electrical conductivity data from soil in said field;
a soil moisture measurement device carried by said implement for collecting soil moisture data from soil in said field; and
means for calibrating said soil electrical conductivity data based on said soil moisture data to minimize the effect of soil moisture variations on said soil electrical conductivity data;
said optical module, said soil electrical conductivity measurement device and said soil moisture measurement device are arranged to measure soil reflectance, soil electrical conductivity and soil moisture, respectively, at approximately the same soil depth.
4. A system for measuring soil properties on-the-go, comprising:
an implement for traversing a field;
a sensor carried by said implement for measuring at least one soil property, said sensor including at least one of an optical module for collecting soil reflectance data, a soil electrical conductivity measurement device for collecting soil electrical conductivity data, and a soil moisture measurement device for collecting soil moisture data; and
means for measuring a depth of operation of said sensor on-the-go while said sensor is measuring said at least one soil property;
wherein said sensor further includes an optical module arranged for collecting soil reflectance data from soil in said field; and
wherein said optical module includes a hardened wear plate with a window that protrudes from or is embedded in a bottom side of said hardened wear plate; and wherein said sensor further includes at least one soil contact member for collecting soil electrical conductivity data and/or soil moisture data.
5. The system according to claim 4 , wherein said at least one soil contact member includes two metal soil contact blades protruding from the bottom side of said hardened wear plate.
6. A system for measuring multiple soil properties on-the-go, comprising:
an implement for traversing a field;
at least one soil contact member carried by said implement, said at least one soil contact member being arranged for collecting data of both soil electrical conductivity and soil moisture from soil in said field; and
a phase lock loop connected to said at least one soil contact member for capturing readings of both soil electrical conductivity and soil moisture simultaneously.
7. An agricultural planter, comprising:
a planter row unit having a furrow opener for creating a furrow in which seeds are deposited;
an optical measurement device for collecting soil reflectance data;
a soil electrical conductivity measurement device for collecting soil electrical conductivity data;
a soil moisture measurement device for collecting soil moisture data; and
means for varying a seeding rate of the planter on-the-go based on the data collected by said optical measurement device, said soil electrical conductivity measurement device and said soil moisture measurement device.
8. The agricultural planter according to claim 7 , further comprising:
means for determining an available water holding capacity of the soil based on said data collected by said optical module, said soil electrical conductivity measurement device, and said soil moisture measurement device; and
wherein said means for varying a seeding rate includes means for varying said seeding rate based on said determined available water holding capacity.
9. An agricultural planter, comprising:
a planter row unit having a furrow opener for creating a furrow in which seeds are deposited;
a sensor for collecting measurements of at least one soil property; and
a controller for varying a seeding rate of said planter on-the-go based on said measurements collected by said sensor.
10. The agricultural planter according to claim 9 , wherein said sensor is selected from the group consisting of: an optical measurement device for collecting soil reflectance data, a soil electrical conductivity measurement device for collecting soil electrical conductivity data, and a soil moisture measurement device for collecting soil moisture data.
11. The agricultural planter according to claim 9 , wherein said sensor includes an optical measurement device for collecting soil reflectance data, and a soil electrical conductivity measurement device for collecting soil electrical conductivity data.
12. The agricultural planter according to claim 11 , wherein said sensor further includes a soil moisture measurement device for collecting soil moisture data.
13. The agricultural planter according to claim 12 , wherein said controller includes means for varying a seeding rate of said planter on-the-go based on said data collected by said optical measurement device, said soil electrical conductivity measurement device and said soil moisture measurement device.
14. The agricultural planter according to claim 13 , further comprising:
means for determining an available water holding capacity of the soil based on the data collected by said optical measurement device, said soil electrical conductivity measurement device, and said soil moisture measurement device, and
wherein said means for varying a seeding rate includes means for varying said seeding rate based on said determined available water holding capacity.
15. The agricultural planter according to claim 9 , wherein said sensor comprises an optical measurement device for collecting soil reflectance data, and a soil moisture measurement device for collecting soil moisture data.
16. The agricultural planter according to claim 9 , wherein said sensor includes a soil electrical conductivity measurement device for collecting soil electrical conductivity data, and a soil moisture measurement device for collecting soil moisture data.
17. The agricultural planter according to claim 9 , wherein said sensor includes a soil electrical conductivity measurement device for collecting soil electrical conductivity data.
18. The agricultural planter according to claim 9 , wherein said sensor includes a soil moisture measurement device for collecting soil moisture data.
19. The agricultural planter according to claim 9 , wherein said sensor includes an optical measurement device for collecting soil reflectance data.
20. An agricultural planter, comprising:
a planter row unit having a furrow opener for creating a furrow in which seeds are deposited;
an optical measurement device for collecting soil reflectance data on-the-go as the agricultural planter traverses a field;
a soil EC measurement device for collecting soil EC data on-the-go as the agricultural planter traverses a field;
a soil moisture measurement device for collecting soil moisture data on-the-go as the agricultural planter traverses a field; and
a means for varying a seeding rate of the agricultural planter on-the-go based on the data collected on-the-go by said optical measurement device, said soil EC measurement device and said soil moisture measurement device.
21. The agricultural planter according to claim 20 , further comprising a means for determining an available water holding capacity of the soil based on the data collected by said optical module, said soil EC measurement device, and said soil moisture measurement device, and wherein said means for varying a seeding rate comprises a means for varying the seeding rate based on said determined available water holding capacity.
22. An agricultural planter, comprising:
a planter row unit having a furrow opener for creating a furrow in which seeds are deposited;
a sensor on the agricultural planter for collecting measurements of at least one soil property on-the-go as the agricultural planter traverses a field; and
a controller for varying a seeding rate of the agricultural planter on-the-go based on the measurements collected by said sensor.
23. The agricultural planter according to claim 22 , wherein said sensor is selected from the group consisting of: an optical measurement device for collecting soil reflectance data, a soil EC measurement device for collecting soil EC data, and a soil moisture measurement device for collecting soil moisture data.
24. The agricultural planter according to claim 22 , wherein said sensor comprises an optical measurement device for collecting soil reflectance data, and a soil EC measurement device for collecting soil EC data.
25. The agricultural planter according to claim 24 , wherein said sensor further comprises a soil moisture measurement device for collecting soil moisture data.
26. The agricultural planter according to claim 25 , wherein said controller comprises a means for varying a seeding rate of the planter on-the-go based on the data collected by said optical measurement device, said soil EC measurement device and said soil moisture measurement device.
27. The agricultural planter according to claim 22 , wherein said sensor comprises an optical measurement device for collecting soil reflectance data, and a soil moisture measurement device for collecting soil moisture data.
28. The agricultural planter according to claim 22 , wherein said sensor comprises a soil EC measurement device for collecting soil EC data, and a soil moisture measurement device for collecting soil moisture data.
29. The agricultural planter according to claim 22 , wherein said sensor comprises a soil EC measurement device for collecting soil EC data.
30. The agricultural planter according to claim 22 , wherein said sensor comprises a soil moisture measurement device for collecting soil moisture data.
31. The agricultural planter according to claim 22 , wherein said sensor comprises an optical measurement device for collecting soil reflectance data.
32. An agricultural planter, comprising:
a planter row unit having a furrow opener for creating a furrow in which seeds are deposited;
a sensor for collecting measurements of at least one soil property; and
a controller for varying a seeding rate of the agricultural planter on-the-go based on the measurements collected by said sensor;
wherein said sensor comprises an optical measurement device for collecting soil reflectance data, and a soil EC measurement device for collecting soil EC data;
wherein said sensor further comprises a soil moisture measurement device for collecting soil moisture data;
wherein said controller comprises a means for varying a seeding rate of the planter on-the-go based on the data collected by said optical measurement device, said soil EC measurement device and said soil moisture measurement device; and
further comprising a means for determining an available water holding capacity of the soil based on the data collected by said optical measurement device, said soil EC measurement device, and said soil moisture measurement device, and
wherein said controller comprises a means for varying the seeding rate based on said determined available water holding capacity.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US17/660,957 US20220248592A1 (en) | 2013-03-14 | 2022-04-27 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361783591P | 2013-03-14 | 2013-03-14 | |
PCT/US2014/029352 WO2014153157A1 (en) | 2013-03-14 | 2014-03-14 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
US201514776504A | 2015-09-14 | 2015-09-14 | |
US15/908,103 US10609857B2 (en) | 2013-03-14 | 2018-02-28 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
US16/535,063 US20190357421A1 (en) | 2013-03-14 | 2019-08-07 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
US17/660,957 US20220248592A1 (en) | 2013-03-14 | 2022-04-27 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US16/535,063 Division US20190357421A1 (en) | 2013-03-14 | 2019-08-07 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
Publications (1)
Publication Number | Publication Date |
---|---|
US20220248592A1 true US20220248592A1 (en) | 2022-08-11 |
Family
ID=51581432
Family Applications (6)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/776,504 Active 2035-01-20 US9943027B2 (en) | 2013-03-14 | 2014-03-14 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
US15/908,103 Active US10609857B2 (en) | 2013-03-14 | 2018-02-28 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
US16/249,890 Active 2034-03-27 US11134604B2 (en) | 2013-03-14 | 2019-01-16 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
US16/535,063 Abandoned US20190357421A1 (en) | 2013-03-14 | 2019-08-07 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
US17/147,766 Abandoned US20210127555A1 (en) | 2013-03-14 | 2021-01-13 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
US17/660,957 Pending US20220248592A1 (en) | 2013-03-14 | 2022-04-27 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
Family Applications Before (5)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/776,504 Active 2035-01-20 US9943027B2 (en) | 2013-03-14 | 2014-03-14 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
US15/908,103 Active US10609857B2 (en) | 2013-03-14 | 2018-02-28 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
US16/249,890 Active 2034-03-27 US11134604B2 (en) | 2013-03-14 | 2019-01-16 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
US16/535,063 Abandoned US20190357421A1 (en) | 2013-03-14 | 2019-08-07 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
US17/147,766 Abandoned US20210127555A1 (en) | 2013-03-14 | 2021-01-13 | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring |
Country Status (9)
Country | Link |
---|---|
US (6) | US9943027B2 (en) |
EP (4) | EP2966964B1 (en) |
AU (4) | AU2014236244B2 (en) |
BR (1) | BR112015022649B1 (en) |
CA (3) | CA3104980A1 (en) |
LT (4) | LT2966964T (en) |
UA (1) | UA118026C2 (en) |
WO (1) | WO2014153157A1 (en) |
ZA (1) | ZA201506767B (en) |
Families Citing this family (101)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES2803227T3 (en) | 2011-06-03 | 2021-01-25 | Prec Planting Llc | Agricultural implement carrier apparatus, systems and methods |
EP2966964B1 (en) * | 2013-03-14 | 2018-05-09 | Precision Planting LLC | Systems for agricultural implement trench depth control and soil monitoring |
US9629304B2 (en) * | 2013-04-08 | 2017-04-25 | Ag Leader Technology | On-the go soil sensors and control methods for agricultural machines |
US9651536B1 (en) | 2013-04-15 | 2017-05-16 | Veris Technologies, Inc. | Method and system for measuring multiple soil properties |
US20150234767A1 (en) | 2013-09-23 | 2015-08-20 | Farmobile, Llc | Farming data collection and exchange system |
EP3139724B1 (en) * | 2014-05-08 | 2018-10-17 | The Climate Corporation | Systems, methods, and apparatus for soil and seed monitoring |
US10785905B2 (en) | 2014-05-08 | 2020-09-29 | Precision Planting Llc | Liquid application apparatus comprising a seed firmer |
US9750176B2 (en) | 2014-08-07 | 2017-09-05 | Cnh Industrial America Llc | Closing system for an agricultural implement |
US11197411B2 (en) * | 2014-11-07 | 2021-12-14 | Dawn Equipment Company | Agricultural planting system with automatic depth control |
WO2016123466A1 (en) * | 2015-01-30 | 2016-08-04 | The Climate Corporation | Soil quality measurement device |
WO2016187540A1 (en) * | 2015-05-20 | 2016-11-24 | Kinze Manufacturing, Inc. | Row unit with shank opener |
RU2731510C2 (en) * | 2015-06-15 | 2020-09-03 | ПРЕСИЖН ПЛЭНТИНГ ЭлЭлСи | Systems, methods and devices for adding agricultural fluid |
US10561059B2 (en) | 2015-06-15 | 2020-02-18 | Precision Planting Llc | Systems, methods, and apparatus for agricultural liquid application |
CN108024498B (en) * | 2015-06-15 | 2022-09-20 | 精密种植有限责任公司 | Agricultural liquid application systems, methods and devices |
US9674998B2 (en) | 2015-06-30 | 2017-06-13 | Cnh Industrial America Llc | Vertically offset gauge wheels and associated control rocker |
CA2990438A1 (en) | 2015-06-30 | 2017-01-05 | The Climate Corporation | Systems and methods for image capture and analysis of agricultural fields |
RU2613907C2 (en) * | 2015-09-14 | 2017-03-21 | Федеральное государственное бюджетное учреждение науки Институт мониторинга климатических и экологических систем Сибирского отделения Российской академии наук (ИМКЭС СО РАН) | Method for monitoring soil parameters |
US9801332B2 (en) | 2015-09-30 | 2017-10-31 | Deere & Company | System and method for consistent depth seeding to moisture |
US9675004B2 (en) * | 2015-09-30 | 2017-06-13 | Deere & Company | Soil moisture-based planter downforce control |
US9693496B2 (en) * | 2015-09-30 | 2017-07-04 | Deere & Company | Agricultural planting depth sensor |
US10375879B2 (en) * | 2015-10-02 | 2019-08-13 | Deere & Company | Soil characteristic sensors on ground-engaging elements of a planting machine |
ZA201800192B (en) | 2016-01-18 | 2019-06-26 | Climate Corp | Agricultural operation monitoring apparatus, systems and methods |
UA127011C2 (en) | 2016-02-19 | 2023-03-15 | Пресіжн Плентінг Елелсі | Agricultural trench depth systems, methods, and apparatus |
CA3189260A1 (en) | 2016-05-13 | 2017-11-16 | Precision Planting Llc | Seed trench closing sensors |
US10462956B2 (en) | 2016-06-28 | 2019-11-05 | Agco Corporation | Down force control to allow for easier depth adjustment |
WO2018013858A1 (en) | 2016-07-14 | 2018-01-18 | Precision Planting Llc | Systems, implements, and methods for seed orientation with adjustable singulators during planting |
US11324162B2 (en) | 2016-07-14 | 2022-05-10 | Precision Planting Llc | Seed firmer for seed orientation adjustment in agricultural fields |
BR112019000484B1 (en) | 2016-07-14 | 2022-05-17 | Precision Planting Llc | Seed guidance system, row unit, and implement for planting operations |
CN109714947B (en) | 2016-07-14 | 2022-10-11 | 精密种植有限责任公司 | System, tool and method for passive seed orientation in agricultural fields |
UA127015C2 (en) | 2016-07-22 | 2023-03-15 | Пресіжн Плентінг Елелсі | Agricultural trench depth sensing systems, methods, and apparatus |
US11516959B2 (en) | 2017-07-24 | 2022-12-06 | Precision Planting, Llc | Agricultural trench depth sensing systems, methods, and apparatus |
US9936631B1 (en) | 2016-09-30 | 2018-04-10 | Deere & Company | Device and method for detecting and reporting seed placement |
BR112019006581B1 (en) * | 2016-11-03 | 2023-02-07 | Agco Corporation | ROW UNIT AND CLOSING WHEEL CONTROL SYSTEM |
WO2018085452A1 (en) | 2016-11-07 | 2018-05-11 | FarmX Inc. | Systems and Methods for Soil Modeling and Automatic Irrigation Control |
US10533956B2 (en) | 2016-12-14 | 2020-01-14 | FarmX Inc. | Multi-depth soil moisture monitoring systems and methods to evaluate soil type, packaged in small round polyvinyl chloride tube, with potting and rodent protection, for effective measurements and installation |
WO2018118716A1 (en) * | 2016-12-19 | 2018-06-28 | The Climate Corporation | Systems, methods and apparatus for soil and seed monitoring |
US10746720B2 (en) | 2017-01-13 | 2020-08-18 | FarmX Inc. | Soil moisture monitoring systems and methods for measuring mutual inductance of area of influence using radio frequency stimulus |
US11519896B2 (en) | 2017-01-13 | 2022-12-06 | FarmX Inc. | Soil moisture monitoring systems and methods for measuring mutual inductance of area of influence using radio frequency stimulus |
US10257973B2 (en) | 2017-02-14 | 2019-04-16 | Deere & Company | Row planter unit with sensor-mounted furrow shaper |
US10444176B2 (en) | 2017-02-17 | 2019-10-15 | Deere & Company | Sensing system for measuring soil properties in real time |
US10375878B2 (en) | 2017-04-25 | 2019-08-13 | The Climate Corporation | Plot placement systems and methods |
US10820475B2 (en) * | 2017-04-27 | 2020-11-03 | Cnh Industrial America Llc | Agricultural implement and procedure for on-the-go soil nitrate testing |
EP3637976A1 (en) | 2017-07-28 | 2020-04-22 | Kinze Manufacturing, Inc. | Agricultural implement and row units including double acting actuator systems, methods, and apparatus |
CA3070801A1 (en) * | 2017-09-05 | 2019-03-14 | Precision Planting Llc | Targeted fluid/solid dispensing based on sensed seed data or sensed plant data |
EP4230016A1 (en) * | 2017-10-02 | 2023-08-23 | Precision Planting LLC | Systems and apparatuses for soil and seed monitoring |
EP4205520A1 (en) | 2017-10-17 | 2023-07-05 | Precision Planting LLC | Soil sensing systems and implements for sensing different soil parameters |
US11122731B2 (en) | 2017-10-31 | 2021-09-21 | Deere & Company | Method of managing planter row unit downforce |
WO2019089390A1 (en) | 2017-11-03 | 2019-05-09 | Valmont Industries, Inc. | System and method for integrated use of field sensors for dynamic management of irrigation and crop inputs |
CA3084468C (en) | 2017-11-15 | 2023-12-05 | Precision Planting Llc | Seed trench closing sensors |
US11140805B2 (en) | 2017-11-21 | 2021-10-12 | Cnh Industrial Canada, Ltd. | Independent ground engaging tool depth control |
WO2019118758A1 (en) | 2017-12-15 | 2019-06-20 | Kinze Manufacturing, Inc. | Systems, methods, and apparatus for controlling downforce of an agricultural implement |
AU2019228086B2 (en) | 2018-03-01 | 2024-03-28 | Precision Planting Llc | Agricultural trench depth systems, and apparatus |
BR112020017340A2 (en) * | 2018-06-07 | 2021-03-02 | Precision Planting Llc | apparatus, systems and methods for monitoring agricultural operation |
US11064653B2 (en) | 2018-06-18 | 2021-07-20 | Ag Leader Technology | Agricultural systems having stalk sensors and data visualization systems and related devices and methods |
US20210285869A1 (en) | 2018-07-10 | 2021-09-16 | Precision Planting Llc | Agricultural sampling system and related methods |
US11147204B2 (en) | 2018-08-07 | 2021-10-19 | Cnh Industrial America Llc | System and related methods for adjusting a down force applied to a row unit of an agricultural implement |
AU2019326066A1 (en) | 2018-08-24 | 2021-03-11 | Precision Planting Llc | Agricultural trench depth sensing systems, methods, and apparatus |
US10757854B2 (en) | 2018-08-27 | 2020-09-01 | Cnh Industrial America Llc | Determining forces exerted on rolling agricultural components based on an applied braking force |
US11166404B2 (en) | 2018-09-02 | 2021-11-09 | FarmX Inc. | Systems and methods for virtual agronomic sensing |
US11337363B2 (en) * | 2018-09-28 | 2022-05-24 | Cnh Industrial America Llc | Calibrating a depth control system of a row unit in an agricultural planter |
US10986766B2 (en) | 2018-10-05 | 2021-04-27 | Cnh Industrial America Llc | System and related methods for monitoring and adjusting actual seed depths during a planting operation based on soil moisture content |
US10827666B2 (en) | 2018-10-09 | 2020-11-10 | Cnh Industrial America Llc | System and method for controlling the speed of a seed-planting implement based on furrow closing assembly performance |
US11252854B2 (en) | 2018-12-05 | 2022-02-22 | Cnh Industrial America Llc | Real-time seedbed uniformity detection and improvement in an agricultural tillage implement |
US11166406B2 (en) | 2018-12-19 | 2021-11-09 | Cnh Industrial America Llc | Soil resistivity detection system for an agricultural implement |
US11154002B2 (en) * | 2019-01-29 | 2021-10-26 | Cnh Industrial America Llc | System and method for controlling the operation of an agricultural implement based on determined soil moisture content |
BR112021012217A2 (en) * | 2019-02-04 | 2021-09-08 | Precision Planting Llc | SYSTEMS, APPLIANCES AND METHODS TO MONITOR SOIL CHARACTERISTICS AND DETERMINE SOIL COLOR |
US11297768B2 (en) | 2019-02-25 | 2022-04-12 | Ag Leader Technology | Vision based stalk sensors and associated systems and methods |
US11770988B2 (en) | 2019-03-06 | 2023-10-03 | Cnh Industrial America Llc | Adjustable closing system for an agricultural implement |
EP3714671A1 (en) * | 2019-03-26 | 2020-09-30 | Dawn Equipment Company | Agricultural planting system with automatic depth control |
EP3729939A1 (en) * | 2019-04-25 | 2020-10-28 | CNH Industrial Sweden AB | Method for adjusting the working depth of an agricultural implement and an agricultural plough |
US11262344B2 (en) | 2019-05-10 | 2022-03-01 | Cnh Industrial America Llc | System and method for managing material accumulation relative to a ground engaging assembly of an agricultural implement based on the accumulation type |
US11622496B2 (en) | 2019-06-24 | 2023-04-11 | Cnh Industrial Canada, Ltd. | Smart sensor system for agricultural implements |
US11369054B2 (en) | 2019-06-26 | 2022-06-28 | Cnh Industrial Canada, Ltd. | Smart sensor system for seeding implement |
US20210329838A1 (en) * | 2019-09-04 | 2021-10-28 | Ag Leader Technology | Apparatus, Systems And Methods For Stalk Sensing |
US11895941B2 (en) | 2019-09-23 | 2024-02-13 | Cnh Industrial America Llc | Tillage system with variable fertilizer application |
AU2020358931A1 (en) | 2019-10-03 | 2022-03-24 | Precision Planting Llc | Agricultural trench depth systems, methods, and apparatus |
US11284555B2 (en) | 2019-11-05 | 2022-03-29 | Cnh Industrial Canada, Ltd. | System and method for monitoring the levelness of an agricultural implement |
US11564346B2 (en) | 2019-12-24 | 2023-01-31 | Cnh Industrial America Llc | Particle delivery system of an agricultural row unit |
US11564344B2 (en) | 2019-12-24 | 2023-01-31 | Cnh Industrial America Llc | Particle delivery system of an agricultural row unit |
US11483963B2 (en) | 2019-12-24 | 2022-11-01 | Cnh Industrial America Llc | Particle delivery system of an agricultural row unit |
US11589500B2 (en) | 2019-12-24 | 2023-02-28 | Cnh Industrial America Llc | Particle delivery system of an agricultural row unit |
US11553639B2 (en) | 2019-12-24 | 2023-01-17 | Cnh Industrial America Llc | Particle delivery system of an agricultural row unit |
US11516958B2 (en) | 2019-12-24 | 2022-12-06 | Cnh Industrial America Llc | Particle delivery system of an agricultural row unit |
US11523555B2 (en) | 2019-12-24 | 2022-12-13 | Cnh Industrial America Llc | Particle delivery system of an agricultural row unit |
US11490558B2 (en) | 2019-12-24 | 2022-11-08 | Cnh Industrial America Llc | Particle delivery system of an agricultural row unit |
US11553638B2 (en) | 2019-12-24 | 2023-01-17 | Cnh Industrial America Llc | Particle delivery system of an agricultural row unit |
US11523556B2 (en) | 2019-12-24 | 2022-12-13 | Cnh Industrial America Llc | Particle delivery system of an agricultural row unit |
US11582899B2 (en) | 2019-12-24 | 2023-02-21 | Cnh Industrial America Llc | Particle delivery system of an agricultural row unit |
US11596095B2 (en) | 2019-12-24 | 2023-03-07 | Cnh Industrial America Llc | Particle delivery system of an agricultural row unit |
US11566997B2 (en) | 2020-01-14 | 2023-01-31 | Cnh Industrial Canada, Ltd. | System and method for monitoring soil composition at different depths within a field |
EP4152914A1 (en) | 2020-05-19 | 2023-03-29 | Precision Planting LLC | Reversible seed trench appurtenance assembly |
US20220000008A1 (en) * | 2020-07-01 | 2022-01-06 | Deere & Company | Implement mounted sensors sensing surface/furrow characteristics and control |
US11464179B2 (en) | 2020-07-31 | 2022-10-11 | FarmX Inc. | Systems providing irrigation optimization using sensor networks and soil moisture modeling |
WO2022243794A1 (en) | 2021-05-20 | 2022-11-24 | Precision Planting Llc | Agricultural sampling system and related methods |
WO2022243806A1 (en) | 2021-05-20 | 2022-11-24 | Precision Planting Llc | Methods of analyzing one or more agricultural materials, and systems thereof |
GB202108293D0 (en) | 2021-06-10 | 2021-07-28 | Prec Planting Llc | Agricultural sampling system and related methods |
GB202108289D0 (en) | 2021-06-10 | 2021-07-28 | Prec Planting Llc | Methods of analyzing one or more agricultural materials, and systems thereof |
GB202108290D0 (en) | 2021-06-10 | 2021-07-28 | Prec Planting Llc | Methods of analyzing one or more agricultural materials, and systems thereof |
GB202108294D0 (en) | 2021-06-10 | 2021-07-28 | Prec Planting Llc | Agricultural sampling system and related methods |
GB202108314D0 (en) | 2021-06-10 | 2021-07-28 | Prec Planting Llc | Agricultural sampling system and related methods |
WO2024002993A1 (en) * | 2022-06-29 | 2024-01-04 | Basf Agro Trademarks Gmbh | Method for determining location-specific seeding rate or seeding depth based on seeding parameters assigned to zones of different levels |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5044756A (en) * | 1989-03-13 | 1991-09-03 | Purdue Research Foundation | Real-time soil organic matter sensor |
US5841282A (en) * | 1997-02-10 | 1998-11-24 | Christy; Colin | Device for measuring soil conductivity |
US20050150160A1 (en) * | 2003-10-28 | 2005-07-14 | Norgaard Daniel G. | Method for selecting crop varieties |
US20090259483A1 (en) * | 2008-04-11 | 2009-10-15 | Larry Lee Hendrickson | Method for making a land management decision based on processed elevational data |
US20110102798A1 (en) * | 2009-10-30 | 2011-05-05 | Holland Kyle H | Optical real-time soil sensor |
US20160113191A1 (en) * | 2013-05-13 | 2016-04-28 | Clean Seed Agricultural Technologies Ltd. | A system for variable-ratio blending of multiple agricultural products for delivery via a ported opener |
US9585307B2 (en) * | 2007-07-03 | 2017-03-07 | Kyle H. Holland | Optical real-time soil sensor and auto-calibration methods |
US9585301B1 (en) * | 2013-04-15 | 2017-03-07 | Veris Technologies, Inc. | Agricultural planter with automatic depth and seeding rate control |
US20170067869A1 (en) * | 2015-09-09 | 2017-03-09 | Veris Technologies, Inc. | System for measuring multiple soil properties using narrow profile sensor configuration |
US9743574B1 (en) * | 2007-10-24 | 2017-08-29 | Veris Technologies, Inc. | Mobile soil optical mapping system |
Family Cites Families (60)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2366389A (en) | 1943-08-24 | 1945-01-02 | Leonard L Ledbetter | Two-depth seed planter |
US3749035A (en) | 1970-12-28 | 1973-07-31 | Deere & Co | Precision depth seed planter |
US3910701A (en) | 1973-07-30 | 1975-10-07 | George R Henderson | Method and apparatus for measuring light reflectance absorption and or transmission |
US4413685A (en) | 1979-12-11 | 1983-11-08 | Gremelspacher Philip E | Planter implement with adjusting position-display apparatus and system thereof |
US4374500A (en) | 1981-05-20 | 1983-02-22 | International Harvester Co. | Seed planter depth control |
DE3226659C2 (en) | 1982-07-16 | 1985-10-24 | Amazonen-Werke H. Dreyer Gmbh & Co Kg, 4507 Hasbergen | Seed drill |
US5038040A (en) | 1989-09-22 | 1991-08-06 | Agmed Inc. | Soil test apparatus |
DE4121218A1 (en) | 1990-09-21 | 1992-03-26 | Rabewerk Clausing Heinrich | Ground cultivator with roller and drilling shares - has automatic height adjustment of shares according to penetration depth of roller |
US5355815A (en) | 1993-03-19 | 1994-10-18 | Ag-Chem Equipment Co., Inc. | Closed-loop variable rate applicator |
US5931882A (en) | 1993-07-29 | 1999-08-03 | Raven Industries | Combination grid recipe and depth control system |
ZA945727B (en) | 1993-08-04 | 1995-03-07 | Electromatic Pty Ltd | Inductive loop diagnostic interface |
US5461229A (en) | 1994-06-06 | 1995-10-24 | Unisys Corporation | On-the-go optical spectroscopy soil analyzer |
US5563340A (en) | 1995-03-28 | 1996-10-08 | Ford Motor Company | Mass air flow sensor housing |
US5621666A (en) | 1995-04-20 | 1997-04-15 | Dynavisions, Inc. | Planter monitor |
US7121216B2 (en) | 1995-10-30 | 2006-10-17 | Schaffert Paul E | Liquid distribution apparatus for distributing liquid into a seed furrow |
US7552689B2 (en) * | 1995-10-30 | 2009-06-30 | Schaffert Paul E | Liquid distribution apparatus employing a check valve for distributing liquid into a seed furrow |
US6453832B1 (en) * | 1997-06-23 | 2002-09-24 | Paul E. Schaffert | Liquid distribution apparatus for distributing liquid into a seed furrow |
US5852982A (en) | 1996-06-07 | 1998-12-29 | Farmer Fabrications, Inc. | Liquid dispenser for seed planter |
US5887491A (en) | 1997-05-14 | 1999-03-30 | Ag-Chem Equipment, Co., Inc. | Soil analysis assembly and system |
US6016714A (en) | 1997-09-08 | 2000-01-25 | Lockheed Martin Idaho Technologies Company | Sensor system for buried waste containment sites |
US5956255A (en) | 1997-09-23 | 1999-09-21 | Case Corporation | Seed planter performance monitor |
US6148747A (en) | 1998-01-20 | 2000-11-21 | Kinze Manufacturing Inc. | Equalizing gauge wheel mechanism for row crop planter unit |
DE69935256T2 (en) | 1999-03-15 | 2007-10-31 | Tokyo University of Agriculture and Technology TLO Co., Ltd., Koganei | SOIL STUDY AND PRECISION AGRICULTURAL SYSTEM |
US6216794B1 (en) | 1999-07-01 | 2001-04-17 | Andrew F. Buchl | Joystick control for an automatic depth control system and method |
JP2003532932A (en) | 2000-05-05 | 2003-11-05 | イー・アイ・デュポン・ドウ・ヌムール・アンド・カンパニー | Polymers used in photoresist compositions for microlithography |
US20020131046A1 (en) | 2001-03-13 | 2002-09-19 | Kejr, Inc. | Optical soil sensor for mobilized measurement of in-situ soil characteristics |
US6530334B2 (en) * | 2001-05-24 | 2003-03-11 | Matthew P. Hagny | Depth-limited furrow closing arrangement and method for no-till agricultural seeders |
US20030016029A1 (en) * | 2001-07-18 | 2003-01-23 | Schuler Ronald T. | Soil moisture measuring system for a mobile agricultural device |
US6596996B1 (en) | 2001-07-24 | 2003-07-22 | The Board Of Regents For Oklahoma State University | Optical spectral reflectance sensor and controller |
US6389999B1 (en) | 2001-11-02 | 2002-05-21 | Dennis Duello | Dynamic controller of excess downpressure for surface engaging implement |
US7047133B1 (en) * | 2003-01-31 | 2006-05-16 | Deere & Company | Method and system of evaluating performance of a crop |
US6827029B1 (en) | 2003-11-04 | 2004-12-07 | Cnh America Llc | Method and apparatus for automatically maintaining seed trench depth during seed planting operations |
US7216555B2 (en) * | 2004-02-11 | 2007-05-15 | Veris Technologies, Inc. | System and method for mobile soil sampling |
US20060158652A1 (en) | 2004-06-24 | 2006-07-20 | Rooney Daniel J | Measuring soil light response |
US20070272134A1 (en) | 2006-05-23 | 2007-11-29 | Christopher John Baker | Ground opening device |
WO2008086283A2 (en) | 2007-01-08 | 2008-07-17 | Precision Planting Inc. | Load sensing pin |
US8816262B2 (en) | 2007-07-03 | 2014-08-26 | Kyle H. Holland | Auto-calibration method for real-time agricultural sensors |
US8204689B2 (en) | 2007-10-24 | 2012-06-19 | Veris Technologies, Inc. | Mobile soil mapping system for collecting soil reflectance measurements |
MX2008014783A (en) | 2008-02-05 | 2009-08-27 | Krueger Int Inc | Chair shell with integral hollow contoured support. |
US20100023430A1 (en) | 2008-07-24 | 2010-01-28 | Pioneer Hi-Bred International, Inc. | System and method for coordinating the production and processing of seed supplies, and the preparation and utilization of seed samples |
US9285501B2 (en) * | 2008-11-04 | 2016-03-15 | Veris Technologies, Inc. | Multiple sensor system and method for mapping soil in three dimensions |
US7726251B1 (en) | 2009-03-11 | 2010-06-01 | Deere & Company | Agricultural seeding apparatus and method for seed placement synchronization between multiple rows |
US8418636B2 (en) | 2010-08-20 | 2013-04-16 | Deere & Company | In-ground seed spacing monitoring system for use in an agricultural seeder |
US8365679B2 (en) * | 2010-08-20 | 2013-02-05 | Deere & Company | Seed spacing monitoring system for use in an agricultural seeder |
CA2721596A1 (en) * | 2010-11-18 | 2012-05-18 | Straw Track Manufacturing Inc. | Mapping soil hardness |
AU2012230803C1 (en) | 2011-03-22 | 2017-06-22 | Precision Planting Llc | Seed meter |
RU2562211C2 (en) * | 2011-04-27 | 2015-09-10 | Кинз Мэньюфэкчеринг, Инк. | Remote control of inline unit of device of agricultural use |
WO2012149398A1 (en) * | 2011-04-27 | 2012-11-01 | Kinze Manufacturing, Inc. | Agricultural devices, systems, and methods for determining soil and seed characteristics and analyzing the same |
US9743578B2 (en) * | 2011-04-27 | 2017-08-29 | Kinze Manufacturing, Inc. | Agricultural devices, systems, and methods for determining soil and seed characteristics and analyzing the same |
JP2012231695A (en) * | 2011-04-28 | 2012-11-29 | Iseki & Co Ltd | Seedling transplanter |
WO2013012826A1 (en) * | 2011-07-15 | 2013-01-24 | Earthtec Solutions Llc | Crop-specific automated irrigation and nutrient management |
GB201112568D0 (en) * | 2011-07-22 | 2011-08-31 | Agco Int Gmbh | Tractor control system |
US20130093580A1 (en) | 2011-10-14 | 2013-04-18 | Nathan A. Chaney | Flow monitor for matter in a flow path |
US8827001B2 (en) * | 2012-01-17 | 2014-09-09 | Cnh Industrial America Llc | Soil monitoring system |
EP3656196B1 (en) | 2012-10-24 | 2022-08-03 | Precision Planting LLC | Agricultural trench depth sensing apparatus |
EP2966964B1 (en) * | 2013-03-14 | 2018-05-09 | Precision Planting LLC | Systems for agricultural implement trench depth control and soil monitoring |
US9629304B2 (en) * | 2013-04-08 | 2017-04-25 | Ag Leader Technology | On-the go soil sensors and control methods for agricultural machines |
BR112015028728B1 (en) * | 2013-05-17 | 2020-12-08 | Precision Planting Llc | method to estimate soil moisture in a field |
US9428334B2 (en) | 2013-05-17 | 2016-08-30 | The Heil Co. | Automatic control of a refuse front end loader |
US9167742B2 (en) * | 2013-10-21 | 2015-10-27 | Billy R. Masten | Method and apparatus for planting seed crops |
-
2014
- 2014-03-14 EP EP14767368.5A patent/EP2966964B1/en active Active
- 2014-03-14 LT LTEP14767368.5T patent/LT2966964T/en unknown
- 2014-03-14 EP EP20212646.2A patent/EP3815490B1/en active Active
- 2014-03-14 AU AU2014236244A patent/AU2014236244B2/en active Active
- 2014-03-14 LT LTEP18171338.9T patent/LT3375273T/en unknown
- 2014-03-14 WO PCT/US2014/029352 patent/WO2014153157A1/en active Application Filing
- 2014-03-14 CA CA3104980A patent/CA3104980A1/en not_active Abandoned
- 2014-03-14 CA CA2905119A patent/CA2905119C/en active Active
- 2014-03-14 CA CA3104855A patent/CA3104855C/en active Active
- 2014-03-14 BR BR112015022649A patent/BR112015022649B1/en active IP Right Grant
- 2014-03-14 EP EP18171338.9A patent/EP3375273B1/en active Active
- 2014-03-14 EP EP18171336.3A patent/EP3424289B1/en active Active
- 2014-03-14 LT LTEP20212646.2T patent/LT3815490T/en unknown
- 2014-03-14 US US14/776,504 patent/US9943027B2/en active Active
- 2014-03-14 UA UAA201509829A patent/UA118026C2/en unknown
- 2014-03-14 LT LTEP18171336.3T patent/LT3424289T/en unknown
-
2015
- 2015-09-10 ZA ZA2015/06767A patent/ZA201506767B/en unknown
-
2018
- 2018-02-28 US US15/908,103 patent/US10609857B2/en active Active
- 2018-05-22 AU AU2018203618A patent/AU2018203618B2/en active Active
-
2019
- 2019-01-16 US US16/249,890 patent/US11134604B2/en active Active
- 2019-08-07 US US16/535,063 patent/US20190357421A1/en not_active Abandoned
-
2020
- 2020-09-16 AU AU2020233669A patent/AU2020233669B2/en active Active
-
2021
- 2021-01-13 US US17/147,766 patent/US20210127555A1/en not_active Abandoned
- 2021-10-29 AU AU2021258097A patent/AU2021258097A1/en active Pending
-
2022
- 2022-04-27 US US17/660,957 patent/US20220248592A1/en active Pending
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5044756A (en) * | 1989-03-13 | 1991-09-03 | Purdue Research Foundation | Real-time soil organic matter sensor |
US5841282A (en) * | 1997-02-10 | 1998-11-24 | Christy; Colin | Device for measuring soil conductivity |
US20050150160A1 (en) * | 2003-10-28 | 2005-07-14 | Norgaard Daniel G. | Method for selecting crop varieties |
US9585307B2 (en) * | 2007-07-03 | 2017-03-07 | Kyle H. Holland | Optical real-time soil sensor and auto-calibration methods |
US9743574B1 (en) * | 2007-10-24 | 2017-08-29 | Veris Technologies, Inc. | Mobile soil optical mapping system |
US20090259483A1 (en) * | 2008-04-11 | 2009-10-15 | Larry Lee Hendrickson | Method for making a land management decision based on processed elevational data |
US20110102798A1 (en) * | 2009-10-30 | 2011-05-05 | Holland Kyle H | Optical real-time soil sensor |
US8451449B2 (en) * | 2009-10-30 | 2013-05-28 | Kyle H. Holland | Optical real-time soil sensor |
US9585301B1 (en) * | 2013-04-15 | 2017-03-07 | Veris Technologies, Inc. | Agricultural planter with automatic depth and seeding rate control |
US20160113191A1 (en) * | 2013-05-13 | 2016-04-28 | Clean Seed Agricultural Technologies Ltd. | A system for variable-ratio blending of multiple agricultural products for delivery via a ported opener |
US20170067869A1 (en) * | 2015-09-09 | 2017-03-09 | Veris Technologies, Inc. | System for measuring multiple soil properties using narrow profile sensor configuration |
Also Published As
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20220248592A1 (en) | Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring | |
US10681861B2 (en) | Agricultural operation monitoring apparatus, systems and methods | |
US20230403971A1 (en) | Agricultural Operation Monitoring Apparatus, Systems, And Methods | |
US11889782B2 (en) | Systems and apparatuses for soil and seed monitoring | |
US9864094B2 (en) | System for soil moisture monitoring | |
AU2019280998A1 (en) | Agricultural operation monitoring apparatus, systems and methods |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STPP | Information on status: patent application and granting procedure in general |
Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: NON FINAL ACTION MAILED |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: RESPONSE TO NON-FINAL OFFICE ACTION ENTERED AND FORWARDED TO EXAMINER |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: NON FINAL ACTION MAILED |