• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    SYSTEM FOR MONITORING SOIL HUMIDITY. The present invention relates to systems, methods and apparatus for measuring moisture. In some modalities, a reflectance measurement is corrected based on a map of soil characteristics. In other embodiments, a first reflectance measurement at a first depth is corrected based on a second reflectance measurement at a second depth.
    公开号:BR112015028728B1
    申请号:R112015028728-0
    申请日:2014-05-19
    公开日:2020-12-08
    发明作者:Jason Stoller；Troy Plattner
    申请人:Precision Planting Llc；
    IPC主号:
    专利说明:

    BACKGROUND
    [0001] In recent years, rising production costs and a growing interest in precision agricultural practices have led to the development of moisture measurement in the field. However, existing systems generate moisture estimates that change with variables other than true moisture measurement. Thus, there is a shortage of improved systems, methods and apparatus for monitoring soil moisture. BRIEF DESCRIPTION OF THE DRAWINGS
    [0002] Figure 1 is a top view of an agricultural planter modality.
    [0003] Figure 2 is a side elevation view of a planter row unit modality.
    [0004] Figure 3 schematically illustrates a modality of a soil monitoring system.
    [0005] Figure 4 illustrates a modality of a soil characteristics map.
    [0006] Figure 5 illustrates a modality of a process for correcting a soil measurement based on the type of soil.
    [0007] Figure 6 illustrates a modality of a process to correct a soil reflectance measurement based on the type of soil.
    [0008] Figure 7 illustrates a modality of a process for correcting a soil reflectance measurement using a soil measurement map.
    [0009] Figure 8 illustrates a modality of a process to correct a measurement of soil reflectance based on a second measurement of soil characteristics.
    [0010] Figure 9 illustrates a modality of a process to correct a measurement of soil reflectance based on a type of soil and a second measurement of soil characteristics.
    [0011] Figure 10 illustrates a modality of a process to correct a soil reflectance measurement based on a second soil reflectance measurement.
    [0012] Figure 11 illustrates a modality of a process for correcting a measurement of soil reflectance made at multiple wavelengths with the use of a second measurement of soil reflectance made at multiple wavelengths.
    [0013] Figure 12 illustrates a modality of a soil moisture map.
    [0014] Figure 13 illustrates a modality of an electrical conductivity sensor. DESCRIPTION SOIL MONITORING SYSTEM
    [0015] Now with reference to the drawings, in which similar reference numerals designate identical or corresponding parts in all the different views, Figure 1 illustrates a tractor 5 pulling an agricultural implement, for example, a planter 10, which comprises a tool bar 14 that operationally supports multiple tier 200 units. An implement monitor 50 that preferably includes a central processing unit (“CPU”), memory and graphical user interface (“GUI”) (for example, a touch screen interface) touch) is preferably located in the tractor 5 cab. A global positioning system (“GPS”) 52 receiver is preferably mounted on the tractor 5.
    [0016] Moving on 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. Actuator 218 is preferably arranged to apply lifting and / or lowering force on the row unit 200. A solenoid valve 390 it is preferably in fluid communication with the actuator 218 to modify the lifting and / or lowering 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 38 in the ground 40. A pair of regulating wheels 248 is supported articulated by a pair of corresponding 260 adjusting wheel arms; the height of the regulator wheels 248 relative to the opening discs 244 determines the depth of the ditch 38. A depth adjustment rocker 268 limits the upward movement of the regulator wheel arms 260 and therefore the upward movement of the regulator wheels 248. One depth adjustment actuator 380 is preferably configured to modify a position of depth adjustment rocker 268 and therefore the height of the regulator wheels 248. Actuator 380 is preferably a linear actuator mounted on row unit 200 and coupled articulated to an upper end of rocker arm 268. In some embodiments, the depth adjustment actuator 380 comprises a device such as that described in the International Patent Application in PCT / US2012 / 035585, the description 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 must be assessed that the linear extension of the actuator 380 is related to the depth of the ditch 38 when the adjusting wheel arms 260 are in contact with the rocker 268. A lowering 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 lowering force sensor 392 comprises an instrumented pin around which the rocker arm 268 is pivotally coupled to the row unit 200, such as those instrumented pins described in the applicant's copending application No. 12 / 522,253 (Pub. No US2010 / 0180695), the description of which is incorporated into this document as a reference.
    [0017] Continuing with reference to Figure 2, a meter disagrees 230, such as that described in the applicant's International Patent Application in PCT / US2012 / 030192, the description of which is incorporated into this document for reference, is preferably provided for depositing seeds 42 of a tread 226 into the ditch 38, for example, through a seed tube 232 arranged to guide the seeds towards the ditch. In some embodiments, the meter is activated by an electric actuator 315 configured to drive a seed disk inside the seed meter. In other embodiments, driver 315 may comprise a hydraulic driver 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 path of the seeds 42. A closing system 236 that includes one or more closing wheels is articulated coupled to the row unit 200 and configured to close the ditch 38.
    [0018] Moving on to Figure 3, a depth control and soil monitoring system 300 is illustrated schematically. Monitor 50 is preferably in electrical communication with components associated with each row unit 200 that include actuators 315, seed sensors 305, GPS receiver 52, lowering force sensors 392, valves 390, actuators of depth adjustment 380, depth actuator encoders 382 (and, in some embodiments, actual depth sensors 385 such as those described in applicant's provisional patent application US 61/718073, incorporated by reference into this document ), and sole-noides valves 390. In some modalities, particularly those in which each seed meter 230 is not driven by an individual actuator 315, monitor 50 is also preferably in electrical communication with clutches 310 configured to operationally couple select the seed meter 230 to the drive 315.
    [0019] Continuing with reference to Figure 3, the monitor 50 preferably is 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 reference numeral 335. Through the Internet connection, monitor 50 preferably receives data from a 345 soil data server. The soil data server 345 preferably includes soil map files (for example, format files) that associate soil types (or other ground characteristics) to GPS locations. In some embodiments, the soil map files are stored in monitor memory 50. An exemplary soil map 400 is illustrated in Figure 4. The soil map 400 comprises a soil type map in which soil type polygons 402 -1, 402-2, 402-3, 402-4 within a 404 field boundary are associated with soil types 412, 414, 410, 412, respectively.
    [0020] Returning 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 being worked on by the units. planter row 200. In some embodiments, one or more of the 360 temperature sensors comprises thermocouples arranged to touch the ground as described in the applicant's Interim Patent Application No. 61 / 783,591 (“the '591” application), the description of which is incorporated in its entirety into this document as a reference; in these modalities the 360 temperature sensors preferentially touch the ground at the bottom of ditch 38. In other modalities, one or more of the 360 temperature sensors may comprise a sensor arranged and configured to measure the soil temperature without contacting the soil as described in the Order International Patent Application in PCT / US2012 / 035563, the description of which is incorporated in its entirety into this document for reference.
    [0021] With reference to Figure 3, monitor 50 preferably is 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 being worked by planter row units 200 In some embodiments, the humidity sensor 350 comprises a reflectance sensor such as that described in US Patent 8,204,689 (“application '689”), incorporated by reference into this document. In these modalities, the humidity sensor 350 is preferably mounted on the stem 254 of the row unit 200 and arranged to measure the soil moisture at the bottom of the ditch 38, preferably in a longitudinal position in front of the seed tube 232. Monitor 50 is preferably in electrical communication with one or more second depth humidity sensors 352. The second depth humidity sensor 352 preferably comprises a reflectance sensor such as that described in order '689, arranged to measure soil moisture at a depth at which consistent moisture reading is expected. In some embodiments, the second depth humidity sensor 352 is arranged to measure soil moisture at a depth greater than that used for planting, such as between 7.5 and 15 centimeters (3 and 6 inches) and preferably approximately 10 centimeters (4 inches) below the soil surface. In other embodiments, the 352 second depth moisture sensor is arranged to measure soil moisture in a shallower depth than that used for planting, such as between 0.65 inches and 2.5 centimeters (0.25 inches and 1 inch) and preferably approximately 1.25 centimeter (0.5 inch) below the soil surface. The second depth humidity sensor 352 is preferably arranged to open a trench displaced laterally from the trenches 38 opened by the row units 200.
    [0022] With reference to Figure 3, monitor 50 is preferably in electrical communication with one or more electrical conductivity sensors 365. The electrical conductivity sensor 365 preferably comprises one or more electrodes arranged to cut on the soil surface as the sensors described in US Patents. 5,841,282 and US 5,524,560, both of which are incorporated in their entirety into this document for reference. Another modality of the electrical conductivity sensor 365 is illustrated in Figure 13. The electrical conductivity sensor 365 preferably includes one or more conductive opening disks 1330 arranged to cut the soil. The 1330 discs are preferably mounted in a rolling manner on a 1340 support around a 1332 bearing. The 1332 bearing is preferably in electrical contact with the 1330 opening discs, but electrically isolated from the 1340 support, for example, being mounted inside a insulating material. Bearing 1332 is preferably in electrical communication with monitor 50 by means of an electrical connection 1334. One or more regulating wheels 1320 are preferably mounted in a rolling manner on support 1340 and arranged to walk along the surface of the ground 40, determining the depth of a ditch 39 opened by the opening disks 1330. The support 1340 is preferably mounted on the toolbar 14 by a parallel arm arrangement 1316. The opening disks 1330 are preferably driven in contact with the ground by a spring 1318 mounted in the parallel arm arrangement 1316. In yet another embodiment of the electrical conductivity sensor 365, the opening discs 244 of the row unit 200 are mounted in a rolling manner on the stem 254 by an axis; the shaft is preferably in contact with the opening discs 244, but is electrically isolated from the rod 254, for example, being mounted inside an insulating material. The axis is preferably in electrical communication with the monitor 50.
    [0023] With reference to Figure 3, monitor 50 is preferably in electrical communication with one or more pH 355 sensors. In some embodiments, the pH 355 sensor is pulled by a tractor or other implement (for example, a cultivation implement) ) so that data is stored on monitor 50 for later use. In some of these embodiments, the pH 355 sensor is similar to that described in US Patent 6,356,830. In some embodiments, the pH sensor 355 is mounted on the tool bar 14, preferably in a position offset to the side of the row units 200. HUMIDITY MEASUREMENT METHODS
    [0024] Moving on to Figure 5, a process 500 to correct a soil measurement with a soil map is illustrated. In step 505, monitor 50 preferably determines the planter's GPS location 10. In step 510, monitor 50 preferably obtains a soil measurement close to the location obtained on the GPS. In step 515, monitor 50 preferably accesses a soil map such as the soil type map 400 described in this document and illustrated in Figure 4. In step 520, monitor 50 preferably determines a soil characteristic such as a type of soil. soil in the GPS location, for example, by determining the soil type associated with the GPS location within the soil type map 400. In step 525, monitor 50 preferably determines a soil measurement correction associated with the soil characteristic (e.g., soil type) in the GPS location. For example, monitor 50 may have a table stored in memory that includes multiple soil measurement corrections, each associated with a soil characteristic (for example, soil type). In step 530, monitor 50 preferably applies the soil measurement correction to the soil measurement, for example, adding the soil measurement correction to the soil measurement. In step 535, monitor 50 preferably associates the corrected soil measurement with the GPS location, for example, storing the corrected soil measurement in a data matrix together with the GPS location. In step 540, monitor 50 preferably displays a map of the corrected soil measurement.
    [0025] Moving on to Figure 6, a 600 process to correct a reflectance-based moisture measurement with a soil map is illustrated. In step 605, monitor 50 preferably determines the planter's GPS location 10. In step 610, monitor 50 preferably obtains a soil reflectance measurement (that is, a reflectance value, measured as a percentage) close to the obtained location on the GPS using the humidity sensor 350. In step 615, monitor 50 preferably accesses a soil map such as the soil type map 400 described in this document and illustrated in Figure 4. In step 620, monitor 50 preferably determines a soil characteristic such as a soil type in the GPS location, for example, by determining the soil type associated with the GPS location within the soil type map 400. In step 625, monitor 50 preferably determines a correction of soil reflectance measurement associated with the soil characteristic (for example, soil type) in the GPS location. For example, monitor 50 may have a table stored in memory that includes multiple soil reflectance measurement corrections, each associated with a soil characteristic (for example, soil type). In one mode, monitor 50 determines a 7% correction for reflectance for reflectance values measured in soil classified as clay; a correction of -7% relative to reflectance for reflectance values measured in soil classified as sand, sandy-clay, or sandy-clay; and an 8% correction for reflectance for reflectance values measured in soil classified as silt or loam.
    [0026] Continuing with reference to Figure 6, in step 630 the monitor 50 preferably applies the soil reflectance measurement correction to the soil measurement, for example, adding the soil reflectance measurement correction to the reflectance measurement from soil. In step 632, monitor 50 preferably estimates a soil measurement (for example, soil moisture) using the corrected soil reflectance measurement. In this modality, the measurement of soil reflectance is made at a wave size of around 1600 nanometers and the monitor 50 estimates the soil moisture M (in percentage of water weight) based on the corrected soil reflectance R (measured as a percentage) using the equation:

    [0027] where: R is the relative reflectance expressed as a percentage, and
    [0028] M is the soil moisture content by weight, expressed as a percentage and corresponding to the value calculated using dry sample weight Wd and wet sample weight Ww in the following equation:

    [0029] Continuing with reference to Figure 6, in step 635 omonitor 50 preferably associates the estimated soil measurement (for example, soil moisture) with the GPS location, for example, storing the estimated soil measurement in a matrix of data together with the GPS location. In step 640, monitor 50 preferably displays a map of the estimated soil measurement, as illustrated in the exemplary moisture map 1200 in Figure 12. In the embodiment of Figure 12, a single humidity sensor 350 is mounted on the toolbar 14 so that one of the images 1224, 1224, 1226 associated with the legend strips 1212, 1214, 1216 is displayed over the entire width of the planter 10 in each longitudinal position corresponding to a corrected moisture measurement determined as described in this document. In some modes, monitor 50 also displays the numerical value of the corrected humidity measurement, preferably weighted over a distance (for example, 15 meters (50 feet)) previously traveled by the toolbar 14.
    [0030] Moving on to Figure 7, a process 700 to correct a reflectance-based moisture measurement made during a field operation using a previously created soil measurement map is illustrated. In step 705, monitor 50 preferably determines the GPS location of the planter 10. In step 710, monitor 50 preferably obtains a soil reflectance measurement close to the location obtained on the GPS using the humidity sensor 350. In step 715 , monitor 50 preferably accesses a ground measurement map. The soil measurement map preferably comprises a file that associates georeferenced locations with soil measurements made during the planting operation or during a previous operation. Each soil measurement represented spatially on the soil measurement map can comprise an electrical conductivity measurement made using the electrical conductivity sensor 365, a pH measurement made using the pH 355 sensor, a second measurement of soil reflectance made at a different depth using the 352 second depth moisture sensor, or other measurement of soil content or characteristics. In step 720, monitor 50 preferably identifies a ground measurement value associated with the GPS location on the ground measurement map; it must be assessed that the GPS location will correspond to a region of the soil measurement map that is associated with a soil measurement value.
    [0031] Continuing with reference to Figure 7, in step 725 omonitor 50 preferably determines a correction for measuring soil reflectance associated with soil measurement associated with GPS location. For example, monitor 50 may have a table stored in memory that includes multiple soil reflectance measurement corrections, each associated with a soil measurement range. In one embodiment, the ground measurement is electrical conductivity and monitor 50 determines a 7% relative reflectance correction for reflectance values measured on soil that has an electrical conductivity greater than 10 milliSiemens per meter (10 mS / m) and a relative reflectance correction of - 7% for reflectance values measured in soil that has an electrical conductivity of less than 2 mS / m.
    [0032] Continuing with reference to Figure 7, in step 730 the monitor 50 preferably applies the soil reflectance measurement correction to the soil reflectance measurement, for example, adding the soil reflectance measurement correction to the ground reflectance measurement. In step 732, monitor 50 preferably estimates a soil measurement (for example, soil moisture) using the corrected soil reflectance measurement; in some embodiments, step 732 is performed as described above with respect to step 632 of process 600. In step 735, monitor 50 preferably associates estimated soil measurement (eg soil moisture) with GPS location, eg storing the estimated soil measurement in a data matrix together with the GPS location. In step 740, monitor 50 preferably displays a map of the estimated soil measurement similar to that illustrated in Figure 12.
    [0033] Moving on to Figure 8, a process 800 to correct a reflectance-based moisture measurement made during a field operation with another soil measurement made during the same field operation is illustrated. In step 805, monitor 50 preferably determines the GPS location of the planter 10. In step 810, monitor 50 preferably obtains a measurement of soil reflectance close to the location obtained on the GPS using the humidity sensor 350. step 815, monitor 50 preferably obtains a second ground measurement close to the location obtained on the GPS. The second soil measurement can comprise an electrical conductivity measurement, a pH measurement, a second measurement of soil reflectance made at a different depth using the second depth humidity sensor 352, a second measurement of soil soil reflectance made at a different wave size using either the second depth humidity sensor 352 or the humidity sensor 350, or other measurement of soil content or characteristics. In step 820, monitor 50 preferably determines a correction for the measurement of soil reflectance associated with the second soil measurement. For example, monitor 50 may have a table stored in memory that includes multiple soil reflectance measurement corrections, each associated with a soil measurement range. In one embodiment, the second ground measurement is electrical conductivity and the correction is determined as described above with respect to step 720 of process 700. In step 830, monitor 50 preferably applies the ground reflectance measurement correction to the measurement of soil reflectance, for example, by adding the soil reflectance measurement correction to the soil reflectance measurement. In step 832, monitor 50 preferably estimates a soil measurement (for example, soil moisture) using the corrected soil reflectance measurement; in some embodiments, step 832 is performed as described above with respect to step 632 of process 600. In step 835, monitor 50 preferably associates estimated soil measurement (eg soil moisture) with GPS location, eg storing the estimated soil measurement in a data matrix together with the GPS location. In step 840, monitor 50 preferably displays a map of the estimated soil measurement similar to that illustrated in Figure 12.
    [0034] Moving on to Figure 9, a 900 process to correct a reflectance-based moisture measurement made during a field operation using a previously created soil map as well as another soil measurement made during the same field operation is illustrated. In step 905, monitor 50 preferably determines the GPS location of the planter 10. In step 910, monitor 50 preferably obtains a soil reflectance measurement close to the location obtained on the GPS using the humidity sensor 350. In step 913 , monitor 50 preferably accesses a soil type map such as the soil type map 400 described in this document and illustrated in Figure 4. In step 914, monitor 50 preferably determines a soil characteristic such as a soil type in the GPS location, for example, by determining the soil type associated with the GPS location within the soil type map 400. In step 915, monitor 50 preferably obtains a second soil measurement close to the location obtained in the GPS. The second soil measurement can comprise an electrical conductivity measurement, a pH measurement, a second soil reflectance measurement made at a different depth using the second depth humidity sensor 352, a second reflectance measurement of the soil made at a different wave size using either the second depth moisture sensor 352 or the moisture sensor 350, or other measurement of soil content or characteristics. In step 920, monitor 50 preferably determines a correction for measuring soil reflectance associated with the soil characteristic (for example, soil type) at the GPS location; in some embodiments, step 920 is performed similarly to step 625 of process 600. In step 922, monitor 50 preferably applies the soil reflectance measurement correction determined in step 920 to the measurement of soil reflectance, for example, adding the soil reflectance measurement correction to the soil reflectance measurement. In step 924, monitor 50 preferably determines a correction for measuring soil reflectance associated with second soil measurement. For example, monitor 50 may have a table stored in memory that includes multiple soil reflectance measurement corrections, each associated with a soil measurement range. In some embodiments, the second soil measurement is electrical conductivity and step 924 is performed similarly to step 720 of process 700. In step 926, monitor 50 preferably applies the soil reflectance measurement correction determined in step 924 to the soil reflectance measurement, for example, by adding the soil reflectance measurement correction to the soil reflectance measurement. In step 930, monitor 50 preferably estimates a soil measurement (for example, soil moisture) using the soil reflectance measurement corrected in steps 922 and 926. In some embodiments, step 930 is performed in a similar way to step 632 of process 600. In step 935, monitor 50 preferably associates the estimated soil measurement (eg soil moisture) with the GPS location, for example, storing the estimated soil measurement in a data matrix together with the location on the GPS. In step 940, monitor 50 preferably displays a map of the estimated soil measurement similar to that illustrated in Figure 12.
    [0035] Moving on to Figure 10, a process 1000 for correcting a first reflectance-based moisture measurement made at a first depth during a field operation using a second reflectance-based moisture measurement made at a second depth is illustrated . In step 1005, monitor 50 preferably determines the GPS location of the planter 10. In step 1010, monitor 50 preferably obtains a first measurement of soil reflectance close to the location obtained on the GPS using the humidity sensor 350. A measurement of soil reflectance made in step 1010 is done at a first depth; in some embodiments, the first depth is the same or approximately the same depth as the seed ditch 38 opened by a row unit 16 of the planter 10. In step 1015, monitor 50 preferably obtains a second soil reflectance measurement near the GPS location at a second depth substantially different from the first depth. In some embodiments, the second depth is between 7.5 and 15 centimeters (3 and 6 inches) and preferably approximately 10 centimeters (4 inches). In other embodiments, the second depth is between 1.25 centimeters (0.5 inches) and 2.5 centimeters (1 inch) and preferably approximately 1.88 centimeters (0.75 inches). The second measurement of soil reflectance is preferably made using a second depth humidity sensor 352. In some embodiments, the second measurement of soil reflectance is made using a second depth humidity sensor mounted on the planter 10 so that the second soil reflectance measurement is made during the same field operation as the first soil reflectance measurement. In other modalities, the second measurement of soil reflectance is made during a previous operation in the field; for example, a 352 second depth moisture sensor can be mounted on a toolbar used for soil preparation before planting.
    [0036] Continuing with reference to Figure 10, in step 1020, monitor 50 preferably determines a correction for soil reflectance measurement associated with the second soil reflectance measurement obtained in step 1015. For example, monitor 50 may have a table stored in memory that includes multiple soil reflectance measurement corrections, each associated with a soil reflectance measurement range. In some embodiments, the second soil reflectance measurement is performed at a depth (for example, 10 centimeters (4 inches)) at which consistent, high humidity is expected and correction C is calculated using the equation:

    [0037] Where: Ra is the value of the second dosage reflectance measurement; and
    [0038] Re is an expected value determined empirically from the second soil reflectance measurement.
    [0039] In some modalities, monitor 50 includes values of Re-stored in memory, in which each corresponds to a type of soil; in these modes, monitor 50 identifies the type of soil close to the location on the GPS and selects a Re value that corresponds to the type of soil.
    [0040] Continuing with reference to Figure 10, in step 1025 omonitor 50 preferably applies the soil reflectance measurement correction obtained in step 1020 to the soil reflectance measurement, for example, multiplying the reflectance measurement correction ground by measuring soil reflectance. In step 1030, monitor 50 preferably estimates a soil measurement (for example, soil moisture) using the corrected soil reflectance measurement; in some embodiments, step 1030 is performed in a substantially similar way to step 632 of process 600. In step 1035, monitor 50 preferably associates estimated soil measurement (eg soil moisture) with GPS location, for example , storing the estimated soil measurement in a data matrix together with the GPS location. In step 1040, monitor 50 preferably displays a map of the estimated soil measurement similar to that illustrated in Figure 12.
    [0041] Moving on to Figure 11, a 1100 process for correcting a moisture estimate based on reflectance measurements made on two wavelengths at a first depth during field operation using a second reflectance-based moisture measurement. done in a second depth is illustrated. In step 1105, monitor 50 preferably determines the GPS location of the planter 10. In step 1110, monitor 50 preferably obtains a first short-wavelength soil reflectance measurement (for example, between 380 nm and 750 nm) close to location obtained on the GPS using the humidity sensor 350. In step 1112, monitor 50 preferably obtains a first long-wave soil reflectance measurement (for example, between 750 nm and 3000 nm and preferably around 1600 nm ) close to the location obtained on the GPS using the humidity sensor 350. The measurements of soil reflectance made in step 1110 and in step 1112 are made at a first depth; in some embodiments, the first depth is the same or approximately the same depth as the seed ditch 38 opened by a row unit 16 of the planter 10.
    [0042] Continuing with reference to Figure 11, in step 1115, the monitor 50 preferably obtains a second measurement of soil reflectance of short wave size (for example, between 380 nm and 750 nm) close to the location obtained in the GPS with the use of humidity sensor 350. In step 1117, monitor 50 preferably obtains a second long-wave soil reflectance measurement (for example, between 750 nm and 2000 nm and preferably around 1600 nm) near the location obtained on the GPS using the humidity sensor 350. The measurements of soil reflectance made in step 1115 and in step 1117 are made at a second depth. In some embodiments, the second depth is between 7.5 and 15 centimeters (3 and 6 inches) and preferably approximately 10 centimeters (4 inches). In other embodiments, the second depth is between 1.25 centimeter (0.5 inch) and 2.5 centimeters (1 inch) and preferably approximately 1.88 centimeters (0.75 inch). The second measurement of soil reflectance is preferably made using a second depth humidity sensor 352. In some embodiments, the second measurement of soil reflectance is made using a second depth humidity sensor mounted on the planter 10 so that the second soil reflectance measurement is made during the same field operation as the first soil reflectance measurement. In other modalities, the second measurement of soil reflectance is made during a previous operation in the field; for example, a 352 second depth moisture sensor can be mounted on a toolbar used for soil preparation before planting.
    [0043] Continuing with reference to Figure 11, in step 1120 the monitor 50 preferably estimates a measurement of soil (eg soil moisture) based on the first measurement of short wave size and the first measurement of long wave size. For a given mixture of soil and moisture, the total reflectance
    in an A wave size can be related to ground-based reflectance
    due to soil components and moisture-based reflectance
    'due to humidity by the equation:
    on what:
    an empirically determined constant, for example, 2%. The first short wave size total reflectance measurement
    taken at step 1112 is preferably taken at a relatively short wavelength
    (for example, 600 nm) for which moisture-based reflectance is expected
    is a constant value determined empirically
    (for example 10%) so that ground-based reflectance
    can be determined by the equation:

    [0044] The first high wavelength total reflectance measurement
    taken at step 1112 is preferably taken at a wavelength
    (for example, 600 nm) in which the total reflectance
    correlates strongly (for example, at a value r greater than 0.8) with humidity and in which the expected value of
    can be estimated by the relationship:
    on what
    it is an empirically determined factor, for example, 1,2.
    [0045] Thus, the value of
    can be estimated using the relationship:

    [0046] Monitor 50 preferably estimates soil moistureM (as a percentage of water weight) using the equation:

    [0047] Continuing with reference to Figure 11, in step 1125, monitor 50 preferably determines a correction of ground reflectance measurement associated with the second ground reflectance measurements obtained in step 1115 and step 1117. In some modalities, monitor 50 first calculates a value of
    calculated as the value
    which was calculated above with respect to step 1125, but using the second depth measurements taken in steps 1115 and 1117 instead of the first depth measurements. A correction factor
    is calculated based on an expected value E (for example, 15%) of
    in the second depth using the equation:

    [0048] The corrected humidity
    is then calculated using the equation

    [0049] Continuing with reference to Figure 11, in step 1130 the monitor 50 preferably applies the soil reflectance measurement correction obtained in step 1120 to the estimated humidity, for example, adding the soil reflectance measurement correction to the estimated humidity. In step 1135, monitor 50 preferably associates the estimated soil moisture with the GPS location, for example, storing the estimated soil measurement in a data matrix together with the GPS location. In step 1140, monitor 50 preferably displays a map of the estimated soil measurement similar to that illustrated in Figure 12. ADDITIONAL MODALITIES
    [0050] In addition to reporting and mapping to measured humidity values as described in this document, in some modalities a ditch depth is adjusted based on the humidity values as described in the '591 order, incorporated by reference above.
    [0051] Where no wavelength or wave size range is listed, the soil reflectance measurements taken in this document can be taken using wavelengths in the visible ranges (eg 380 nm to 750 nm), near infrared (“NIR”) (for example, 750 nm to 1400 nm), or short-wave infrared (for example, 1,400 nm to 3,000 nm). In addition, the measurement may comprise a weighted sum or weighted average of reflectance values at multiple wavelengths. Where reflectance measurements are taken at two wave sizes at a single depth as listed in this document, these measurements can be taken either by two similar devices arranged to measure reflectance at the same depth near the same location, or by changing it. quickly the wavelength of light imposed by a single measuring device.
    [0052] It should be assessed that changes and corrections applied in the present document to a reflectance value can, instead, be applied to the resulting estimated moisture value, and vice versa.
    [0053] It should be assessed that although re-calculated moisture values as described in this document may not be equivalent to the laboratory tested values determined for a sample of the same soil, the spatial variation in moisture in the field will still provide accurate and important information for the operator make preparation decisions, input for tillage and planting depth. In addition, a confidence value can be associated with the calculated moisture values so that preparation decisions, input for tillage and planting depth can be made based on a desired statistical confidence (for example, 95%) that the humidity of the soil is greater than or less than a threshold value.
    [0054] It should be assessed that the systems and methods described in this document can be implemented using other toolbars other than the planter toolbars, for example, preparation toolbars or cover fertilizer.
    [0055] The description set out above is presented to allow a person with common knowledge 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 mode of the device, and the general principles and resources of the system and methods described in this document will be easily evident 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 drawings of the figures, but the broader scope consistent with the spirit and scope of the appended claims must be given.
    权利要求:
    Claims (6)
    [0001]
    1. Method (1000) to estimate soil moisture in a field, characterized by the fact that it comprises the steps of: obtaining (1010) a first measurement of soil reflectance at a first depth of a first location in a field; obtaining (1015) a second measurement of soil reflectance at a second depth from a second location in the field; determine (1020) a reflectance correction based on reflectance based on a second soil reflectance measurement by: - storing an expected value for the second soil reflectance measurement; e - compute the correction based on reflectance using the second soil reflectance measurement and the expected value for the second soil reflectance measurement; applying (1025) said reflectance correction based on reflectance to said first soil reflectance measurement to obtain a first corrected soil reflectance measurement; and estimate (1030) the humidity using the first corrected soil reflectance measurement.
    [0002]
    2. Method, according to claim 1, characterized by the fact that said first soil reflectance measurement is performed in a planter row unit (16), and in which said second soil reflectance measurement is performed in a separate row unit.
    [0003]
    Method according to claim 2, characterized in that said separate row unit opens a ditch that has a different depth from the planter row unit (16), and in which said separate row unit includes a reflectance sensor to measure the reflectance of the soil in said ditch.
    [0004]
    4. Method, according to claim 1, characterized by the fact that it additionally comprises: associating (1035) said estimated humidity to said first location with the use of a GPS receiver; and map (1040) said estimated humidity.
    [0005]
    5. Method, according to claim 1, characterized by the fact that it comprises: opening a ditch in the field with a mobile implement (10); obtaining the first measurement of soil reflectance by crossing the first location in the field with a measuring device (350) mounted on said mobile implement (10), said measuring device (350) arranged to measure the reflectance of the soil in said ditch.
    [0006]
    6. Method, according to claim 1, characterized by the fact that it additionally comprises: storing expected values for soil reflectance measurements based on the type of soil; determine a soil type at the second location; determine the expected value for the second measurement of soil reflectance based on the type of soil at the second location.
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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]|
    2020-04-07| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application [chapter 6.1 patent gazette]|
    2020-09-08| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-12-08| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 19/05/2014, OBSERVADAS AS CONDICOES LEGAIS. |
    2021-04-20| B25A| Requested transfer of rights approved|Owner name: THE CLIMATE CORPORATION (US) |
    优先权:
    申请号 | 申请日 | 专利标题
    US201361824975P| true| 2013-05-17|2013-05-17|
    US61/824,975|2013-05-17|
    PCT/US2014/038677|WO2014186810A1|2013-05-17|2014-05-19|System for soil moisture monitoring|
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