• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    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. -------------------------------------------------- -------------------------------------------------- translation of the invention patent summary summary: "systems, methods, and apparatus for controlling the depth of agricultural implement ditch and soil monitoring". systems, methods and devices are provided to monitor soil properties, including soil moisture and soil temperature during application of agricultural inputs. the embodiments comprise a soil moisture sensor and / or a soil temperature sensor mounted on a firmer seed to measure moisture and temperature in a plantation ditch. in addition, systems, methods and apparatus are provided to adjust the depth based on the monitored properties of the soil.
    公开号:BR112015022649B1
    申请号:R112015022649
    申请日:2014-03-14
    公开日:2020-05-19
    发明作者:Sauder Derek；Stoller Jason；Plattner Troy
    申请人:Prec Planting Llc；
    IPC主号:
    专利说明:

    Descriptive Report of the Invention Patent for MONITORING AND CONTROL SYSTEM FOR AN AGRICULTURAL IMPLANTATION THAT HAS A PLURALITY OF ROW UNITS.
    BACKGROUND
    [0001] Recently, the availability of specific agricultural application for advanced leasing and measuring systems (used in so-called precision cultivation practices) has increased the interest of the producer in determining spatial variations in soil properties and in the variation of input application variables. (for example, depth of planting) in light of such variations. However, the mechanisms available to measure properties such as temperature are not effective and locally made across the field or are not done at the same time as an input operation (for example, planting). Furthermore, the methods available for adjusting the depth are not effectively responsive to changes in soil properties such as depth and temperature.
    [0002] Thus, there is a need in the art for a method to monitor soil properties during an agricultural input application. Furthermore, there is a need in the art for adjusting the depth based on the monitored soil properties.
    BRIEF DESCRIPTION OF THE DRAWINGS
    [0003] Figure 1 is a top view of an agricultural planter of the modality.
    [0004] Figure 2 is a side elevation view of a planter row unit modality.
    [0005] Figure 3 schematically illustrates a modality of a depth control and soil monitoring system.
    [0006] Figure 4A is a side elevation view of a temperature sensor modality and a sensor modality
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    2/34 of moisture.
    [0007] Figure 4B is a side elevation view of the temperature sensor and humidity sensor in Figure 4A.
    [0008] Figure 4C is a rear elevation view of another modality of a temperature sensor.
    [0009] Figure 5 illustrates a modality of a process for controlling ditch depth based on soil moisture.
    [00010] Figure 6 illustrates a modality of a process for controlling the trench depth based on the soil temperature.
    [00011] Figure 7 illustrates a modality of a process for controlling the trench depth based on soil temperature and soil moisture.
    [00012] Figure 8 illustrates another modality of a process for controlling ditch depth based on soil temperature and soil moisture.
    [00013] Figure 9 illustrates yet another modality of a process for controlling ditch depth based on soil temperature and soil moisture.
    [00014] Figure 10 is a side elevation view of another modality of a temperature sensor.
    [00015] Figure 11 illustrates a modality of a process for controlling the trench depth based on soil data.
    [00016] Figure 12 illustrates a modality of a process for controlling the trench depth based on soil data and soil temperature.
    [00017] Figure 13 illustrates a modality of a process for controlling the ditch depth based on climatic data.
    [00018] Figure 14 illustrates a modality of a process for controlling the ditch depth based on climatic data and soil temperature.
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    3/34
    [00019] Figure 15 illustrates a modality of a process for controlling ditch depth based on soil moisture and soil moisture measurements made at a base station.
    [00020] Figure 16 illustrates a modality of a process for controlling the ditch depth based on climatic data as well as soil moisture and soil moisture measurements made at a base station.
    [00021] Figure 17 illustrates a modality of a planter monitor screen that displays a soil temperature map.
    [00022] Figure 18 illustrates a modality of a planter monitor screen that displays a soil moisture map.
    [00023] Figure 19 illustrates a modality of a planter monitor screen that displays a ditch depth map.
    [00024] Figure 20 illustrates a modality of a planter monitor screen that displays summary planting data and planting recommendations.
    [00025] Figure 21 illustrates a modality of a planter monitor screen that displays planting data row by row.
    [00026] Figure 22 illustrates a modality of a planter monitor screen that displays row-specific planting data.
    [00027] Figure 23 illustrates a modality of a planter monitor depth control configuration screen.
    [00028] Figure 24 is a side elevation view of a modality of a base station to monitor and transmit soil data and climatic data.
    [00029] Figure 25 is a side elevation of a measurement unit modality.
    [00030] Figure 26 is a side elevation view of a modality of a depth sensor.
    [00031] Figure 27 illustrates a modality of a monitor screen
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    4/34 planter to set the trench depth and display soil data.
    DESCRIPTION
    Soil Monitoring and Depth Control System
    [00032] Referring now to the drawings, in which the same numerical references designate identical or corresponding parts for all the different views, Figure 1 illustrates a tractor 5 that pulls an agricultural implantation, for example, a planter 10, which comprises a toolbar 14 that operationally supports several row units 200. A deployment monitor 50 that preferably includes a central processing unit (CPU), memory and graphical user interface (GUI) (for example, touch screen interface) touch) is preferably located in the tractor cab 10. A global positioning system (GPS) receiver 52 is preferably mounted on the tractor 10.
    [00033] Returning to Figure 2, a modality is illustrated in which row unit 200 is a planter row unit. The row unit 200 is preferably hingedly connected to the toolbar 14 by a parallel connection 216. An actuator 218 is preferably arranged to apply vertical lift and / or downward force to the row unit 200. A solenoid valve 390 is preferably in fluid communication with actuator 218 to modify the elevation and / or downward force applied by the actuator. An opening system 234 preferably includes two opening discs 244 mounted in a rolling manner on a downwardly extending rod 254 and arranged to open a V-shaped trench in the ground 40. A pair of adjusting wheels 248 is supported in a manner articulated by a pair of corresponding adjusting wheel arms 260; the height of the regulating wheels 248 in relation to the discs
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    5/34 aperture 244 defines the depth of the ditch 38. A depth adjustment oscillator 268 limits the upward travel of the regulator wheel arms 260 and thus the upward travel of the regulator wheels 248. A depth adjustment actuator 380 is preferably configured to modify a position of the depth adjustment oscillator 268 and then the height of the regulator wheels 248. Actuator 380 is preferably a linear actuator mounted on row unit 200 and hingedly coupled to an upper end of oscillator 268 In some embodiments, the depth adjustment actuator 380 comprises a device such as that in International Patent Application No. PCT / US2012 / 035585, the disclosure of which is incorporated by reference in this document. An encoder 382 is preferably configured to generate a signal related to the linear extension of actuator 380; it should be noted that the linear extension of the actuator 380 is related to the depth of the ditch 38 when the regulator wheel arms 260 are in contact with the oscillator 268. A downward force sensor 392 is preferably configured to generate a signal related to the amount of force imposed by the regulating wheels 248 on the ground 40; in some embodiments, the vertical downward force sensor 392 comprises an instrumented pin around which oscillator 268 is pivotally coupled to row unit 200, such as those instrumented pins disclosed in Applicant's Copending Patent Application No. US 12 / 522,253 (Publication No. WO 2010/0180695), the disclosure of which is hereby incorporated by reference.
    [00034] Referring further to Figure 2, a seed meter 230 such as that disclosed in Copending International Patent Application No. PCT / US2012 / 030192, the disclosure of which is incorporated by reference into this document, is preferably arranged to de
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    6/34 placing seeds 42 from a feeder 226 to ditch 38, for example, through a seed tube 232 arranged to guide the seeds towards the ditch. In some embodiments, the meter is powered by an electric drive 315 configured to drive a seed disk in the seed meter. In other embodiments, drive 315 may comprise a hydraulic drive configured to drive the seed disk. A 305 seed sensor (for example, an optical or electromagnetic seed sensor configured to generate a signal that indicates the passage of a seed) is preferably mounted on the seed tube 232 and arranged to send light or electromagnetic waves through the seed path 42. A closing system 236 that includes one or more closing wheels is pivotally coupled to the row unit 200 and configured to close the ditch 38.
    [00035] Turning to Figure 3, a soil monitoring and depth control system 300 is schematically illustrated. Monitor 50 is preferably in electrical communication with the components associated with each row unit 200 which includes drives 315, seed sensors 305, GPS receiver 52, downward force sensor 392, valves 390, actuator depth adjustment buttons 380, depth actuator encoders 382 (and, in some embodiments, an actual depth sensor 385 described later in this document) and solenoid valves 390. In some embodiments, particularly those where each gauge seed 230 is not driven by an individual drive 315, monitor 50 is also preferably in electrical communication with clutches 310 configured to selectively and operably couple seed meter 230 to drive 315.
    [00036] Referring further to Figure 3, monitor 50 is preferred.
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    7/34 especially in electrical communication with a cellular modem 330 or another component configured to place the monitor 50 in data communication with the Internet, indicated by the numerical reference 335. Through the Internet connection, the monitor 50 preferably receives data from of a weather data server 340 and a soil data server 345.
    [00037] Referring also to Figure 3, monitor 50 is also preferably in electrical communication with one or more 360 temperature sensors mounted on planter 10 and configured to generate a signal related to the soil temperature that is worked by the row units planter 200. In some embodiments, one or more 360 temperature sensors comprise thermocouples arranged to engage the soil; in such embodiments, temperature sensors 360 preferentially engage the soil at the bottom of ditch 38. Such an embodiment is illustrated in Figure 4A, in which a seed firmer 410 is illustrated mounted on stem 254 by a clamp 415. As is known in technique, the seed firmer is preferably designed to engage resiliently with the bottom of the ditch 38 in order to press the seeds 42 into the soil before the ditch is closed. In the embodiment of Figure 4A, the thermocouple is partially housed within the firmer 410 and extends slightly from a lower surface of the firmer in order to engage the soil in such a way that the temperature sensor 360 generates a signal related to the soil temperature at the bottom of the ditch 38. As illustrated in the rear elevation view of Figure 4B, the temperature sensor 360 extends preferentially from the firmer 410 at a transversal distance from the firmer's central line in such a way that the temperature sensor does not make contact with the seeds 42 that pass under the bottom surface of the firm. In another modality illustrated in Figure 4C, the thermocouple is in contact with a contact component
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    8/34 with the ground, for example, a hollow copper tube 420 housed in the firmer 410 and extends from it to make contact with the ground near the bottom of the ditch 38. In the illustrated embodiment, the tube 420 makes contact with the soil on both sides of the ditch 38 in such a way that the signal generated by the thermocouple is related to the soil temperature at the points of contact between the pipe 420 and the soil. In other embodiments, one or more of the 360 temperature sensors may comprise a sensor arranged and configured to measure the soil temperature without making contact with the soil as disclosed in International Patent Application No. PCT / US2012 / 035563, the disclosure of which is incorporated this document in its entirety as a reference.
    [00038] With reference to Figure 3, monitor 50 is preferably in electrical communication with one or more humidity sensors 350 mounted on planter 10 and configured to generate a signal related to the soil temperature that is worked by the planter 200 row units In some embodiments, one or more of the humidity sensors 350 comprise humidity probes (for example, sensors configured to measure electrical conductivity or dielectric permittivity) arranged to engage the soil; in such modalities, the temperature sensors 360 preferentially engage the soil at the bottom of the ditch 38. Such a modality is illustrated in Figure 4A, in which the humidity sensor 350 is partially housed within the firmer 410 and extends slightly from a bottom surface of the firm in order to engage the soil in such a way that the humidity sensor 350 generates a signal related to the soil temperature at the bottom of the ditch 38. As illustrated in the rear elevation view of Figure 4B, the moisture sensor 350 is preferably extends from the bottom of the firmer 410 at a transverse distance from the firmer's central line in such a way that the humidity sensor does not make contact with the seeds 42 that pass under the
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    9/34 bottom surface of the firm. In another embodiment illustrated in Figure 10, the humidity sensor 350 includes two flat capacitor plates 1020a and 1020b housed in the fastener 410 which passes adjacent to the bottom of the ditch without displacing the soil at the bottom of the ditch. In some embodiments, firmer 410 includes a region 1030 disposed above capacitor plates 1020, region 1030 that has a low permittivity (for example, in modalities where region 1030 comprises an air cavity or a material that has a low permissiveness) or high permissiveness (for example, in modalities where region 1030 contains a material that has high permittivity). In other embodiments, one or more of the moisture sensors 350 may comprise a sensor arranged and configured to measure the moisture content of the soil without making contact with the soil, for example, one or more infrared or near infrared sensors arranged to measure electromagnetic waves generated by one or more emitters (for example, light-emitting diodes) and reflected from the ground surface (for example, the bottom of the ditch 38).
    [00039] With reference to Figure 3, monitor 50 is preferably in electrical communication with a mobile receiver 54 (for example, a wireless data receiver) configured to receive data wirelessly (for example, through a transmitter from a base station 325 located in a field of interest. Turning to Figure 24, base station 325 preferably includes one or more temperature probes 2420, 2422 arranged at multiple depths in the soil in order to measure the soil temperature at multiple depths. Base station 325 preferably includes one or more moisture probes 2430, 2432 arranged at multiple depths in the soil 40 in order to measure soil moisture at multiple depths. Each humidity and soil probe is preferably in electrical communication with a 2405 processor.
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    10/34 processor 2405 is preferably in communication with a wireless transmitter 2415. Processor 2405 is preferably configured to convert signals into a format suitable for transmission through the wireless transmitter 2415 and to transmit the resulting formatted signals through the transmitter wireless. Base station 325 preferably includes a 2410 digital rain gauge (for example, an optical, acoustic or weighing type gauge) and a 2412 digital air temperature sensor, both of which are preferably in electrical communication with the 2405 processor.
    [00040] In some embodiments, a measurement of temperature and / or humidity can be made by a measurement unit independent of row units 200. A modality of a 2500 measurement unit is illustrated in Figure 25. The 2500 measurement unit includes preferably a coulter 2530 arranged to open a ditch 39 in the ground 40; in some embodiments, the measuring unit includes, instead, two angled opening discs arranged to open a more V-shaped trench. The 2530 coulter is preferably mounted in a rolling manner to a 2540 clamp. The 2540 clamp preferably has a weight enough to propel the 2530 coulter to the ground. A regulating wheel 2520 (or pair of regulating wheels) is preferably mounted in a rolling manner to the clamp 2540 and arranged to pass along the surface of the soil, thus limiting the depth of the ditch 39. The depth of the ditch 39 is preferably defined in a depth of interest; for example, a standard ditch depth such as 4.44 cm (1.75 inch). In some embodiments, the 2500 measuring unit 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 regulating wheel 2520 in order to adjust the depth of ditch. The 2540 clamp is preferably mounted on the
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    11/34 tool bar 14 by means of a parallel arm arrangement 2526 so that the clamp is allowed to translate vertically with respect to the tool bar. A spring 2518 is preferably mounted on the parallel arm arrangement in order to propel the coulter 2530 to the ground 40. A temperature and / or humidity sensor 2550 is preferably mounted on the 2500 measuring unit (or in some embodiments, the tool bar 14) and configured to measure the temperature and / or humidity of the soil in the ditch 39. As in the illustrated modality, the 2550 sensor can comprise a sensor configured to measure temperature and / or humidity without making contact with the ground as an infrared sensor. In other embodiments, the sensor 2550 may incorporate sensors configured to engage the ground at the bottom of ditch 39 similar to those described in this document in relation, for example, to Figure 4A.
    Depth Adjustment Methods
    [00041] Various methods revealed in this document in the section entitled Depth Control Methods determine the desired depths and / or the desired depth adjustments. The actual depth adjustment for the desired depth can be achieved according to one of several methods as described in this section.
    [00042] In the first method, system 300 sends a command signal to the depth adjustment actuator 380 that corresponds to a desired depth or desired depth adjustment. Actuator 380 is preferably calibrated so that a set of depths and corresponding command signals are stored in the memory of monitor 50.
    [00043] In the second method, system 300 sends a command signal to the depth adjustment actuator 380 in order to increase or decrease the trench depth until the depth or the
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    12/34 desired depth settings have been indicated by the 382 depth actuator encoder.
    [00044] In the third method, 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 385 configured to measure the actual depth of the ditch. In some embodiments, the depth sensor 385 may comprise a sensor (or multiple sensors) arranged to measure a rotational position of the regulating wheel arms 260 with respect to row unit 200, as disclosed in Applicant's Interim Patent Application 61 / 718,073, the disclosure of which is incorporated in this document, in its entirety, as a reference. In other embodiments, the depth sensor 385 comprises a sensor arranged to directly measure the depth of the ditch 38. Such an embodiment is illustrated in Figure 26, in which the depth sensor 385 includes a ski 2610 configured to pass along the surface of the ground to the side of the ditch 38. In some embodiments, the ski 2610 includes two portions of coupling to the ground arranged to pass the surface of the ground on either side of the ditch 38. An arm 2620 is preferably mounted on an upper surface of a portion of the clamp 410 that engages trench 38. Arm 2620 preferably extends through an opening in ski 2610 such that the arm slides vertically in relation to the ski as cleat 410 deflects up and down. A 2640 magnet is preferably mounted on arm 2620. A Hall effect sensor 2630 is preferably mounted on ski 2610. The Hall effect sensor 2630 preferably comprises a circuit board that includes multiple Hall effect sensors vertically spaced along a surface of the circuit board adjacent to a plane
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    13/34 financed by the movement range of the 2640 magnet. The Hall 2630 effect sensor is preferably configured to generate a signal related to the position of the 2640 magnet. The Hall 2630 effect sensor is preferably in electrical communication with the monitor 50. The monitor 50 is preferably configured to determine the depth of the ditch 38 based on the signal generated by the Hall 2630 effect sensor, for example, using an empirical query table.
    Depth Control Methods
    [00045] System 300 preferably controls the depth of ditch 38 in which seeds are planted according to various processes based on one or more measurements or data inputs obtained by system 300. It should be noted that the ditch depth for a individual row unit 200 or group of row units can be controlled by measurements taken by a sensor on the row unit or by a sensor on another row unit or remote from the row units 200 (for example, on a measurement unit 2500, as described in this document) or remote from deployment 10 (for example, on a 325 base station, as described in this document). Likewise, the depth control methods described in the present invention can be used to control the ditch depth for a single row unit or a group of row units. Thus, for example, a single temperature measurement can be made on a single row unit 200 and used to determine a desired depth on multiple row units 200. In addition, the moisture measurements used in the processes described in this document can be obtained or from one of the humidity sensors described in this document or with the use of multiple temperature measurements at multiple depths, for example, generating a better-fit linear temperature-depth relationship and
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    14/34 by consulting a query table or empirically developed equation correlating the slope of the relationship between temperature-depth and soil moisture.
    [00046] A process 500 for controlling ditch depth based on soil moisture is illustrated in Figure 5. In step 505, system 300 preferably commands depth adjustment actuator 380 to set the ditch depth to a standard depth Dd, for example, 4.44 cm (1.75 inch). In step 510, system 300 preferably monitors the signal from a humidity sensor 350. In step 515, system 300 preferably compares the measured humidity M with a predetermined range, preferably defined by a low humidity Ml (for example, 15 %) and a high humidity Mh (for example, 35%). The moisture values are expressed in this document as a volumetric percentage of water content; it should be noted that other units or measures of soil moisture as are known in the art can be replaced by these values. If the humidity M is less than Ml, then, in step 520, system 300 preferably determines whether the current depth D is less than or equal to a maximum depth Dmax (for example, 5.71 cm (2.25 inches)) ; if it is, then, in step 525, system 300 preferably increases depth D by an increase (for example, 0.444 cm (0.175 inches)) and again monitors soil moisture; otherwise, then, in step 505, system 300 preferably sets depth D to the standard depth. If in step 515, the humidity M is greater than Mh, then, in step 30, system 300 preferably determines whether the current depth D is greater than or equal to a minimum depth Dmin (for example, 3.17 cm (1, 25 inch)); if it is, then, in step 535, the system 300 preferably decreases the depth D by an increase (for example, 0.444 cm (0.175 inch)); otherwise,
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    15/34 then, in step 510, system 300 preferably monitors the moisture measurement signal. If in step 515 the current humidity M is between Ml and Mh, then, in step 517, system 300 preferably retains the current depth definition D and returns to monitor the moisture measurement signal. In some modalities of method 500 reflected by the alternative path 524, if M is greater than Mh and D is less than Dmin, the system adjusts the depth D to the standard depth. In other modalities of method 500 reflected by alternative path 522, if M is less than Ml and D is greater than Dmax, then the system 300 returns to monitor the moisture measurement signal without adjusting the depth D to the standard depth .
    [00047] A process 600 for controlling the trench depth based on the soil temperature is illustrated in Figure 6. In step 605, the system 300 preferably commands the depth adjustment actuator 380 to set the trench depth to a standard depth , for example, 4.44 cm (1.75 inch). In step 610, system 300 preferably monitors the signal from a temperature sensor 360. In step 615, system 300 preferably compares the measured temperature T over a predetermined range, preferably defined by a low temperature Tl (for example, 12 , 77 degrees Celsius (55 degrees Fahrenheit)) and a high Th temperature (for example, 18.33 degrees Celsius (65 degrees Fahrenheit)). If the temperature T is greater than Th, then, in step 620, system 300 preferably determines whether the current depth D is less than or equal to a maximum depth Dmax (for example, 5.71 cm (2.25 inches)) ; if it is, then, in step 625, system 300 preferably increases depth D by an increase (for example, 0.444 cm (0.175 inch)) and again monitors the soil temperature; otherwise, then, in step 605, system 300 defines preference
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    16/34 the depth D to the standard depth. If in step 615, the temperature T is less than TI, then, in step 630, system 300 preferably determines whether the current depth D is greater than or equal to a minimum depth Dmin (for example, 3.17 cm (1, 25 inch)); if it is, then, in step 635, the system 300 preferably decreases the depth D by an increase (for example, 0.444 cm (0.175 inch)); otherwise, in step 610, system 300 again monitors the moisture measurement signal. If in step 615 the current temperature T is between Tl and Th, then, in step 617, the system 300 preferably retains the current depth D and returns to monitor the temperature measurement signal. In other modalities of process 600 reflected by alternative path 622, if T is greater than Th and D is greater than Dmax, system 300 returns to monitor the temperature measurement signal without adjusting the depth D to the standard depth. In other modalities of process 600 reflected by alternative path 624, if T is less than TI and D is less than Dmin, then system 300 adjusts depth D to the standard depth before returning to monitor the measurement signal of moisture. In still other modalities of process 600 reflected by the alternative path 626, if T is greater than Th and D is less than or equal to Dmax, then the system 300 returns to monitor the temperature measurement signal without adjusting the depth D for the standard depth.
    [00048] In other modalities of process 600, a stationary probe or planter temperature probe is configured and arranged to determine the soil temperature at a constant depth (eg 10.16 cm (4 inches)) Dc greater than or equal the Dmax. The system preferably compares the temperature measured in depth D to the temperature measured in Dc and determines a temperature distribution between D and Dc. The desired depth is,
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    17/34 then selected corresponding to a desired temperature in the distribution.
    [00049] A process 700 for controlling depth based on soil moisture and soil temperature is illustrated in Figure 7. In step 705, system 300 preferably executes process 500 and process 600 simultaneously. The term simultaneously, as used in this document, means that the processes generally run at the same time and do not require any specific corresponding step in each process carried out close to or at the same time; however, in a preferred embodiment, after each cycle of processes 500, 600 (the term cycle means, for example, a sequence that results in a depth change recommendation even if the recommendation is to retain the current depth) is completed, each process (eg process 500) preferably waits for the current cycle of the other process (eg process 600) to complete before proceeding to step 710. Since both processes 500, 600 generated a depth recommendation, at step 710, system 300 preferably determines whether one process recommends a change in depth while the other process recommends a change in depth; otherwise, in step 715, system 300 preferably follows the recommendation that requires a change in depth. Otherwise, then, in step 720, the system 300 determines preferably if the humidity process 500 recommends the increased depth while the process at temperature 600 requests the reduced depth; otherwise, then, in step 715, system 300 preferably follows the recommendation that requests a change in depth; if it is, then, in step 725, system 300 preferentially adjusts the trench depth up and down through additions related to the depth definition of
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    18/34 current (for example, 0.444 cm (0.175 inch) deeper and shallower than the current depth setting) to determine whether a borderline increase in humidity or temperature is achieved at depths above and below the setting of current depth; after upward and downward cycling in step 725, the system 300 preferably returns to the current depth setting. In step 730, system 300 preferably determines whether the temperature or humidity increases at the increased or reduced depths sampled in step 725. If the temperature does not rise by at least one limit (for example, -16.66 degrees Celsius (2 degrees Fahrenheit) ) in the decreased depth, the humidity increases by at least one limit (for example, 2%) in the increased depth, then, in step 732, the system 300 preferably increases the depth by the increase recommended by the humidity process 500. If the temperature increases by at least one limit (for example, -16.66 degrees Celsius (2 degrees Fahrenheit)) at the decreased depth, the humidity does not increase by at least one limit (for example, 2%) at the increased depth, so in step 734 , the system 300 preferentially reduces the depth by the increase recommended by the humidity process 600. In all other cases, in step 736 the system 300 retains the current depth definition preferentially.
    [00050] Another process 800 for controlling depth based on soil temperature and soil moisture is illustrated in Figure 8. In step 805, the system preferably runs process 500 and process 600 simultaneously. In step 810, after each cycle of processes 500, 600, system 300 preferably waits until both processes have provided a depth recommendation. In step 815, system 300 preferably adds the depth adjustment additions recommended by both
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    19/34 processes 500, 600; it should be noted that if any of the 500, 600 processes recommend retaining the current depth, then this process contributes zero to the added addition. In step 820, system 300 preferentially adjusts the depth setting by adding it together.
    [00051] A modified 800 'process to control depth based on soil temperature and soil moisture is illustrated in Figure 9. The modified 800' process is similar to process 800, but in step 812 the multipliers are preferably applied to each of the incremental depth adjustments recommended by the 500, 600 processes. In some embodiments, the multipliers can be based on the relative agronomic cost with moisture and / or lost temperature; for example, assuming that a higher agronomic cost is associated with lost moisture than with lost temperature, multipliers can be 0.9 for the temperature recommendation and 1.1 for the humidity recommendation. It should be noted that multipliers can be applied to the input values instead of the recommendations resulting from processes 500, 600; for example, a 0.9 multiplier per degree Fahrenheit can be applied to temperature measurement and a 1.1 per 1% moisture content multiplier can be applied to moisture measurement.
    [00052] A process 1100 for controlling depth based on soil data is illustrated in Figure 11. In step 1105, system 300 preferably accesses soil data (for example, a map of soil data geo-referenced as a file of form that associates soil data with georeferenced positions); monitor 50 can obtain soil data from the soil data server 345, although in some modalities the soil data can be stored in the memory of monitor 50. In step 1110, system 300 preferably compares a current planter location 10 (for
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    20/34 example, as reported by GPS receiver 52) to georeferenced soil data in order to determine a soil characteristic (eg soil type) of the soil at the current location. In step 1115, system 300 preferably determines a desired depth based on the recovered soil data, for example, using a query table that relates the desired depths to the soil characteristic ranges. In an illustrative example, the lookup table can include a set of soil types, each associated with a desired depth; for example, Ipava soil can be associated with a desired depth of 4.44 cm (1.75 inch) while Sable can be associated with a desired depth of 4.5 cm (1.8 inch). In other embodiments, in step 1115 the system 300 uses a formula to calculate a desired depth Dd based on soil data, for example, using the equation:
    Dd = 1.75 + 0.007 x (C - 10)
    [00053] Where: C is the clay content of the soil, expressed as a percentage.
    [00054] In step 1120, system 300 preferentially adjusts the trench depth to the desired depth.
    [00055] A process 1200 for controlling depth based on soil data and soil temperature is illustrated in Figure 12. In step 1205, system 300 preferably accesses soil data as described above in relation to step 1105 of process 1100. In step 1210, system 300 preferably determines a soil characteristic by comparing its current location to georeferenced soil data as described above in relation to step 1110 of process 1100. In step 1215, system 300 determines preferably a temperature multiplier that uses a look-up table or equation that relates temperature multipliers to soil characteristic ranges; for example, a multiplier
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    21/34 of 1.1 can be associated with Ipava soil while a multiplier of 0.9 can be associated with Sable soil. In step 1220, system 300 preferably determines the current temperature from the temperature sensor signal. In step 1225, system 300 preferably applies the temperature multiplier to the measured temperature. In step 1230, system 300 preferentially determines a recommended depth adjustment using the modified temperature (applied to the multiplier), for example, using process 600 described in this document. In step 1235, system 300 preferably applies the recommended depth adjustment. It should be noted that process 1200 could be modified in order to control depth based on the type of soil and other measured soil characteristics such as soil moisture. In some modalities, monitor 50 consults a lookup table to determine the values of Mh and Ml for the type of soil that corresponds to the current position of the row unit; for example, the values of Mh, Ml can be 30%, 15% respectively for silty clay and 36%, 20% respectively for sandy clay clay.
    [00056] A process 1300 for controlling depth based on weather data is illustrated in Figure 13. In step 1305, system 300 preferably accesses weather data, for example, from weather data server 340. System 300 determines , then, a desired depth based on climatic data, which may include, inter alia, predicted precipitation, predicted air temperature, past precipitation or past air temperature. In the example shown, in step 1310, system 300 obtains the predicted air temperature and determines the number of days of growth degree G between planting time and germination time, for example, using the equation below in which Preferred values are specified for maize:
    Petition 870190087749, of 09/06/2019, p. 24/48
    22/34 tt = l
    [00057] Where: N is the number of days between planting and germination, for example, 5;
    Tmax is the maximum predicted temperature in Fahrenheit during each successive 24-hour period following the planting time;
    Tmin is the minimum predicted temperature in Fahrenheit during each successive 24-hour period following the planting time or Tbase if the minimum predicted temperature is less than Tbase; and
    Tbase is the base temperature for the seed, for example, 10 degrees Celsius (50 degrees Fahrenheit).
    [00058] Once the number of days of predicted growth degree is determined, in step 1315 system 300 preferably determines a desired depth based on the number of predicted growth days. In some embodiments, system 300 queries a query table stored in the memory of monitor 50; for example, a depth of 4.44 cm (1.75 inch) may be desired for days of growth degree greater than 30, a depth of 3.81 cm (1.5 inch) may be desired for days of degree of growth between 15 and 30 and a depth of 3.17 cm (1.25 inch) may be desired for days of growth degree between 0 and 15 degrees. It should be noted that a shallower depth is, in general, desired for smaller daily growth values. In step 1335, system 300 preferentially adjusts the trench depth to the desired depth determined in step 1315.
    [00059] A 1400 process for controlling depth based on climatic data and soil temperature is illustrated in Figure 14. In step 1405, system 300 preferably accesses climate data
    Petition 870190087749, of 09/06/2019, p. 25/48
    23/34 typical as described above in relation to process 1300. In step 1410, system 300 preferably determines a number of days of degree of growth as described in relation to process 1300. In step 1415, system 300 preferably determines the current temperature based on the signal received from the temperature sensor 360. In step 1420, system 300 preferably applies a multiplier to the measured temperature; the multiplier is preferably based on the number of growth grade days calculated in step 1410. For example, a multiplier of 1 can be applied for growth grade days greater than 15 and a multiplier of 0.8 can be applied for days growth degrees less than 15; it should be noted that the resulting modified soil temperature is preferably lower for lower daily growth grade values. In step 1425, system 300 preferably determines a recommended depth adjustment based on the modified temperature (applied to the multiplier), for example, using process 600 described in this document. In step 1430, system 300 preferentially adjusts the trench depth according to the setting determined in step 1425.
    [00060] A process 1500 for controlling depth based on data received from base station 325 is illustrated in Figure 15. In step 1505, system 300 preferably receives temperature measurements at multiple depths from base station 325. In In step 1510, system 300 preferably determines an empirical relationship between depth and temperature, for example, by determining a linear or other equation that best fits the temperature measurements at base station 325. In step 1515, system 300 preferably receives measurements at multiple depths from base station 325. In step 1520, system 300 determines an empirical relationship between
    Petition 870190087749, of 09/06/2019, p. 26/48
    24/34 depth and humidity, for example, by determining a linear or other equation that best fits the moisture measurements at the base station 325. In step 1525, system 300 preferably determines a desired depth based on the moisture and humidity measurements. depth received from base station 325. In some embodiments, system 300 selects a depth at which the loss L resulting from a lack of humidity and temperature is minimized, for example, where the loss L is determined by the equation:
    L = L m + Lt
    [00061] Where: Lt = TI - T for T <TI, Lt = 0 for T> TI;
    Lm = 15 - Ml for M <Ml, Lm = 0 for M> Ml;
    Ml is the minimum humidity level as described anywhere in this document, for example, 15%; and
    TI is the minimum temperature described anywhere in this document, for example, 10 degrees C (50 degrees F).
    [00062] System 300 preferably selects a depth that corresponds to the minimum L value for all depths between the maximum depth Dmax and the minimum depth Dmin. If the minimum value of L is within a limit (for example, 5%) of the maximum value of L, then the system 300 preferably chooses a standard depth (for example, 4.44 cm (1.75 inch)) in instead of the depth that corresponds to the minimum L value. In step 1530, system 300 preferentially adjusts the trench depth to the depth selected in step 1525.
    [00063] A 1600 process for controlling depth based on soil and moisture data and weather data is illustrated in Figure 16. In step 1605, system 300 preferably receives measurements at multiple depths from base station 325, as described above in regarding process 1500. In step 1610, the system
    Petition 870190087749, of 09/06/2019, p. 27/48
    25/34 m to 300 preferably determines an empirical relationship between temperature and depth as described above in relation to process 1500. In step 1615, system 300 preferably receives moisture measurements at multiple depths from base station 325, as described above in relation to to process 1500. In step 1620, system 300 preferably determines an empirical relationship between humidity and depth as described above in relation to process 1500. In step 1625, system 300 receives temperature data, preferably from base station 325 and / or from weather data server 340. Temperature data can include past recorded air temperature (for example, local air temperature recorded during the previous 24 hours) as well as an expected air temperature (for example, predicted local air temperature during Following 60 hours); temperature data can also include cloud conditions and forecasted cloud conditions. In step 1630, system 300 preferentially adjusts the temperature-depth ratio based on the temperature data. For example, in some modalities, the system 300 can adjust the temperature-depth ratio based on the local air temperature recorded during a period prior to planting and the predicted temperature during the germination period (for example, 60 hours) after the planting. In such an embodiment, the system 300 changes the temperature-depth ratio T (d) to a modified temperature-depth ratio T '(d) using the equation:
    [00064] Where: A (h) is an air temperature as a function of time in hours h;
    Hp is the number of hours before planting over which the recorded air temperature is used; and
    Petition 870190087749, of 09/06/2019, p. 28/48
    26/34
    Hf is the number of hours after planting over which the predicted air temperature is used.
    [00065] Continuing to refer to process 1600 of Figure 16, in step 1635 the system 300 receives precipitation data, preferably from the base station 325 and / or from the climate data server 340. Precipitation data may include past recorded rainfall (for example, local rainfall recorded during the previous 24 hours) as well as predicted rainfall (for example, local rainfall forecast over the next 60 hours). In step 1640, system 300 preferentially adjusts the moisture-to-depth ratio based on precipitation data. For example, in some modalities, the system 300 can adjust the humidity-depth ratio based on the local rainfall recorded during a period prior to planting and the expected rainfall during the germination period (for example, 60 hours) after the planting. In such a modality, the system 300 modifies the moisture ratio depth M (d) to a modified moisture depth ratio M '(d) using the equation:
    =, W [d) X-7X
    [00066] Where: R (h) is rainfall as a function of time in hours h;
    Hp is the number of hours before planting over which the registered rainfall is used; and
    Hf is the number of hours after planting over which the predicted rainfall is used.
    [00067] Continuing to refer to process 1600 of Figure 16, in step 1645 The system 300 preferably determines a desired depth based on the temperature-depth relationships
    Petition 870190087749, of 09/06/2019, p. 29/48
    27/34 modified and modified moisture-depth generated in steps 1630, 1640; in some embodiments, step 1645 is performed as described in this document in relation to step 1525 of process 1500. In step 1650, system 300 preferably adjusts the trench depth to the desired depth.
    Display and User Interface
    [00068] As shown in Figure 17, monitor 50 is preferably configured to display a 1700 screen that displays space soil temperature data. Screen 1700 preferably displays the active position of planter 10 and each of the associated row units 200 (numbered 1 to 4 in Figure 17). In the mode of Figure 17, temperature measurements are made in each row unit 200. Each temperature measurement is preferably marked by time and associated with a GPS position; screen 1700 preferably displays the resulting temperature-location data points 1722, 1724, 1726 associated (for example, by color or shading) with caption strips 1712, 1714, 1716, which are preferably illustrated in a caption 1710. An interface 90 preferably allows the user to navigate between map screens.
    [00069] As illustrated in Figure 18, monitor 50 is preferably configured to display a 1800 screen that displays spatial soil moisture data. Screen 1800 preferably displays the active position of planter 10 and each of the associated row units 200 (numbered 1 to 4 in Figure 18). In the modality of Figure 18, moisture measurements are made in each row unit 200. Each moisture measurement is preferably marked by time and associated with a GPS position; screen 1800 preferably displays the resulting moisture-location data points 1822, 1824, 1826 associated with caption ranges 1812, 1814, 1816, which are preferably illustrated in a caption 1810.
    Petition 870190087749, of 09/06/2019, p. 30/48
    28/34
    [00070] As shown in Figure 19, monitor 50 is preferably configured to display a 1900 screen that displays spatial ditch depth data. Screen 1900 preferably displays the active position of planter 10 and each of the associated row units 200 (numbered 1 to 4 in Figure 19). In the modality of Figure 19, ditch depth measurements (or commanded ditch depth records) are made in each row unit 200. Each ditch depth measurement is preferably marked by time and associated with a GPS position; screen 1900 preferably displays resulting depth-location data points 1922, 1924, 1926 associated with subtitle tracks 1912, 1914, 1916, which are preferably illustrated in a 1910 legend.
    [00071] In some embodiments, the screens 1700, 1800 and / or 1900 include a map overlay that comprises spatial data from previous operations and / or previous stations. The map overlay can be compared side by side with or partially transparent and overlaid on the temperature, humidity or depth data. In some modalities, the map overlay comprises aerial photographs (for example, photographic, NDVI, emergency in the installation or thermal images) previously captured for the same field. In other modalities, the map overlay comprises application data (for example, planting data gathered from seed sensors or nitrogen application rate data). In still other modalities, the map overlay comprises yield data recorded during the harvest in a previous season.
    [00072] Turning to Figure 20, monitor 50 is preferably configured to display a 2000 germination summary screen. A 2005 window preferably displays the percentage of seeds
    Petition 870190087749, of 09/06/2019, p. 31/48
    29/34
    S planted at a desired humidity level, whose monitor 50 calculates preferentially according to the equation:
    S = - ^ - x 100%
    [00073] Where: St is the total number of seeds planted during the current planting operation (for example, in the current field); and
    Sm is the number of seeds planted at a borderline distance (for example, 15.24 cm (6 inches)) from a GPS location associated with a moisture measurement of at least one borderline value (for example, 15%).
    [00074] In system modalities 300 that have a humidity sensor 350 in each row, the Sm value is preferably determined based on row by row and then added together. In embodiments that have fewer humidity sensors 350 than row units 200, each humidity sensor is associated with one or more row units and the Sm value is determined with a row by row basis with each row unit using moisture measurements from its associated humidity sensor. Monitor 50 also determines the S value for each individual row and identifies the row that has the lowest S value in the 2005 window.
    [00075] The germination summary screen 2000 also preferably includes a 2010 window that displays the percentage of R seeds planted at a desired temperature, which monitor 50 calculates preferably according to the equation:
    K = -ix 100%
    [00076] Rt is the number of seeds planted at a borderline distance (and inches) from a GPS location associated with a temperature measurement of at least a borderline value (for example, 12.77 degrees Celsius (55 degrees Fahrenheit).
    [00077] In system modalities 300 that have a sensor of
    Petition 870190087749, of 09/06/2019, p. 32/48
    30/34 temperature 360 in each row, the Rm value is preferably determined based on row by row and then added together. In embodiments that have fewer 360 temperature sensors than row units 200, each temperature sensor is associated with one or more row units and the Rm value is determined on a row by row basis with each row unit using temperature measurements from its associated temperature sensor. Monitor 50 also determines the R value for each individual row and identifies the row that has the lowest R value in the 2010 window.
    [00078] Screen 2000 also preferably includes a 2015 window that displays an estimate of the probability P of successful germination of seeds planted during the current planting operation (for example, in the current field), which monitor 50 calculates preferably with the use of the equation:
    H, + S m P = 2St x 1W%
    [00079] In system modalities 300 that have humidity sensors, but do not have temperature sensors, monitor 50 calculates preferably the probability P of germination using the equation:
    P = -2- x 100%
    [00080] In system 300 modalities that have humidity sensors, but do not have temperature sensors, monitor 50 calculates preferably the germination probability P using the equation:
    IS
    P = -It is x 100%
    [00081] Referring further to Figure 20, screen 2000 preferably includes a 2020 window that displays the average of the current humidity measurements obtained from 350 humidity sensors. Window 2020 preferably identifies the row or section unit (ie is,
    Petition 870190087749, of 09/06/2019, p. 33/48
    31/34 group of row units associated with a single humidity sensor 350) from which the lowest humidity measurement is obtained. Screen 2000 preferably includes a 2025 window that displays the average of the current temperature measurements obtained from 360 temperature sensors. Window 2025 preferably identifies the row unit or section (that is, a group of row units associated with a single 360 temperature sensor) from which the lowest temperature measurement is obtained. Screen 2000 also preferably includes a 2030 window that displays the current average depth setting commanded to the 380 depth adjustment actuators (or in some embodiments, the actual average current depth measurement obtained from the 385 depth sensors). The 2030 window also preferably identifies the row units that have the shallowest and deepest trench depths. Screen 2000 also preferably includes a 2040 interface that allows the user to navigate to row detail screens described later in this document.
    [00082] Referring further to Figure 20, screen 2000 preferably includes a 2035 planting recommendation window that displays a recommendation indicating whether planting is recommended (for example, Keep Planting) or not recommended (for example, Stop Planting ). Monitor 50 preferably determines which recommendation to display based on the current humidity and / or temperature measurements made by the 300 system or the average measurements made during the current planting operation (for example, in the current field). In some modalities, the monitor recommends planting only if the loss L (calculated as described above) is less than a limit, for example, 20. In modalities where the 300 system includes 350 humidity sensors, but does not include temperature sensors 360, monitor 50 preferably recommends planting only if the measurement of
    Petition 870190087749, of 09/06/2019, p. 34/48
    32/34 humidity displayed in the 2020 window is greater than a limit, for example, 15%. In modalities where the 300 system includes 360 temperature sensors, but does not include humidity sensors 350, monitor 50 preferably recommends planting only if the temperature measurement displayed in the 2025 window is greater than a limit, for example, 12.77 degrees Celsius (55 degrees Fahrenheit).
    [00083] It should be noted that the values of humidity and temperature displayed on screen 2000 and used to calculate the potential germination value (window 2015) and determine the planting recommendation (window 2035) can be adjusted based on climatic data, as described earlier in this document.
    [00084] Turning to Figure 21, monitor 50 is preferably configured to display a row through the row by row summary screen 2100. Screen 2100 preferably includes a graph 2110 that illustrates the ditch depth in each row unit , a graph 2130 that illustrates the measured humidity in each row unit, a graph 2120 that illustrates the germination potential determined for each row unit and a graph 2140 that illustrates the temperature measured in each row unit.
    [00085] Turning to Figure 22, monitor 50 is preferably configured to display one detail screen per row 2200 for each unit in row 200. The detail screen per row preferably includes windows 2205, 2210, 2215, 2220, 2225 , 2230 that display individual row values used to calculate the average values displayed in the 2005, 2010, 2015, 2020, 2025, 2030 windows, respectively, of the 2000 screen.
    [00086] Turning to Figure 23, monitor 50 is preferably configured to display a 2300 configuration screen that allows the user to vary the parameters used in the depth control processes described in this document. The 2300 screen includes
    Petition 870190087749, of 09/06/2019, p. 35/48
    33/34 preferably a 2310 depth interface to define the minimum depth Dmin, the standard depth Dd and the maximum depth Dmax. The screen 2300 preferably includes a temperature interface 2320 to define the high temperature Th and the low temperature Tl. The 2300 screen preferably includes a 2330 humidity interface for setting high humidity Mh and low humidity Ml. The 2300 screen preferably includes a 2340 interface that allows the user to select which variables are used to control the depth. Monitor 50 is preferably configured to select a depth control process that uses the variables selected by the user as inputs and does not require variables not selected by the user. For example, if the user selects only Active Humidity, system 300 preferably uses process 500 to control the ditch depth, while if the user selects only Active humidity and Active temperature, system 300 preferably uses one of processes 700, 800 or 800 'to control the trench depth.
    [00087] Referring also to Figure 23, screen 2300 preferably includes a depth control interface 2350 that allows the user to turn off all depth control processes (for example, by selecting Off) so that the system 300 leave the trench depth in each row unit 200 at the current setting (or in some embodiments, return each row unit to the standard depth Dd). The 2300 screen also preferably includes a 2360 user approval interface that allows the user to select whether monitor 50 requests user approval prior to request. If the user selects On on the 2360 interface, then the monitor 50 preferably encourages the user to approve or reject the changes in depth requested by the depth control processes described in this document.
    Petition 870190087749, of 09/06/2019, p. 36/48
    34/34 document (for example, by a window overlaid on the active screen). [00088] Turning to Figure 27, monitor 50 is preferably configured to display a 2700 screen to manually define the ditch depth and preferably to view the humidity and temperature data. The 2700 screen preferably displays a 2710 graph that illustrates the relationship between depth and humidity and between depth and temperature. The depth-temperature relationship illustrated in graph 2710 is preferably generated by averaging the temperature measurements made by the system 300 at various depths. The depth-humidity ratio illustrated in graph 2720 is preferably generated by averaging the moisture measurements made by system 300 at various depths. It should be noted that the 2620 graph helps the user in selecting a depth at which the desired humidity and temperature are available. The 2700 screen preferably displays a depth interface (for example, a sliding interface as illustrated) that allows the user to define a trench depth; the system 300 preferentially adjusts the ditch depth in each row unit to the manually selected ditch depth if a manually activated interface 2605 is set to On.
    [00089] The above description is presented to enable a common skill in the art to make and use the invention and is provided in the context of a patent application and its requirements. Several modifications to the preferred mode of the device, and the general principles and resources of the system and the methods described in this document will be readily apparent to those skilled in the art. Thus, the present invention should not be limited to the modalities of the apparatus, system and methods described above and illustrated in the Figures of the drawings, but must be in accordance with the broader scope consistent with the spirit and scope of the attached claims.
    权利要求:
    Claims (20)
    [1]
    1. Monitoring and control system (300) for an agricultural implantation (10) that has a plurality of row units (200), comprising:
    a depth control actuator (380) associated with at least one row unit of the plurality of row units (200) and configured to adjust a depth of a trench (38) opened by at least one row unit of the plurality of units row;
    a seed firmer (410) which has a lower portion which resiliently contacts a bottom of said ditch (38) and which has the ability to firm seeds at the bottom of said ditch (38);
    characterized by the fact that it also comprises:
    a soil temperature sensor (360) associated with at least one row unit of the plurality of row units (200) (200) and configured to measure the soil temperature in a lower portion of said ditch (38), wherein said soil temperature sensor (360) is mounted on said seed firmer (410) and is in contact with said lower portion of said ditch (38); and a processor (2405) in electrical communication with said depth control actuator (380) and said soil temperature sensor (360), said depth control actuator (380) is responsive to said processor (2405) to modify said depth of said ditch (38) based on said measured soil temperature.
    [2]
    2. Monitoring and control system, according to claim 1, characterized by the fact that said soil temperature sensor (360) comprises a thermocouple.
    [3]
    3. Monitoring and control system, according to claim 1, characterized by the fact that it additionally comprises:
    Petition 870190087749, of 09/06/2019, p. 38/48
    2/7 a soil moisture sensor (350) associated with at least one row unit of the plurality of row units (200) and configured to measure the humidity at the bottom of said ditch (38), wherein said processor ( 2405) is in electrical communication with said soil moisture sensor (350), said depth control actuator (380) is responsive to said processor (2405) to modify said depth of said ditch (38) based on dictates measured soil moisture.
    [4]
    4. Monitoring and control system, according to claim 1, characterized by the fact that said soil temperature sensor (360) is housed at least partially in said seed firmer (410).
    [5]
    5. Monitoring and control system, according to claim 1, characterized by the fact that said processor (2405) compares said soil temperature measured to a desired temperature range and reduces said depth, in the event of said soil temperature. measured soil is less than said desired temperature range.
    [6]
    6. Monitoring and control system, according to claim 1, characterized by the fact that said processor (2405) causes said depth control actuator (380) to reduce said depth of said ditch (38) to a modified depth and determines whether said measured soil temperature is greater at said modified depth and in which said processor (2405) causes said depth control actuator (380) to increase said depth of said ditch (38 ), if the measured soil temperature is not higher at said modified depth.
    [7]
    7. Monitoring and control system (300) for an agricultural implantation (10) that has a plurality of row units (200), comprising:
    Petition 870190087749, of 09/06/2019, p. 39/48
    3/7 a depth control actuator (380) associated with at least one row unit of the plurality of row units (200) and configured to adjust a depth of a ditch (38) opened by at least one row unit of the plurality of row units (200);
    a seed firmer (410) which has a lower portion which resiliently contacts a bottom of said ditch (38) and which has the ability to firm seeds at the bottom of said ditch (38);
    characterized by the fact that it also comprises:
    a soil moisture sensor (350) associated with at least one row unit of the plurality of row units (200) and configured to measure soil moisture in the lower portion of said ditch (38), wherein said soil moisture sensor soil moisture (350) is mounted on said seed firmer (410) and is in contact with said lower portion of said ditch (38); and a processor (2405) in electrical communication with said depth control actuator (380) and said soil moisture sensor (350), said depth control actuator (380) is responsive to said processor (2405) to modify said depth of said ditch (38) based on said measured soil moisture.
    [8]
    8. Monitoring and control system, according to claim 7, characterized by the fact that said soil moisture sensor (350) comprises a reflectivity sensor.
    [9]
    9. Monitoring and control system, according to claim 7, characterized by the fact that said soil moisture sensor (350) is housed at least partially in said seed firmer (410).
    [10]
    10. Monitoring and control system, according to claim 9, characterized by the fact that it additionally comprises:
    Petition 870190087749, of 09/06/2019, p. 40/48
    4/7 a soil temperature sensor (360) associated with at least one row unit of the plurality of row units (200) and configured to measure a temperature at the bottom of said ditch (38), wherein said processor ( 2405) is in electrical communication with said soil moisture sensor (360) and said depth control actuator (380) is responsive to said processor (2405) to modify said depth of said ditch (38) based on said soil temperature measured.
    [11]
    11. Monitoring and control system, according to claim 10, characterized by the fact that said soil temperature sensor (360) is housed at least partially in said seed firmer (410).
    [12]
    12. Monitoring and control system, according to claim 7, characterized by the fact that said processor (2405) compares said measured humidity to a desired humidity range and makes said depth control actuator (380 ) increase said depth of said ditch (38), if said soil moisture is less than said desired moisture range.
    [13]
    13. Monitoring and control system, according to claim 7, characterized by the fact that said processor (2405) causes said depth control actuator (380) to increase said depth of said ditch (38) up to a modified depth and determines whether said soil moisture is greater at said modified depth and in which said processor (2405) causes said depth control actuator (380) to reduce said depth of said ditch (38), if the measured humidity is not greater at said modified depth.
    [14]
    14. Monitoring system (300) for an agricultural implantation that has a plurality of row units (200), characterized by the fact that it comprises:
    Petition 870190087749, of 09/06/2019, p. 41/48
    5/7 a soil temperature sensor (360) associated with at least one row unit of the plurality of row units (200) and configured to measure a soil temperature in a lower portion of a ditch (38) opened by the fur at least one row unit of the plurality of row units (200);
    a processor (2405) in electrical communication with said soil temperature sensor (360);
    a display (1700) in electrical communication with said processor (2405), said display (1700) showing said measured soil temperature; and characterized by the fact that it also comprises:
    a seed firmer (410) arranged to firm seeds in said ditch (38), a lower portion of said seed firmer (410) which resiliently contacts a bottom of said ditch (38) and has the ability to firm seeds at the bottom of said ditch, wherein said soil temperature sensor (360) is mounted on said seed firmer (410) and is in contact with a lower portion of said ditch (38).
    [15]
    15. Monitoring system, according to claim 14, characterized by the fact that said soil temperature sensor (360) comprises a thermocouple.
    [16]
    16. Monitoring system, according to claim 14, characterized by the fact that it additionally comprises:
    a soil moisture sensor (350) associated with at least one row unit of the plurality of row units (200) and configured to measure the soil moisture at the bottom of said ditch (38), wherein said processor (2405 ) is in electrical communication with said soil moisture sensor (350), and said display (1700) displays said measured soil moisture.
    [17]
    17. Monitoring system, according to the claim
    Petition 870190087749, of 09/06/2019, p. 42/48
    6/7 tion 16, characterized by the fact that said soil moisture sensor (350) is housed at least partially in said seed firmer (410).
    [18]
    18. Monitoring system for an agricultural implantation that has a plurality of row units, characterized by the fact that it comprises:
    a soil moisture sensor (350) associated with at least one row unit of the plurality of row units (200) and configured to measure soil moisture in a lower portion of a ditch (38) opened by at least one unit tier of the plurality of tier units (200);
    a processor (2405) in electrical communication with said soil moisture sensor (350);
    a display (1700) in electrical communication with said processor (2405), said display (1700) showing said measured soil moisture; and characterized by the fact that it also comprises:
    a seed firmer (410) arranged to firm seeds in said ditch (38), a lower portion of said seed firmer (410) which resiliently contacts a bottom of said ditch (38) and has the ability to firm seeds at the bottom of said ditch (38), wherein said soil moisture sensor (350) is mounted on said seed firmer (410) and is in contact with a lower portion of said ditch (38).
    [19]
    19. Monitoring system, according to claim 18, characterized by the fact that it additionally comprises:
    a soil temperature sensor (360) associated with at least one row unit of the plurality of row units (200) and configured to measure a soil temperature at the bottom of said ditch (38), wherein said processor (2405 ) is in communication
    Petition 870190087749, of 09/06/2019, p. 43/48
    7/7 electrical with said soil temperature sensor (360), said display (1700) showing said measured soil moisture.
    [20]
    20. Monitoring system, according to claim 19, characterized by the fact that said soil temperature sensor (360) is housed at least partially in said seed firmer (410).
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    US10609857B2|2020-04-07|
    LT2966964T|2018-08-27|
    US20190150355A1|2019-05-23|
    LT3424289T|2021-02-25|
    LT3375273T|2019-12-27|
    AU2018203618A1|2018-06-14|
    EP2966964B1|2018-05-09|
    US20190357421A1|2019-11-28|
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    法律状态:
    2018-02-27| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-07-09| B06T| Formal requirements before examination [chapter 6.20 patent gazette]|
    2020-03-24| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-05-19| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 14/03/2014, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US201361783591P| true| 2013-03-14|2013-03-14|
    PCT/US2014/029352|WO2014153157A1|2013-03-14|2014-03-14|Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring|
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