systems and equipment for soil and seed monitoring

专利摘要:
The present invention relates to agricultural equipment (for example, a seed compactor) having a locking system. In one embodiment, agricultural equipment includes: a lower base part for contacting the soil of an agricultural field; an upper base part; and a neck part having protrusions for insertion in the lower base part of a base, and then locking, when a region of the upper base part is inserted in the lower base part and that region of the upper base part compresses the protuberances to lock the neck part on the upper base part.
公开号:BR112020005882A2
申请号:R112020005882-3
申请日:2018-10-02
公开日:2020-09-29
发明作者:Michael Strnad；Timothy Kater；Matthew P. Morgan；Dale M. Koch；Jeremy Hodel；Nicholas Minarich；Riley Litwiller
申请人:Precision Planting, Inc.；
IPC主号:

专利说明:

[0005] [0005] An agricultural equipment (for example, a seed compactor) having a locking system is described in this specification. In one embodiment, agricultural equipment includes a lower base part for contact with soil from an agricultural field, an upper base part and a neck part having protrusions for insertion into the lower base part of a base and then locking when a region the upper base part is inserted in the lower base part, and that region of the upper base part compresses the protuberances to lock the neck part in the upper base part. DETAILED DESCRIPTION
[0006] [0006] All references cited in this specification are incorporated in their entirety. If there is a conflict between a definition in this specification and an embedded reference, the definition in this specification will prevail.
[0007] [0007] The terms ditch and groove are used interchangeably throughout this specification. DEPTH CONTROL AND MONITORING SYSTEMS SOIL MENT
[0008] [0008] Referring now to the drawings, in which similar reference numbers indicate identical or corresponding parts across the various views, Figure 1 illustrates a tractor 5 pulling an agricultural implement, for example, a planter 10, comprising a toolbar 14 operationally supporting multiple cultivation units 200. An implement monitor 50 including, preferably, a central processing unit ("CPU"), a memory and a graphical user interface ("GUI") (for example, a touch screen interface), is preferably located in the cab of the tractor 5. A central positioning system ("GPS") receiver 52 is preferably mounted on the tractor 5.
[0009] [0009] Returning to Figure 2, an embodiment is illustrated in which the cultivation unit 200 is a planter cultivation unit. The cultivation unit 200 is preferably pivotally connected to the toolbar 14 by a parallel connection 216. An actuator 218 is preferably arranged to apply upward and / or downward force to the cultivation unit 200. A valve of solenoid 390 is preferably in fluid communication with actuator 218 to modify the upward and / or downward force applied by the actuator. An opening system 234 preferably includes two opening discs 244 mounted on a rod extending downwardly 254 and arranged to open a v-shaped ditch 38 in the ground 40. A pair of calibrating wheels 248 is supported pivotally by a corresponding pair of 260 calibrating wheel arms; the height of the calibrator wheels 248, relative to the opening discs 244, adjusts the depth of the ditch 38. A depth adjustment oscillator 268 limits the upward displacement of the calibrator wheel arms 260 and thus the upward displacement of the calibrator wheels 248. A depth adjusting actuator 380 is preferably configured to modify a position of the depth adjusting oscillator 268 and thus the height of the calibrating wheels 248. Actuator 380 is preferably a linear actuator , mounted on cultivation unit 200 and pivotally coupled to an upper end of the oscillator
[0010] [0010] Continuing with reference to Figure 2, a seed feeder 230, such as that described in US patent application No. POT / US2012 / 030192, is preferably arranged to deposit seeds 42 from a feeder 226 in ditch 38, for example, by means of a seed tube 232 arranged to orient the seeds in the direction of the ditch. In some embodiments, instead of a seed tube 232, a seed conveyor is implemented to transport seeds from the seed dispenser to the ditch at a controlled speed, as described in US patent application serial number 14 / 347,902 and / or in US Patent No. 8,789,482. In these embodiments, a support, such as that shown in Figure 30, is preferably configured to support the seed compactor on the stem by means of side walls extending laterally around the seed carrier, so that the seed compactor is arranged behind the seed conveyor to compact the seeds in the soil after they have been deposited by the seed conveyor. In some embodiments, the dispenser is powered by an actuator 315, configured to drive a seed disk inside the seed dispenser. In other embodiments, the 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 an indicative signal of the passage of a seed) is preferably mounted on the seed tube 23 2 and arranged to send light waves or it - tromagnetic through the seed path 42. A closing system 236, including one or more closing wheels, is pivotally coupled to the cultivation unit 200 and is configured to close the ditch 38.
[0011] [0011] Returning to Figure 3, a depth control and soil monitoring system 300 is illustrated schematically. Monitor 50 is preferably in data communication with the components associated with each cultivation unit 200, including triggers 315, seed sensors 305, GPS receiver 52, downforce 392, valves 390 , the depth adjustment actuator 380 and the depth actuator encoders 382. In some embodiments, particularly those in which all seed feeders 230 are not driven by an individual driver 315, monitor 50 is also, preferably, in data communication with couplings 310, configured to operationally couple the seed feeder 230 with the driver 315.
[0012] [0012] Continuing with reference to Figure 3, monitor 50 is preferably in data communication with a cellular modem 330 or another component configured to place monitor 50 in data communication with the Internet, indicated by the number of reference 335. The Internet connection may comprise a wireless connection or a cellular connection. Monitor 50 preferably receives data from a time data server 340 and a ground data server 345. Monitor 50 preferably transmits data via the Internet connection. , measurement data (for example, measurements described in this specification) to a recommendation server (which can be the same server as time data server 340 and / or ground data server 345) for storage and receives agronomic recommendations (for example, planting recommendations, such as planting depth, time to plant, which fields to plant, which seed to plant or which crop to plant) from a recommendation system stored on the server; in some embodiments, the recommendation system updates the planting recommendations based on the measurement data provided by the monitor 50.
[0013] [0013] Continuing the reference to Figure 3, the monitor 50 is also preferably in data communication with one or more temperature sensors 360, mounted on the planter 10 and configured to generate a signal related to the temperature of the soil being worked by the 200 cultivation units of the planter. The monitor 50 is preferably in data communication with one or more reflectivity sensors 350, mounted on the planter 10 and configured to generate a signal related to the reflectivity of the soil being worked by the cultivation units 200 of the planter.
[0014] [0014] With reference to Figure 3, monitor 50 is preferably in data communication with one or more electrical conductivity sensors 365, mounted on planter 10 and configured to generate a signal relative to the temperature of the soil being worked by the units of cultivation 200 of the planter.
[0015] [0015] In some embodiments, a first set of reflectivity sensors 350, temperature sensors 360 and electrical conductivity sensors are mounted on a 400-inch compactor and arranged to measure reflectivity, temperature and the electrical conductivity, respectively, of the soil in the ditch 38. In some embodiments, a second set of reflectivity sensors 350, the temperature sensors 360 and the electrical conductivity sensors 370 are mounted in one in a group of sensors. reference 1800 and arranged to measure the reflectivity, temperature and electrical conductivity, respectively, of the soil, preferably at a depth different from that of the sensors in the 400 seed compactor.
[0016] [0016] In some embodiments, a subset of the sensors is in data communication with the monitor 50 by means of a bus 60 (for example, a CAN bus). In some embodiments, the sensors mounted on the seed compactor 400 and the reference sensor group 1800 are also in data communication with the monitor 50 via bus 60. However, in the embodiment illustrated in Figure 3, the sensors mounted on the seed compactor 400 and the reference sensor group 1800 are in data communication with the monitor 50 by means of a first wireless transmitter 62-1 and a second wireless transmitter 62-2 , respectively. Wireless transmitters 62 in each cultivation unit are preferably in data communication with a single wireless receiver 64, which in turn is in data communication with monitor 50. The wireless receiver can be mounted on the toolbar 14 or on the tractor cab 5. SOIL MONITORING EQUIPMENT, MONITORING SEED AND SEED COMPACTION
[0017] [0017] Returning to Figures 4A - 4C, an embodiment of a seed compactor 400 is illustrated, which has several sensors to detect soil characteristics. The seed compactor 400 preferably includes a flexible part 410, mounted on stem 254 and / or seed tube 232 by a support 415. In some embodiments, support 415 is similar to one of the support embodiments described in the patent US No. 6,918,342. The seed compactor preferably includes a compactor body 490, arranged and configured to be received at least partially within a v-shaped ditch 38 and to compact the seeds 42 at the bottom of the ditch. When the seed compactor 400 is lowered into the ditch 38, the flexible part 410 preferably pushes the compactor body 490 for resilient coupling with the ditch. In some embodiments, the flexible part 410 preferably includes an external or internal reinforcement as described in PCT / US2013 / 066652. In some embodiments, the compactor body 490 includes a removable part 492; the removable part 492 preferably slides for locking coupling with the rest of the compactor body. The compactor body 490 (preferably, the part of the compactor body in contact with the ground, which, in some embodiments, comprises the removable part 492), is preferably made of a material (or has an external surface or coating) having hydrophobic and / or non-stick properties, for example, having a Teflon coating with addition of graphite, and / or comprising a polymer having a hydrophobic material (for example, a silicone oil or a poly ( ether - ether - ketone)) impregnated in it. Alternatively, the sensors can be arranged on the side of the seed compactor 400 (not shown).
[0018] [0018] Returning to Figures 4A to 4C, the seed compactor 400 preferably includes several reflectivity sensors 350a, 350b. Each reflectivity sensor 350 is preferably arranged and configured to measure the reflectivity of the soil; in a preferred embodiment, the reflectivity sensor 350 is arranged to measure the soil in trench 37 and, preferably, at the bottom of the trench. The reflectivity sensor 350 preferably includes a lens arranged at the bottom of the compactor body 490 and arranged to be in contact with the ground at the bottom of the ditch 38. In some embodiments, the reflectivity sensor 350 comprises one of the embodiments described in US Patent 8,204,689 and / or in Provisional Patent Application US 61/824975) ("patent application 975"). In various embodiments, the reflectivity sensor 350 is configured to measure reflectivity in the visible range (for example, 400 and / or 600 nanometers) in the range near the infrared (for example, 940 nanometers) and / or anywhere in the infrared band.
[0019] [0019] The seed compactor 400 can also include a capacitive humidity sensor 351, arranged and configured to measure the soil capacitance humidity in the seed ditch 38 and, preferably, at the bottom of the ditch 38.
[0020] [0020] The seed compactor 400 can also include an electronic tensiometer sensor 352, arranged and configured to measure the soil moisture tension of the soil in the seed ditch 38 and, preferably, at the bottom of the ditch 38.
[0021] [0021] Alternatively, the soil moisture tension can be extrapolated from capacitive moisture measurements or from reflective measurements (such as at 1,450 nm). This can be done using a characteristic soil water curve based on the type of soil.
[0022] [0022] The seed compactor 400 can also include a 360 temperature sensor. The 360 temperature sensor is preferably arranged and configured to measure the soil temperature; in a preferred embodiment, the temperature sensor is arranged to measure the soil in the ditch 38, preferably at the bottom or adjacent to it of the ditch 38. The temperature sensor 360 preferably includes ears in contact with the ground 364, 366, arranged to make sliding contact with the sides of the ditch 38 as the planter traverses the field. The ears 364, 366 preferably come into contact with the ditch 38 at or adjacent to the bottom of it. The ears 364, 366 are preferably made of a thermally conductive material, such as copper. The ears 364 are preferably attached and are in thermal communication with a central part 362 housed within the body of the compactor 490. The central part 362 preferably comprises a thermically conductive material, such as copper; in some embodiments, the central part 362 comprises a hollow copper rod. The central part 362 is preferably in thermal communication with a thermocouple attached to the central part. In other embodiments, the temperature sensor 360 may comprise a non-contact temperature sensor, such as an infrared thermometer. In some embodiments, other measurements made by the 300 system (for example, reflectivity measurements, electrical conductivity measurements and / or measurements derived from these measurements) are temperature compensated using the temperature measurement made by the 360 temperature sensor. temperature-compensated, based on temperature, is preferably conducted by consulting an empirical query table for the temperature-compensated measure for soil temperature. For example, the reflectivity measure, at a wavelength close to infrared, can be increased (or in some instances, reduced) by 1% for every 1ºC in the soil temperature above 10ºC.
[0023] [0023] The seed compactor preferably includes several 370r, 370f electrical conductivity sensors. Each 370 electrical conductivity sensor is preferably arranged and configured to measure the electrical conductivity of the soil; in a preferred embodiment, the electrical conductivity sensor is arranged to measure the electrical conductivity of the soil in ditch 38, preferably on or adjacent to the bottom of ditch 38. The electrical conductivity sensor 370 preferably includes ears in contact with the soil 374, 376, arranged to slide into contact with the sides of the ditch 38 as the planter crosses the field. The ears 374, 376 preferably come into contact with the ditch 38 at or adjacent to its bottom. The ears 374, 376 are preferably made of a thermally conductive material, such as copper. The ears 374 are preferably attached and are in thermal communication with a central part 372 housed within the body of the compactor 420. The central part 372 preferably comprises a thermally conductive material, such as copper; in some embodiments, the central part 372 comprises a hollow copper rod. The central part 372 is preferably in electrical communication with an electrical wire attached to the central part. The electrical conductivity sensor can measure electrical conductivity within a ditch by measuring the electrical current between the ears in contact with the ground 374 and 376.
[0024] [0024] With reference to Figure 4B, in some embodiments, the system 300 measures the electrical conductivity of the soil adjacent to the ditch 38 by measuring an electrical potential between the forward electrical conductivity sensor 370f and the back electrical conductivity sensor 370f. In other embodiments, the electrical conductivity sensors 370f, 370r can be arranged in a longitudinally spaced relationship at the bottom of the seed compactor to measure electrical conductivity at the bottom of the seed ditch.
[0025] [0025] In other embodiments, the 370 electrical conductivity sensors comprise one or more working devices on the ground or in contact with the ground (for example, disks or rods), which come into contact with the ground and are preferably electrically isolated from each other or from another voltage reference. The voltage potential between sensors 370, or another reference voltage, is preferably measured by system 300. The voltage potential or other electrical conductivity value obtained from the voltage potential is preferably indicated to the operator. The electrical conductivity value can also be associated with the position indicated by the GPS and used to generate a map of the spatial variation in electrical conductivity across the field. In some of these embodiments, the electrical conductivity sensors may comprise one or more opening discs from a planter cultivation unit, cultivator cleaning wheels from a planter cultivation unit, rods in contact with the soil of a plant. planter, ground contact shoes dependent on a planter stem, stems of a cultivation tool, or discs of a cultivation tool. In some embodiments, a first electrical conductivity sensor comprises a component (for example, a disc or stem) of a first agricultural cultivation unit, while a second electrical conductivity sensor comprises a component (for example, a disc or a stem) of a second agricultural cultivation unit, so that the electrical conductivity of the soil extending across the first and second cultivation units is measured. It should be considered that at least one of the electrical conductivity sensors, described in this specification, is preferably electrically isolated from another sensor or voltage reference. In one example, the electrical conductivity sensor is mounted on an implement (for example, on the planter cultivation unit or on a cultivation tool) when first mounted on an electrically insulating component (for example, a component made of an electrically insulating material, such as polyethylene, polyvinyl chloride or a polymer in the form of rubber), which is in turn mounted on the implement.
[0026] [0026] With reference to Figure 4C, in some embodiments, the system 300 measures the electrical conductivity of the soil between two cultivation units 200, having a first seed compactor 400-1 and a second seed compactor 400-2, respectively, by measuring an electrical potential between an electrical conductivity sensor on the first 400-1 seed compactor and an electrical conductivity sensor on the second 400-2 seed compactor. In some of these embodiments, the 370 electrical conductivity sensor may comprise a larger ground contact electrode (for example, a seed compactor housing) comprised of metal or other conductive material. It should be considered that any of the electrical conductivity sensors, described in this specification, can measure conductivity by any of the following combinations: (1) between a first probe in a cultivation unit component in contact with the soil ( for example, in a seed compactor, a crop cleaning wheel, an opening disc, a shoe, a stem, a plow body, a plow shovel or a closing wheel) and a second probe on the same component cultivation unit in contact with the soil of the same cultivation unit; (2) between a first probe in a first cultivation unit component in contact with the soil (for example, in a seed compactor, a cultivation cleaning wheel, an opening disc, a shoe, a stem, a body of plow, a plow shovel or a closing wheel) and a second probe in a second component of the cultivation unit in contact with the soil (for example, in a seed compactor, a cultivation cleaner wheel, a opening, a shank, a stem, a plow body, a plow shovel or a closing wheel) of the same cultivation unit; or (3) between a first probe in a first cultivation unit component in contact with the soil (for example, in a seed compactor, a cultivation cleaner wheel, an opening disc, a shoe, a stem, a body a plow, a plow shovel or a closing wheel) in a first cultivation unit and a second probe in a second cultivation unit component in contact with the soil (for example, in a seed compactor, a wheel cultivation cleaner, an opening disc, a shoe, a rod, a plow body, a plow shovel or a closing wheel) in a second cultivation unit. Either or both of the cultivation units, described in combinations 1 to 3 above, can comprise a planter cultivation unit or other cultivation unit (for example, a dedicated cultivation unit or measure unit), which can be mounted to the front or back of the toolbar.
[0027] [0027] The reflectivity sensors 350, the temperature sensors 360, 360 ', 360 "and the electrical conductivity sensors 370 (collectively, the sensors mounted on the compactor") are preferably
[0028] [0028] Returning to Figure 19A, another embodiment of the 400 "'seed compactor is illustrated by incorporating a 1900 fiber optic cable. The 1900 fiber optic cable ends preferably on a 1902 lens, at the bottom of the 400" compactor. The 1900 fiber optic cable preferably extends to a reflectivity sensor 350a, which is preferably mounted separately from the seed compactor, for example, anywhere in the cultivation unit 200. In operation, light reflected from the soil ( for example, from the bottom of the ditch 28) moves to the reflectivity sensor 350a by means of the 1900 fiber optic cable, so that the reflectivity sensor 350a is enabled to measure the reflectivity of the soil in a location far from the compactor 400 "seed. In other embodiments, such as the 400" "seed compactor,
[0029] [0029] Returning to Figures 25 - 26, another embodiment of compactor 2500 is illustrated. The compactor 2500 includes an upper part 2510 having a mounting part 2520. The mounting part 2520 is preferably reinforced by including a reinforcement insert made of a more rigid material than that of the mounting part (for example, the the mounting part may be made of plastic and the reinforcement insert may be made of metal) in an internal cavity 2540 of the mounting part
[0030] [0030] The 2500 compactor preferably also includes a ground contact part 2530 mounted on the top part 2510. The ground contact part 2530 can be removably mounted on the top part 2510; as illustrated, the ground contact part is mounted at the top by threaded screws 2560, but in other embodiments, the ground contact part can be installed and removed without using tools, for example, by an arrangement of slot and groove. The ground contact part 2530 can also be permanently mounted on the upper part 2510, for example, by using rivets instead of screws 2560, or by molding the upper part with the ground contact part. The ground contact part 2530 is preferably made of a material having greater wear resistance than plastic, such as metal (for example, stainless steel, cobalt steel or hardened white iron), it may include a coating wear-resistant (or a non-stick coating as described in this specification), and may include a wear-resistant part, such as a tungsten carbide insert.
[0031] [0031] The soil contact part 2530 preferably includes a sensor to detect the characteristics of the trench (eg soil moisture, soil organic matter, soil temperature, presence of seed, spacing between seeds, percentage of compacted seeds, presence of residue in the soil), such as a reflectivity sensor 2590, preferably housed in a 2532 cavity in the part in contact with the soil. The reflectivity sensor preferably includes a 2596 sensor circuit board, having a sensor arranged to receive reflected light from the ditch through a transparent window 2592. The transparent window 2592 is preferably mounted flush with a lower surface of the part of contact with the soil, so that said soil flows below the window without accumulating through the window or along an edge of it. A 2594 electrical connection preferably connects the 2596 sensor circuit board to a wire or bus (not shown) placing the sensor circuit board in data communication with the monitor 50.
[0032] [0032] Returning to Figures 5 - 14, another embodiment of seed compactor 500 is illustrated. A flexible part 504 is preferably configured to resiliently compress a compactor body 520 in the seed ditch 36. Mounting tabs 514, 515 removably couple flexible part 504 to compactor support 415, preferably as described in the '585 patent application.
[0033] [0033] A flexible liquid conduit 506 preferably conducts liquid (e.g. liquid fertilizer) from a container to an outlet 507 to deposit in or adjacent to ditch 38. Conduit 506 preferably extends through the compactor body 520, between outlet 507 and a connection 529, which limits the conduit 506 from sliding relative to the compactor body 520. The conduit part may extend through an opening formed in the compactor body 520 or (as illustrated) by a channel covered by a removable cover 530. The cover 530 is preferably coupled to the side walls 522, 524 of the compactor body 520 by hooked tabs 532. The hooked tabs 532 preferably prevent the side walls 522 , 524 deform outwardly, in addition to retaining the cap 530 on the body of the compactor 520. A thread 533 also preferably retains the cap 530 on the body of the compactor 520.
[0034] [0034] The conduit 506 is preferably retained in the flexible part 504 of the seed compactor 500 by mounting hooks 508, 509 and by mounting flaps 514, 515. Conduit 506 is preferably tightened resiliently by arms 512, 513 of the mounting hooks 508, 509, respectively. The conduit 506 is preferably received in the slots 516, 517 of the mounting flaps 514, 515, respectively.
[0035] [0035] A 505 wire harness preferably comprises one wire or several wires in electrical communication with the sensors mounted on the compactor described below. The wire harness is preferably received in the slots 510, 511 of the mounting hooks 508, 509, and additionally held in place by the conduit 506. The wire harness 505 is preferably tightened by the slots 518, 519 of the mounting flaps 514, 515, respectively; the wire harness 505 is preferably compressed by a resilient opening of each slot 518, 519, and the resilient opening returns to the place so that the slits retain the wire whip, unless the harness wire is forcibly removed.
[0036] [0036] In some embodiments, the contact part with the lower ditch of the seed compactor 500 comprises a plate
[0037] [0037] The seed compactor 500 is preferably configured to receive removably a reflectivity sensor 350 inside a cavity 527 inside the body of the compactor 520. In a preferred embodiment, the reflectivity sensor 350 is installed removed in the seed compactor 500 by sliding the reflectivity sensor 350 into the cavity 527, until the flexible tabs 525, 523 are pressed in place, holding the reflectivity sensor 350 in place until the flexible tabs are moved out of the way for removal of the reflectivity sensor. The reflectivity sensor 350 can be configured to perform any of the measures described above with respect to the reflectivity sensor of the seed compactor 400. The reflectivity sensor 350 preferably comprises a 580 circuit board (in some embodiments) , a printed circuit board, overmoulded). The reflectivity sensor 350 detects, preferably, the light transmitted by a 550 lens, having a lower surface coextensive with the lower surface surrounding the body of the compactor 550, so that the soil and seeds are not dragged by the lens. In embodiments having a plate 540, the bottom surface of lens 550 is preferably coextensive with a bottom surface of plate 540. Lens 550 is preferably a transparent material, such as sapphire. The interface between circuit board 580 and the lens is preferably protected from dust and debris; in the illustrated embodiment, the interface is protected by an O-ring 552, while in other embodiments, the interface is protected by a filler. In a preferred embodiment, lens 550 is mounted on circuit board 580, and the lens slides into place on the lower surface of the compactor body 520 (and / or plate 540) when the reflectivity sensor 350 is installed . In these embodiments, the flexible tabs 523, 525 preferably lock the reflectivity sensor in a position in which the lens 550 is coextensive with the lower surface of the compactor body 520.
[0038] [0038] The seed compactor 500 preferably includes a 360 temperature sensor. The 360 temperature sensor preferably comprises a 560 probe. The 560 probe preferably comprises a thermally conductive rod (for example , a copper rod) extending the width of the compactor body 500 and having opposite ends extending from the compactor body 500 to contact either side of the ditch 38. The temperature sensor 360 also preferably comprises , a resistance temperature detector ("RTD") 564 attached (for example, screwed into a threaded hole) in probe 560; the RTD is preferably in electrical communication with the 580 circuit board via a 585 electrical wire; the circuit board 580 is preferably configured to process both reflectivity and temperature measurements, and is preferably in electrical communication with the 505 wire harness. and / or the rest of the compactor body 520 comprises (m) a thermally conductive material, an insulating material 562 preferably supports probe 560, so that temperature variations in the probe are affected minimally by contact with the compactor body; in these embodiments, the probe 560 is preferably basically surrounded by air inside the body of the compactor 520 and the insulating material 562 (or the body of the compactor) preferably contacts a minimum surface area of the probe. In some embodiments, the insulating material comprises a low conductivity plastic, such as polystyrene or polypropylene.
[0039] [0039] Returning to Figure 15, another 400 'embodiment of the seed compactor is illustrated having several reflectivity sensors 350. The reflectivity sensors 350c, 350d and 350e are arranged to measure the reflectivity of regions 352c, 352d and 352e, respectively, in and adjacent to the bottom of the ditch 38. The regions 352c, 352d and 352e are preferably a substantially contiguous region, preferably including all or substantially the entire part of the ditch in which the seed rests. , after falling by gravity into the ditch. In other embodiments, several temperature and / or electrical conductivity sensors are arranged to measure a substantially contiguous region, preferably larger.
[0040] [0040] Returning to Figure 16, another embodiment of a 400 "seed compactor is illustrated, having several reflectivity sensors 350 arranged to measure on any side of the ditch 38, in various depths within the ditch. reflectivity 350f, 350k are arranged to measure reflectivity at or adjacent to the top of ditch 38. reflectivity sensors 350h, 350i are arranged to measure reflectivity at or adjacent to the bottom of ditch 38. reflectivity sensors 350g , 350j are arranged to measure reflectivity at an intermediate depth of the ditch 38, for example, halfway through the depth of the ditch. It must be considered that to make effective measurements of the soil at an intermediate depth of the ditch, it is desirable modify the shape of the seed compactor, so that the side walls of the seed compactor contact the sides of the ditch at an intermediate depth of the ditch. Also, it must be considered that to do effectively between soil measurements to a mechanical shaft seat coupling part 69 near the top of the ditch (ie on or near the soil surface 40), it is desirable to modify the shape of the seed compactor so that the side walls of the seed compactor contact the sides of the trench at or near the top of the trench. In other embodiments, several temperature and / or electrical conductivity sensors are arranged to measure the temperature and / or electrical conductivity, respectively, of soil at various depths within the ditch 38.
[0041] [0041] As described above with respect to system 300, in some embodiments, a second set of reflectivity sensors 350, temperature sensors 360 and electrical conductivity sensors 370 is mounted on a set of reference sensors 1800. One of these embodiments is illustrated in Figure 18, in which the set of reference sensors opens a ditch 39, in which a seed compactor 400, having sensors mounted on the compactor, is resiliently coupled to detect soil characteristics at the bottom of the ditch
[0042] [0042] An embodiment of the 1800 "reference sensor, including an instrumented stem 1840 ', is illustrated in Figures 23 and 24. The reference sensors 350u, 350m, 350! Are preferably arranged on a lower end of the stem 1840 and arranged to contact the ground on a side wall of ditch 39, on or adjacent to the ditch, respectively The stem 1840 extends into the ditch and preferably includes an angled surface 1842, on which the 350 reference sensors are mounted, the angle of the surface 1842 is preferably parallel to the side wall of the ditch 39.
[0043] [0043] It must be considered that the sensor embodiment of Figures 4A - 4C can be mounted on, and used in conjunction with, different implementations of seed planters, such as cultivation tools. For example, the seed compactor may be arranged to contact the soil in an open trench by (or otherwise, a soil surface passed over) a cultivation implement, such as a disc rake or a soil remover. ground. In this equipment, the sensors can be mounted on a piece of equipment that contacts the ground or on any extension that is connected to a piece of equipment and in contact with the ground. It must be considered that, in some of these embodiments, the seed compactor will not come into contact with the planted seed, but will nonetheless measure and record the characteristics of the soil as described differently in this specification.
[0044] [0044] In another embodiment, any of the sensors (the reflectivity sensor 350, the temperature sensor 360, the electrical conductivity sensor 370, the capacitive humidity sensor 351 and the electronic tensiometer sensor 352) can be arranged in the 400 'seed compactor with an exposure on one side of the 400' seed compactor. As illustrated in Figure 27A in one embodiment, the seed compactor 400 'has a protrusion 401' on one side of the seed compactor 400 'by which the sensors detect. A lens 402 'is arranged on the protrusion 401'. Due to the existence of protrusion 401 ', any accumulation that blocks lens 402' is minimized, and lens 402 'can remain in contact with the ground.
[0045] [0045] The 402 'lens can be made of any material, which is resistant to abrasion caused by contact with the ground and transparent to the wavelengths of the light used. In a given embodiment, the material has a Mohs hardness of at least 8. In certain embodiments, the material is sapphire, ruby, diamond, moissanite (SiC) or stiffened glass (such as Gorilla glass "" Y). in one embodiment, the material is sapphire In one embodiment as shown in Figures 28A and 28B, lens 402 'is a trapezoidal shape with the sloping sides of the rear 402' to the front 402 'of lens 402'. tion, lens 402 'can be seated within protrusion 401' without any retainers against the rear 402'-b of lens 402 '. The sensors, which can be arranged behind lens 402', are not blocked by any of these retainers Alternatively, lens 402 'can be arranged opposite the previous embodiment with the sloping sides of the front 402-f to the rear 402-b.
[0046] [0046] To facilitate the installation and placement of the sensors in the 400 'seed compactor, the 400' seed compactor can be manufactured from component parts. In that embodiment, the seed compactor 400 'has a resilient part 401', which is mounted on stem 254 and can propel the body part of the seed compactor from 490 'to resilient contact with the ditch 38. The part of Compactor body 490 'includes compactor base 495', sensor housing 496 'and lens body 498'. The base 495 'is illustrated in Figures 29A and 29C. The sensor housing 496 'is illustrated in Figure 30A, and a cover 497', for joining with the sensor housing 496 ", is illustrated in Figure 30B. The lens body 498 'is illustrated in Figures 31A and 31B, and the lens body 498 'is arranged in aperture 499' at the base of compactor 495 '. lens 402' is arranged in lens aperture 494 'in lens body 496'. As shown in Figure 27B, there is a conduit 493 arranged by a side of the resilient part 410 'and entering the sensor housing 496' for electrical installation (not shown) for connection with the sensors.
[0047] [0047] The protrusion 401 'will basically be on a lens body 498', but a portion of the protrusion 401 'can also be arranged in the body of the compactor 495' on either or both sides of the lens body 498 ', to create a narrowing to and from 401 provenance'. The protrusion 401 'is expected to wear out on contact with the ground. The arrangement of a large part of the protrusion 401 'in the lens body 498' allows the replacement of the lens body 498 ', after wear or breakage of the protrusion 401' and / or the lens 402 ".
[0048] [0048] In another embodiment illustrated in Figure 53, a 360 'temperature sensor is arranged in a seed compactor 400 (the reference to seed compactor 400 in that paragraph is any seed compactor, such as 400, 400 ', 400 "or 400"'), to measure the temperature in an internal wall 409, which is in thermal conductivity with an external part of the seed compactor 400. The temperature sensor 360 'measures the temperature of the internal wall
[0049] [0049] In another embodiment illustrated in Figure 54, a 360 "reflectivity sensor is disposed by the seed compactor 400 (the reference to the seed compactor 400 in that paragraph is to any seed compactor, such as 400 , 400 ', 400 "or 400"), to directly measure the soil temperature. The 360 "temperature sensor has a thermally conductive internal material 1361 covered by a thermally insulating material 1362, with a part of thermally conductive material
[0050] [0050] In any of the embodiments in Figures 53 and 54, the 360 ', 360 "reflectivity sensor is modular. It can be a separate part, which can be in communication with the monitor 50 and replace other parts separately.
[0051] [0051] In an embodiment with the 400 "seed compactor, the sensor is the reflectivity sensor 350. The temperature sensor 350 can be two-component, with a 350-e emitter and a 350-d detector. This embodiment is illustrated in Figure 32.
[0052] [0052] In certain embodiments, the wavelength used in the 350 reflectivity sensor is in a range of 400 to 1600 nm. In another embodiment, the wavelength is 550 to 1,450 nm. In a rendering, there is a combination of wavelengths. In one embodiment, sensor 350 has a combination of 574 nm, 850 nm, 940 nm and 1,450 nm. In another embodiment, sensor 350 has a combination of 589 nm, 850 nm, 940 nm and 1,450 nm. In another embodiment, the 350 sensor has a combination of 640 nm, 850 nm, 940 nm and 1,450 nm. In another embodiment, the wavelength of 850 nm, in any of the previous embodiments, is replaced by one of
[0053] [0053] In one embodiment, the field of view from the front
[0054] [0054] As the seed compactor 400 'moves through the ditch 38, there may be cases in which there is a gap between the ditch 38 and the seed compactor 400', so that the ambient light is detected by the reflectivity sensor 350. This will generate a high false result. In one embodiment to eliminate the increase in ambient light signal, the 350-e emitter can be pulsed (activated and deactivated). The background signal is measured when there is no signal from the 350-e transmitter. The measured reflectivity is then determined by subtracting the background signal from the raw signal, when the 350-e emitter is emitting, to provide the actual amount of reflectivity.
[0055] [0055] As shown in Figure 32, when the reflectivity sensor 350 has only one emitter 350-e and a detector 350-d, the overlap area, between the area illuminated by the emitter 350-e and the area seen by detector 350- d, can be limited. In one embodiment as illustrated in Figure 33, the emitter 350-e and detector 350-d can be angled towards each other to increase the overlap. Although this is effective, this achievement does not increase the manufacturing cost to angle the 350-e emitter and the 350-d detector. Also, when the surface of the ditch 38 is not smooth, there may be some ray of light 999 that will fall into the ditch 38 and will not be reflected in the direction of the detector 350-d.
[0056] [0056] In another embodiment illustrated in Figure 34, the configuration of Figure 32 can be used, and a prism 450 ', with an inclined side 451' arranged under the emitter 350-e, can refract the light from the emitter 350-e towards the area seen by detector 350-d. Again, with a single 350-emitter and light beam 999 can fall into ditch 38 and not be reflected in the direction of the 350-d detector.
[0057] [0057] In another embodiment illustrated in Figure 35, sensor 350 may have two emitters 350-e-1 and 350-e-2 and a detector 350-d. This increases the overlap between the area seen by the 350-d detector and the area illuminated by the 350-e-1 and 350-e-2 emitters. In another embodiment, to further increase the overlap, emitters 350-e-1 and 350- e-2 can be angled in the direction of detector 350-d, as shown in Figure 36.
[0058] [0058] In another embodiment illustrated in Figure 37, two emitters 350-e-1 and 350-e-2 are arranged after detector 350-d. A 450 "prism has two inclined surfaces 459-1 and 459-2 to refract light from the 350-e-1 and 350-e-2 emitters towards the area seen by the 350-d detector.
[0059] [0059] In another embodiment illustrated in Figure 38, a single 350-e emitter can be used in conjunction with a 400 "'prism to approach a double emitter. The 450"' prism is designed with angled sides for use the critical angle of the material used to produce the 450 "'prism (to maintain light within the material). The angles vary depending on the material. In one embodiment, the material for the 450"' prism is polycarbonate. A portion of the light from the 350-e emitter will fall on side 451 and be reflected to side 452 to side 453 to side 454, before leaving bottom 455. Optionally, spacers 456-1 and 456-2 can be arranged at the bottom 455 to provide a gap between the 450 "prism and the 550 lens.
[0060] [0060] In another embodiment, illustrated in Figure 39, the reflectivity sensor has a 350-e emitter and two 350-d-1 and 350-d- detectors
[0061] [0061] In another embodiment, which can be used with any of the previous embodiments or subsequent embodiments, an opening plate 460 can be arranged adjacent to sensor 350 with openings 461 adjacent to each emitter 350-e and detector 350-d. This embodiment is illustrated in Figure 40 with the embodiment of Figure 37. The opening plate 460 can assist in controlling half angles.
[0062] [0062] In another embodiment illustrated in Figure 41, a reflectivity sensor 350 has an emitter 350-e and a detector 350-d. An orifice plate 460 is disposed adjacent to the detector, which only controls the light entering the detector 350-d. The 450 "" prism is then arranged adjacent to the 350-e emitter and 350-d detector.
[0063] [0063] In another embodiment of a prism, several views of the prism 450 can be seen in Figures 42A - 42G.
[0064] [0064] Figure 43 is a cross-sectional view of the seed compactor 400 'of Figure 27A taken in section A - A. Two emitters 350-e-1 and 350-e-2 and a detector 350- d are arranged in the sensor housing 496 '. The prism 450 of Figures 42A - 42G is disposed between the emitters 350-e-1 and 350-e-2 and the detector 350-d and the lens 402 '.
[0065] [0065] In another embodiment illustrated in Figures 44A and 44B, there is a reflectivity sensor 350, which has two emitters 350-e-1 and 350- e-2 in line with a detector 350-d-1. As seen, the two emitters 350-e-1 and 350-e-2 point out of the paper, and the view of detector 350- d-1 is pointed out of the paper. There is a second detector, which is displaced from the 350-e-1 and 350-e-2 emitters and the 350-d-1 detector. In another embodiment (not shown), the 350-e-2 emitter is omitted. As seen in Figure 44B, detector 350-d-2 is angled from the vertical by an angle a and faces towards emitters 350-e-1 and 350-e-2 and detector 350-d-1, which are aligned in the paper. In one embodiment, the angle a is 30 to 60º. In another embodiment, the angle a is 45º. In one embodiment, the wavelength of light used in this arrangement is 940 nm. This arrangement allows the measurement of empty spaces on the ground. The detection of empty spaces in the soil will inform how effective the cultivation was. Less or less empty spaces will indicate more compaction and less effective cultivation. More or more empty spaces indicate better cultivation. With this measure of cultivation efficiency, it is possible to adjust the downward force on the cultivation unit 20, as described in this specification.
[0066] [0066] The distant depth of the seed compactor 400, 400 'and the length of the empty spaces can be measured by this arrangement. For short distances (usually up to 2.5 cm - 1 inch - or up to about 1.27 cm - 0.5 inch), the signal output from the 350-d-2 detector increases as the distance to the target surface. Furthermore, the signal from the primary reflectance detector, 350-d-1, is more constantly in a slight decrease. An illustrative reflectance measure is shown in Figure 47 together with an inaccurate corresponding calculated height for agricultural equipment. The reflectance measure of the 350-d-1 90001 and the reflectance measure of the 350-d-2 9002 are shown. When the reflectance measure of the 350-d-1 90001 and the reflectance measure of the 350-d-2 9002 are the same, the 9003 region is when the target ground is close to the 402 'lens. As a void is detected in the 9004 region, the reflectance measure of the 350-d-1 9001 remains the same or decreases, and the reflectance measure of the 350-d-2 increases. The distance from the target surface is a function of the relationship between the signals produced by the 350-d-1 and 350-d-2. In a rendering, the distance is calculated as (350d-2 signal - 350-d-1 signal) / (350d-2 signal = 350-d-1 signal) * scaling factor. The scaling factor is a number that converts the reflectance measurement into distance. For the illustrated configuration, the scaling factor is 0.44. The scaling factor is measured and depends on the placement of the emitter and detector, dimensions of the opening plate and geometry of the prism. In one embodiment, a scaling factor can be determined by placing a target at a known distance. A graphical representation of the calculated distance to the target produces a 9005 lift profile along the scanned surface. Knowing the travel speed, the 9006 length, the 9007 depth and the 9008 spacing of these voids can be calculated. An average path of these void characteristics (length 9006, depth 9007 and spacing 9008) can be calculated and then indicated as another metric to characterize the texture of the soil being swept. For example, once a second, a summary of the average void length, an average void depth and the number of voids, during this period, which can be recorded / transmitted to the 50 monitor. synchronization interval can be any one selected from a time greater than 0. Having a shorter period of time, a smaller space is analyzed. An example of monitor 50 showing on screen 2310 the void length 2311, the void depth 2312 and the number of voids 2313 is illustrated in Figure 48.
[0067] [0067] There may be an error in the reflectance measure as the inaccurate height for an equipment (for example, the agricultural equipment, the seed compactor, the sensor arm, etc.) increases. A correction can be made to convert the measured gross reflectance into a corrected measurement. A correction factor can be obtained by measuring the reflectance at different inaccurate heights. Figure 68 illustrates an example of a correction curve. There may be regions in which the percentage of error is greater than zero, such as at a small inaccurate height, and there may be regions in which the percentage of error is negative, such as at a large inaccurate height. The error percentage can be multiplied by a factor to obtain an error of 0%. For example, if the error percentage was 5% above the zero percentage error line, then the measured value can be multiplied by about 95%.
[0068] [0068] In another embodiment, any streaks or films that form on lens 402 'will affect the reflectivity detected by the reflectivity sensor 350. There will be an increase in internal reflectivity within the 400, 400' seed compactor. The increase in reflectivity will increase the measure of reflectivity. This increase can be credited to the removal of the 400, 400 'seed compactor from the ditch. The reading of the seed compactor 400, 400 'will, at that moment, be the new base reading, for example, zeroed. After the 400, 400 'seed compactor has passed through ditch 38, the reflectivity above the new base or zero reading will be the actual measured reading.
[0069] [0069] In another embodiment, the reflectivity measure of the reflectivity sensor 350 allows a seed germination moisture value to be obtained from a data table and displayed to an operator on monitor 50. Germination humidity Seed is a dimensionless measure related to the amount of water, which is available for one seed for each particular type of soil. For different types of soil, water is retained differently. For example, sandy soil will not retain as much water as clayey soil. Although there may be more water in the clay than in the sand, there may be the same amount of water that is released from the soil to the seed. Seed germination moisture is a measure of the weight gain of a seed that has been placed in the soil. The seed is placed in the soil for a period of time sufficient to allow moisture to enter the seed. In one embodiment, the period is three days. The weight of the seed before and after is measured. Also, the reflectivity of soils at different water levels is stored in a data table. A range from 1 to 10 can be used. The numbers in the middle of the scale, such as 4 -7, can be associated with the water content in each type of soil, which is an acceptable level of water for the seeds. Low numbers, such as 1 - 3, can be used to indicate that the soil is too dry for the seed. High numbers, such as 8 - 10, can be used to indicate that the soil is too moist for the seed. Knowing the type of soil, as an input for the operator, and the reflectivity measured, the seed germination humidity can be obtained from the data table. The result can be displayed on monitor 50 with the actual number. Also, the result can be associated with a color. For example, the font color of the indicated result or the color of the screen on the monitor 50 may use green for values within the acceptable level and another color, such as yellow or red, for values that are high or low. An example of monitor 50 displaying seed germination humidity 2301 on screen 2300 is illustrated in Figure 45. Alternatively, seed germination humidity 2301 and seed germination humidity 2301 can be displayed on monitor 50 in Figure 20. Also, uniform humidity can be displayed on monitor 50 (not shown). Uniform moisture is the standard deviation of seed germination moisture.
[0070] [0070] Depending on the seed germination reading, the planting depth can be adjusted as described in this specification. If the seed germination humidity is indicating very dry conditions, then the depth can be increased until a specific moisture level is reached. If the seed germination humidity is indicating too humid, then the depth can be decreased to become shallower until a specific moisture level is reached.
[0071] [0071] In another embodiment, the uniformity of humidity or the variability of humidity can be measured and displayed on monitor 50. An example of monitor 50 showing humidity uniformity 2321 on screen 2320 and / or displaying variability on screen 2330 2331 moisture content is shown in Figures 50 and 51. One or both can be displayed, or both can be displayed on the same screen. The uniformity of humidity is the variability of humidity-1. Any of the moisture readings can be used, such as capacitance humidity, seed germination moisture, or volumetric water content or matrix potential or days until germination, to calculate moisture uniformity and the variability of humidity. The humidity variability is the deviation from the average measure. In one embodiment, the humidity variability is calculated by dividing the standard deviation by the average using any of the moisture measurements. This provides a percentage. Any other mathematical method to express the variation in the measure can also be used. In one embodiment, the quadratic mean can be used in place of the standard deviation. In addition to displaying the result on monitor 50, the result can be associated with a color. For example, the font color of the indicated result or the color of the screen on the monitor 50 may use green for values within the acceptable level and another color, such as yellow or red, for values that are unacceptable. For the days for germination above, these can be determined by creating a database by placing seeds at different humidity levels and measuring the days until germination. The uniformity of humidity and the variability of humidity are then the variability in the days until germination.
[0072] [0072] Depending on the uniformity of the moisture reading or the humidity variability reading, the depth of the planting can be adjusted as described in this specification. In a rendering, the depth can be adjusted to maximize the uniformity of humidity and to minimize the variability of humidity.
[0073] [0073] In another embodiment, an environmental emergency count can be calculated and displayed on monitor 50. An example of monitor 50 displaying an emergency environmental count on screen 2340 is illustrated in Figure 52. The environmental count of emergence is a combination of temperature and humidity correlated with how long it takes a seed to germinate under these conditions. A database can be created by placing seeds in different combinations of temperature and humidity and measuring the days until germination. The emergency environmental count displayed on monitor 50 can be the days until the germination of the database. In another embodiment, the emergency environmental count can be the percentage of seeds planted that will germinate within a selected number of days. The selected number of days can be entered on monitor 50. In another embodiment, a step count can be used, which is based on a scale of 1 to 10, with 1 representing the least number of days a seed takes to germinate and representing the largest number of days it takes a seed to germinate. For example, if a seed can germinate in 2 days, it receives a value of 1, and if the longest time the seed takes to germinate is 17 days, this receives a value of 10. In addition to displaying the result in monitor 50, the result can be associated with a color. For example, the font color of the indicated result or the color of the screen on the monitor 50 can use green for values within the acceptable level and another color, such as yellow or red, for values that are greater than the selected number of days.
[0074] [0074] Depending on the emergency environmental count, the depth of the planting can be adjusted as described in the present descriptive report. In one embodiment, the depth can be adjusted to minimize the number of days for germination.
[0075] [0075] In another embodiment, a groove uniformity count can be calculated with a processing unit (for example, agricultural equipment processing unit, implement, tractor, monitor, computer, etc.). Groove uniformity can be calculated based on one or more of moisture, temperature, waste, soil clods, crop differences for different regions of the soil, and problems with the crop unit. Problems with the cultivation unit can be stuck opening discs 244, loose calibrating wheels 248 (which can cause dry soil to fall into the groove), or a clogged closure system 236. Problems with cultivation units can cause that the sensor implement (such as a 400, 400 'compactor) leaves the compactor, and this is detected by detecting an increase in ambient light. A groove uniformity can be calculated as the groove uniformity = 100% - (% voids to% out of the ditch +% humidity variation). This is done for a selected period of time, such as 200 ms. In one example, the% voids of time, during a given period (for example, 200 ms) in which the inaccurate height (which can be at 850 nm) is greater than a threshold (for example, 0 , 38 cm - 0.15 "). This can be activated by clods or voids in the soil. The% out of the ditch is the time (or the% of time in a period) in which ambient light is detected with a sensor attachment or an inaccurate height is greater than a threshold (for example, greater than 1 cm - 0.4 "). The% humidity change is based on the absolute value of a difference that the reflectance ratio of 1,200 nm / 1,450 nm varies by more than a specific value, such as 0.01 to 0.5, of the average movement of the relationship 1,200 nm / 1,450 nm reflectance. In one example, the% change in humidity in a period (for example, the 200 ms period) that the reflectance ratio of 1,200 nm / 1,450 nm varies by more than a specific value and can be calculated based on the absolute value of [(instantaneous reflection of 1200 nm / instantaneous reflection of 1,450 nm) - (average reflection of movement of 1,200 nm / average reflection of movement of
[0076] [0076] In another embodiment, the% of the humidity variation can be calculated as follows with a processing unit (for example, the processing unit of the agricultural equipment, implement, monitor, computer, etc.). Firstly, an estimated reflectance for dry soil at 1,450 nm is calculated as dry E1450 = reflectance of 1,200 nm * 2 - 850. The humidity indicator is then (1450 real - E1450 dry) / 1450 real + E1450 dry) , and then the selected value is the absolute value (humidity indicator (using instantaneous reflectance values) - humidity indicator (using average movement reflectance values) .In certain embodiments using this formula, for a selected value equal to or greater than 0.07, a value of 1 is subtracted from the groove uniformity value each time this occurs within the 200 ms time period.
[0077] [0077] In another embodiment, the predicted air temperature can be used to determine whether the seeds planted will experience a temperature of the ground that is equal to or higher than a desired temperature, for effective planting at a time after planting. For example, 10ºC (50ºF) can be considered the minimum temperature for planting so that the seed germinates. Although the soil temperature may be above this minimum temperature as the seed is planted, in the future, a climate can cause the soil temperature to be below the minimum temperature. The soil temperature tends to follow the air temperature. At a specific time, for example, at 10 am, soil temperature and air temperature can be measured to obtain a temperature deviation
[0078] [0078] In addition to the future temperature, the future climate can also be transferred (or entered manually) and used to determine the planting depth, in combination with the current soil moisture, the current soil temperature, the type of soil (for example, sand, silt and / or clay), and their combinations. Current humidity can be based on the amount of water in the soil, the matrix potential of water in the soil, or the humidity of seed germs. The future climate may be air temperature, atmospheric precipitation, wind speed, wind direction, solar radiation (degree of cloudiness) and their combinations. It is desired to have a humidity and a temperature for the seed, during germination and / or an emergency, which are in an acceptable range for the seed to germinate and / or emerge. The combination of current conditions and the predicted climate can be used to determine the depth of planting. For the type of soil, different soils will respond differently to the incorporated water (such as rain). Depending on the soil's retention capacity, atmospheric precipitation will be retained in the soil, seep through or be eliminated. Although the current humidity, the future atmospheric precipitation and the retention capacity of the specific type of soil are not known, a future humidity can be calculated. Future soil temperature and future soil moisture will vary based on future wind speed and / or future cloud cover. The wind speed will vary the speed of evaporation of the soil and the temperature of the soil. Cloudiness (or the degree of sunlight) will also vary the speed of soil evaporation and the temperature of the soil.
[0079] [0079] In another embodiment, the seed germination data and a seed germination map can be calculated with a processing unit (for example, the processing unit of the agricultural equipment, implement, tractor, monitor, computer, etc.) and displayed on monitor 50 or a display device. An example of monitor 50, which displays a 2390 seed germination map / count on screen 2340, is illustrated in Figure 69. It can be one or more germination times, emergence times or germination risk. The time for germination and the time for emergence can be expressed in hours or days. Time can be blocked together in bands and represented by different colors, shapes, models, etc. In one embodiment, the time for germination can be expressed in hours, such as 0 to 8 hours (with a green color), 8 to 16 hours (with a yellow color), 16 to 24 hours (with orange) and more than 24 hours (with a red color assignment). The risk of seed germination can be germination / emergence (without germination / emergence, germination / emergency on the spot or later germination / emergency) or factors other than time, such as deformities, if damaged, reduced vigor or illness. The risk of seed germination can be high, medium or low, or it can be an emergency on the spot, a later emergency or no emergency. Colors, shapes, models, etc. can be attributed to all of these situations. For example, a low risk can be green, a medium risk can be yellow and a high risk can be red. To calculate the seed germination map and count, one or more (or two or more) of the following measurements can be made: soil moisture (amount of water in the soil, soil matrix water potential, seed germination moisture ), soil temperature, organic matter in the soil, furrow uniformity, residue in the furrow, soil type (sand, mud, clay) and residue cover (amount, location, distribution and model of old and current crop material on the soil surface). A database can be created by placing seeds in different combinations of these conditions to measure the time for germination, the time for emergence and the risk of seed germination. The database can then be accessed during planting as the properties are obtained to later provide the time for germination, the time for emergence and the risk of seed germination.
[0080] [0080] In other embodiments, a table is presented below regarding the measured properties (some listed below), all of which have an impact on the seed germination and / or emergency properties; how ownership is measured; the output of information such as raw data, the counting in the environment of seeds, the time for germination, the time for emergence and / or the risk of seed germination; and activation of the equipment or action to be taken. Note that stopping a planting action can be listed below for a measured property for which only one planting interruption cannot be taken, but stopping planting can be an action for that measured property, in combination with one or more of other measured properties. For example, soil color alone may not be a reason to interrupt planting, but soil color, in combination with other measured properties, can result in a planting interruption action. This may be the situation for other actions, such as aggressiveness for cleaning the plantation.
[0081] [0081] The residue cover and the soil color can be obtained from an image study. The imaging study can be obtained from a satellite or an aircraft, such as a drone, or from a camera above the field, such as a pole. For user input of seed shape / size or cold germ, a user can directly enter this information, a user can scan a code (barcode or QR code of a package), or a user can enter the specific type of seed (or scan a code), and then the size, shape and cold germ can be referred from a database based on the type of seed. The reference source for topography can be stored information, such as a map, that has been previously measured. Any topography measurement method can be used. As an alternative to adjusting the depth, the downward force can be adjusted to promote a variation in depth, or the aggressiveness of planting cleaning can be changed.
[0082] [0082] In another embodiment, the environmental data of the seeds and an environmental count of seeds 2450 can be calculated with a processing unit (for example, a processing unit for agricultural equipment, implement, tractor, monitor , computer, etc.) and displayed on monitor 50 or a display device (for example, the 1225 or 1230 display device). An example of monitor 50 or display device, which displays on the 2341 screen an environmental count of seeds 2450, is illustrated in Figure 71. It can be the display of "Good" or "Bad" or a similar status indicator to indicate whether soil conditions are currently ready for planting, and, optionally, whether soil conditions will remain acceptable for at least one germination and, optionally, for an emergency. The environmental count of seeds 2450 can be a count based on one or more properties of the table above, which lists an output for the environmental count of seeds. If one or more properties, which are measured, are within a selected range during the selected period of time (for example, one or more of at planting, germination and emergence), the environment count of 2450 seeds can display a state in which planting can occur, such as Good or OK. If one or more of the properties, which are measured, are outside the selected range during the selected period of time, then the 2450 seed environment count may show a state in which planting should not occur, such as Bad or Unacceptable. Also, a color, such as green or red, can be associated with the state. If a negative state is displayed, such as Bad or Unacceptable, a user can review one or more of the properties on the 2342 seed environment counting properties screen on monitor 50. Values for all properties can be displayed and optionally an indication of whether the property is within an acceptable range can be displayed. An example of a 2342 seed environment property screen is illustrated in Figure 72.
[0083] [0083] In another embodiment, any of the previous embodiments may be in a device separate from the 400, 400 'seed compactor. As shown in Figure 46, any of the sensors described in this specification (sensor 350 is illustrated in the figure) is arranged on sensor arm 5000. Sensor arm 5000 has a flexible part 5001, which is attached to the compactor seed 400 "at one end of the flexible part 410" of the seed compactor 400 "', close to the support insert part 411". At the opposite end of the flexible part 5001 is the base 5002. The sensor 350 is arranged on the base 5002 behind the lens 5003. Although it is desirable for any of the sensors to be in the 400 "seed compactor, there may be times when a difference in applied force is necessary. In one embodiment, the 400 "'seed compactor may need a lower force intensity to firm a seed, but greater force is required to keep the sensor in contact with the ground. A different degree of stiffness can be designed for the flexible part 5001, compared to the flexible part 410 "'. By having, first, the seed compacted by the seed compactor 400, 400', then the thrust of the sensor arm 5000 does not touch the seed, which is already compacted in ditch 38 or does not move the seed in case of contact.
[0084] [0084] In other embodiments, any of the sensors need not be arranged in a compactor, and, in particular, in any of the embodiments illustrated in Figures 27A to 54. The sensors can be on any implement, which is arranged in an agricultural implement in contact with the soil. For example, the 490 compactor body can be mounted on any support and placed anywhere in an agricultural implement and in contact with the ground. Examples of an agricultural implement include, but are not limited to, planters, harvesters, sprinklers, side application booms, cultivators, fertilizer spreaders and a tractor.
[0085] [0085] Figure 49 illustrates a flowchart of an embodiment for a 4900 method of obtaining soil measurements, and subsequently generating a signal to act on any implement on any agricultural implement. The 4900 method is run by hardware (circuitry, dedicated logic, etc.), software (as it runs on a general purpose computer system or on a dedicated machine or device), or in a combination of both. In one embodiment, method 4900 is performed by at least one system or device
[0086] [0086] In any embodiment in the present specification, in operation 4902, a system or device (for example, a soil monitoring system 50, a seed compactor, sensors) can obtain measurements of the soil (for example, measurements for moisture , organic matter, porosity, texture / soil type, furrow residue, etc.). In operation 4904, the system or device (for example, the soil monitoring system, monitor 50) can generate a signal to act on any implement on any agricultural implement (for example, changing a population of seeds planted by controlling a seed metering, changing the seed variety (eg hybrid), changing the depth of the furrow, changing the speed of application of fertilizer, fungicide and / or insecticide, changing the downward force or upward force applied by a crop cleaner) in response to obtaining soil measurements. This can be done in real time during the movement. Examples of soil measurements, which can be done, and implement control include, but are not limited to: A) moisture, organic matter, porosity, or soil texture / type to change a population of seeds planted by soil control. a seed dispenser; B) moisture, organic matter, porosity, or texture / soil type to change a seed variety (for example, hybrid);
[0087] [0087] In an embodiment for downward force or rising force, a combination of moisture and texture / type can be used. A greater downward force can be applied on sandy and / or wet soils, and a lower downward force can be used on clay and / or wet soils. Too much downward force for a given soil type can cause soil compaction, which decreases the ability of the roots to spread across the soil. A very small downward force for a given type of soil can allow an implement to be raised and not plant the seeds to a desired depth. Downward force is generally applied by the calibrator wheels 248 adjacent to the ditch. DATA PROCESSING AND DISPLAY
[0088] [0088] Referring to Figure 20, monitor 50 or implement display device can display a summary of soil 2000 data, displaying a representation (for example, a numeric or legend based representation) of soil data assembled using the 400 seed compactor and associated sensors. Soil data can be displayed in windows, such as in a soil moisture window 2020 and a soil temperature window 2025. A depth adjustment window 2030 can additionally show the current depth adjustment of the implement's agricultural units, for example, the depth at which 400 seed compactors are making their respective measurements. A reflectivity variation window 2035 can show a statistical variation of reflectivity during an initial period (for example, the previous 30 seconds) or by an initial distance traveled by the implement (for example, the previous 9.1 meters) . The statistical variation of reflectivity can comprise any function of the reflectivity signal (for example, generated by each reflectivity sensor 350), such as the variance or standard deviation of the reflectivity signal. Monitor 50 can additionally display a representation of a predicted agronomic result (for example, the percentage of plants that have emerged successfully) based on the reflectivity variation value. For example, the reflectivity emergency values can be used to query a predicted plant emergency value in an empirically generated database (for example, stored in the implement 50 monitor memory or stored and updated in a remote server in data communication with the implement monitor) associating the reflectivity values with the emergence of the planned plant.
[0089] [0089] Each window in the soil data summary 2100 preferably shows an average value for all agricultural units ("crops"), in which the measurement is made and, optionally, the cultivation unit, for the which value is higher and / or lower, along with the value associated with this or these cultivation units. The selection (for example, the click or tap) of each window preferably shows the individual values (row by row) of the data associated with the window for each of the cultivation units in which the measurement is made.
[0090] [0090] A 2005 carbon content window preferably displays an estimate of the carbon content in the soil. The carbon content is preferably estimated based on the electrical conductivity measured by the 370 electrical conductivity sensors, for example, using an empirical relationship or an empirical query table relating electrical conductivity to an estimate of the percentage of the carbon content. The 2005 window displays, preferably and additionally, the electrical conductivity measured by the 370 electrical conductivity sensors.
[0091] [0091] An organic matter window 2010 preferably displays an estimate of the organic matter content in the soil. The organic matter content is preferably estimated based on reflectivity at one or more of several wavelengths measured by the reflectivity sensors 350, using, for example, an empirical relationship or an empirical query table relating reflectivity, in one or more of the wavelengths, to an estimated percentage of organic matter.
[0092] [0092] A soil component window 2015 preferably displays an estimate of the fractional presence of one or more soil components, for example, nitrogen, phosphorus, potassium and carbon. Each estimate of soil components is preferably based on reflectivity at one or several wavelengths measured by the reflectivity sensors 350, using, for example, an empirical relationship or an empirical query table relating reflectivity, at one or more of the wavelengths, to an estimated fractional presence of a soil component. In some embodiments, the estimation of soil components is preferably determined based on one or more signals generated by the spectrometer
[0093] [0093] A 2020 humidity window preferably displays an estimate of the soil moisture. The moisture estimate is preferably based on reflectivity at one or more of the wavelengths (for example, 930 or 940 nanometers), measured by the reflectivity sensors 350, using, for example, an empirical relationship or a table of empirical consultation relating the reflectivity, in one or more of the wavelengths, to an estimate of humidity. In some embodiments, the moisture measurement is determined as described in the '975 patent application.
[0094] [0094] A 2025 temperature window preferably displays an estimate of the soil temperature. The temperature estimate is preferably based on the signal generated by one or more of the 350 temperature sensors.
[0095] [0095] A 2030 depth window preferably displays the current depth setting. Monitor 50 also preferably allows the user to remotely actuate cultivation unit 200 to a desired trench depth, as described in international patent application No. POCT / US2014 / 029352.
[0096] [0096] Returning to Figure 21, monitor 50 is preferably configured to display one or more 2100 map windows, in which various data, measurements and / or estimated soil values (such as the variation of reflectivity) are represented by blocks 2122, 2124, 2126, each block having a color or a model associating the measurements in the position of the block with the bands 2112, 2114, 2116, respectively (legend 2110), in which the measurements fit . A 2100 map window is preferably generated and displayed for all soil data, measurements and / or estimates displayed on the 2000 soil data screen, preferably including carbon content, electrical conductivity, organic matter, soil components (including nitrogen, phosphorus and potassium), moisture and soil temperature. The subsets can correspond to the numerical ranges of the reflectivity variation. The subsets can be named according to an agronomic indication, empirically associated with the range of reflectivity variation. For example, a reflectivity variation below a first threshold, in which the emergency fault is predicted, can be marked "Good"; a reflectivity variation between the first threshold and the second threshold, in which the anticipated emergency failure is agronomically unacceptable (for example, it is likely to affect yield by more than one yield threshold), can be marked "Acceptable", and a variation in reflectivity above the second threshold can be marked "Predicted bad emergency",
[0097] [0097] Returning to Figure 22, monitor 50 is configured, preferably to display one or more planting data windows, including planting data measured by seed sensors 305 and / or reflectivity sensors 350. A window 2205 preferably displays a good spacing value, calculated based on seed pulses from the 305 seed optical (or electromagnetic) sensors. Window 2210 preferably displays a good spacing value, calculated based on pulses of seeds from the reflectivity sensors 350. Referring to Figure 17, the seed pulses 1502, in a reflectivity signal 1500, can be identified by a reflectance level exceeding a threshold T, associated with the passage of a seed behind the compactor of seed. A time for each 1502 seed pulse can be established as the midpoint of each period P between the first and the second crossing of the T threshold. Once the seed pulse times are identified (if from the 305 seed sensor or of the reflectivity sensor 350), the seed pulse times are preferably used to calculate a good spacing value, as described in US patent application No. 13 / 752,031 ("the 031 patent application"). In some embodiments, in addition to good spacing, other seed planting information (including, for example, population, singularization, jumps and multiples) is also calculated and displayed on screen 2200, according to the methods described in " patent application 031 ". In some embodiments, the same wavelength (and / or the same 350 reflectivity sensor) is used for seed detection as moisture measurements and other soil data; in some embodiments, the wavelength is about 940 nanometers. When the reflectivity signal 1500 is used for both seed detection and soil measurements (eg moisture), the part of the signal identified as a seed pulse (eg, P periods) is, preferably not used in calculating the soil measurement; for example, the signal during each period P can be assumed to be a line between the times immediately before and immediately after the period P, or, in other embodiments, it can be assumed to be the average value of the signal during the 30 seconds of signal not falling within any seed pulse period P. In some embodiments, screen 2200 also displays a percentage or absolute difference between good spacing values or other seed planting information, determined based on pulses seed sensors, and the same information determined based on the pulses of reflectivity sensors.
[0098] [0098] In some embodiments, the seed detection is improved by a selective measure of reflectivity, to one or more wave lengths associated with one or more characteristics of the seed being planted. In some of these embodiments, the system 300 causes the operator to select a crop, a seed type, a hybrid seed, a seed treatment and / or another characteristic of the seed to be planted. The wavelength or wavelengths, in which reflectivity is measured to identify seed pulses, are preferably selected based on one or more characteristics of the seeds selected by the operator.
[0099] [0099] In some embodiments, "good spacing" values are calculated on both seed pulse signals generated by optical or electromagnetic seed sensors 305 and by reflectivity sensors 350.
[00100] [00100] In some of these embodiments, the "good spacing" value for a growing unit is based on the seed pulses generated by the 305 optical seed sensor in the same growing unit. For example, a confidence value can be associated with each seed pulse generated by the optical seed sensor, for example, directly related to the amplitude of the seed pulse of the optical seed sensor; this confidence value can then be modified based on the signal from the optical seed sensor, for example, increased, if a seed pulse is observed in the optical seed sensor within an initial period, before the seed pulse of the sensor reflectivity, and decreased, if a seed pulse is not observed in the optical seed sensor within an initial period, before the seed pulse of the reflectivity sensor. A seed pulse is then recognized and stored as a seed placement if the modified confidence value exceeds a threshold.
[00101] [00101] In other of these embodiments, the "good spacing" value for a cultivation unit is based on the seed pulses generated by the 305 optical seed sensor associated with the cultivation unit, which are modified based on the signal generated by the sensor reflectivity 350 in the same cultivation unit. For example, the seed pulses, generated by the optical seed sensor 305, can be associated with the time of the next seed pulse, generated by the reflectivity sensor 350. If no seed pulse is generated by the reflectivity sensor 350 within of an initial time, after the seed pulse generated by the seed sensor 305, then the seed pulse generated by the seed sensor 305 can be ignored (for example, if a confidence value, associated with the seed pulse of sensor, is below a threshold) or adjusted by an average time delay between the reflectivity sensor seed pulses and the seed sensor seed pulses (for example, the average time delay for the last 10, 100 or 300 seeds).
[00102] [00102] In addition to displaying seed planting information, such as good spacing values, in some embodiments, the measured seed pulses can be used for liquid time deposition and other crop inputs in the ditch, for application of time so that the applied crop input remains in the seed, adjacent to the seed or between seeds, as desired. In some of these embodiments, a liquid applicator valve, which selectively allows liquid to drain from outlet 507 of liquid conduit 506, is briefly opened for an initial time (for example, 0 s, 1 ms, ms, 100 ms or 1 s ), after a seed pulse 1502 is identified at signal 1500 of the reflectivity sensor 350, associated with the same cultivation unit 200, with the liquid applicator valve.
[00103] [00103] A signal generated by the reflectivity sensor can also be used to identify the presence of crop residue (for example, corn stalks) in the seed ditch. When the reflectivity, in a range of wavelengths associated with the planting residue (for example, between 560 and 580 nm), exceeds a threshold, system 300 determines, preferably, that the planting residue is present in the ditch in the location indicated by current GPS. The spatial variation in the residue can then be mapped and displayed to a user. In addition, the downward pressure supplied to a set of crop cleaners (for example, a pressure controlled crop cleaner, as described in US Patent 8,550,020, can be adjusted automatically by system 300 in response to residue identification. or adjusted by the user. In one example, the system can command a valve associated with a shrubber down pressure actuator to increase by 5 psi (34.5 kPa) in response to an indication that the crop residue similarly, a closing wheel down force actuator can also be adjusted by the system 300 or by the operator, in response to an indication that the crop residue is present in the seed ditch. minds.
[00104] [00104] In some embodiments, an orientation of each seed is determined based on the width of the seed pulse periods based on the reflectivity P. In some of these embodiments, the pulses having a time period greater than a threshold (an absolute threshold or a percentage threshold higher than the average pulse period) are classified in a first category, while pulses, having a shorter period than the threshold, are classified in a second category. The first and second categories correspond, preferably, to a first and a second seed orientation. The seed percentages for the previous 30 seconds belonging to the first and / or second category (s) can be displayed on screen 2200. The orientation of each seed is preferably mapped spatially using the GPS coordinates of the seed, so that the individual performance of the plants can be compared with the orientation of the seeds during the observation operations.
[00105] [00105] In some embodiments, a determination of the contact of the seeds with the soil is made based on the existence or lack of a recognized seed pulse generated by the reflectivity sensor 350. For example, when a seed pulse is generated by the optical sensor seed 305 and no seed pulse is generated by the reflectivity sensor 350 within an initial time, after the seed pulse of the optical seed sensor, a seed contact value with "Bad" soil is preferably stored and associated with the location in which the seed pulse of the reflectivity sensor was predicted. An index of seed contact with soil can be generated for one or more rows by comparing seed contact with "Bad" soil by an initial number of seeds planted, distance traveled or elapsed time. The operator can then be alerted by monitor 50 to the row or rows showing a seed contact with the soil below an initial index value. In addition, a criterion representing the percentage of compacted seeds (for example, not having a seed contact with the "Bad" soil) for a previous period of time or the number of seeds can be displayed to the operator.
[00106] [00106] In one embodiment, the planting depth can be adjusted based on the soil properties measured by the sensors and / or the camera, so that the seeds are planted where the desired temperature, humidity and / or conductance (s) ) is or are found in the ditch 38. A signal can be sent to the depth adjustment actuator 380 to change the position of the depth adjustment oscillator 268 and thus the height of the calibrating wheels 248, to put the seed in the desired depth. In one embodiment, a general objective is to have the seeds germinate at approximately the same time. This promotes greater consistency and a higher yield of the crop. When certain seeds germinate before others, the resultant anterior plants can obscure the posterior resulting plants, depriving them of the necessary sunlight, which can cause them to disproportionately capture more nutrients from the surrounding soil, which reduces seed yield by germinating later. Germination days are based on a combination of moisture availability (soil moisture stress) and temperature.
[00107] [00107] In another embodiment, the depth can be adjusted based on a combination of current temperature and humidity conditions in the field of the expected temperature and humidity release of a weather forecast. This process is described in the publication of U.S. Patent No. 2016/0037709.
[00108] [00108] In any of the previous embodiments for depth control for humidity, control can be additionally limited by a minimum initial temperature. A minimum initial temperature (for example, 10ºC - 50ºF) can be adjusted so that the planter does not plant below a depth, at which the minimum initial temperature is. This can be based on an actual measured temperature or by considering a temperature measured at a specific time of day. Throughout the day, the soil is heated by sunlight or cooled during the night. The minimum initial temperature can be based on an average temperature in the soil for a period of 24 hours. The difference between the actual temperature, at a specific time of day, and the average temperature can be calculated and used to determine the depth for planting, so that the temperature is above a minimum initial temperature.
[00109] [00109] Soil conditions of conductivity, humidity, temperature and / or reflectance can be used to directly vary the planted population (seeds / acre), nutrient application (gallons or | i / acre) and / or application of pesticide (pounds or grams / acre) based on areas created by organic matter, soil moisture and / or electrical conductivity.
[00110] [00110] In another embodiment, any of the sensors or the camera can be adapted to collect energy to energize the sensor and / or wireless communication. As the sensors are dragged to the ground, the heat generated by contact with the ground or by the movement of the sensors can be used as an energy source for the sensors.
[00111] [00111] Figures 55 - 66 illustrate an agricultural equipment (for example, a compactor) having a locking system according to an embodiment. The compactor 5500 includes a base 5502 and a mounting part 5520 (for example, a neck part 5520), as shown in Figure 55. The mounting part 5520 is preferably reinforced by including a reinforcement insert, made of materials more rigid than the mounting part (for example, the mounting part can be made of plastic and the reinforcement insert can be made of metal) in an internal cavity of the 5520 mounting part. An upper 5510 of the base , as illustrated in Figures 55, 56, 60 and 61, may include an internal cavity, which is sized or designed to receive a liquid application conduit. The internal cavity may include a rear opening, through which the liquid application duct extends to dispense liquid behind the 5500 compactor. It should be considered that several liquid ducts can be inserted into the internal cavity; in addition, a nozzle may be included at a terminal end of one or more ducts to redirect and / or divide the flow of liquid applied in the ditch behind the 5500 compactor.
[00112] [00112] Abase 5502 includes a lower part for contact with the base soil 5530, as illustrated in Figures 55, 56, 59, 62 and 69, which can be removably inserted and connected to the upper part 5510; but, in other embodiments, the bottom part for contact with the ground can be installed and removed without the use of tools, for example, a slot and groove arrangement. The bottom part for contacting the ground 5530 is preferably made of a material having a higher wear resistance than plastic, such as metal (for example, stainless steel or hardened white iron), which may include a wear-resistant coating (or a non-stick coating as described in this specification), and may include a wear-resistant part, such as a tungsten carbide insert.
[00113] [00113] The bottom part for contact with the soil 5530 of the base preferably includes at least one sensor to detect the characteristics of the soil or a ditch (for example, soil moisture, organic matter in the soil, soil temperature, presence seed, spacing between seeds, percentage of compacted seeds, presence of residue in the soil), such as a reflectivity sensor, preferably housed in a cavity at the bottom for contact with the soil. The reflectivity sensor preferably includes a sensor circuit board having a sensor arranged to receive reflected light from the ditch through a 5592 transparent window. The 5592 transparent window is preferably mounted flush with a lower surface. from the bottom for contact with the soil, so that the soil drains below the window, without accumulating through the window or along an edge of it. An electrical connection preferably connects the sensor circuit board to a wire or bus (not shown), placing the sensor circuit board in data communication with the monitor 50.
[00114] [00114] The 5500 compactor includes a locking system for the different compactor components. In one example, a neck part 5520 has protrusions (for example, two points 5821 - 5822), as shown in Figure 57, which are inserted into a bottom part 5530 of the base. This does not cause locking until an upper 5510 of the base with a region (for example, "post 6010") is inserted at the bottom and the region (for example, "post 6010") compresses the protrusions (for example, the two ends to be separated from each other) to lock the neck part at the base.
[00115] [00115] Alternatively, protrusions 5821 and 5822 can alternatively be locked on the base (for example, the lower base part, the upper base part) without the need for the post. The base may have holes (for example, circular holes, stepped holes) to receive the tabs on the 5821 and 5822 protrusions.
[00116] [00116] In one example, a 5830 dividing crest on the neck divides a fluid tube and the power line and holds them against the integrated U-shaped clips on the side of the neck.
[00117] [00117] A fluid tube is located in a channel 6050 in the upper part 5510 of the base 5502, as shown in Figure 59. Figures 62 and 63 illustrate a connector 6300, having a nozzle 6310 for insertion in the fluid tube, according to an embodiment. The connector has the wings 6330 - 6331, which are coupled with the upper part of the base. There is a 6340 clamp on the bottom of the front face to secure the connector on the top.
[00118] [00118] A wear-resistant insert 5700 is positioned in front of the 5592 window to provide wear resistance for the window, as shown in Figure 56. In one example, the insert material is preferably tungsten carbide, although other wear-resistant materials can be used. In another example, insert 5700 may also be above and / or below window 5592, in addition or in place before the window. Also, a 5593 temperature sensor is positioned adjacent to window 5592. The 5593 temperature sensor can be a temperature sensor described in US patent application No. 62 / 516,553, filed on June 7, 2017, which was subsequently incorporated in US patent application publication number 2018/0168094.
[00119] [00119] Figure 64 illustrates a side view of a 6510 layer of resilient material (eg foam) to push a 6520 circuit board (eg, printed circuit board, sensor circuit board) to a transparent window 5592 from a base 5502 or close to the window. The resilient layer 6510 acts as a "Locking spring" to position the 6520 circuit board with respect to the window
[00120] [00120] To fix a prism and emitters (for example, sensors) on the 6520 plate, there are 6570 pins and holes with a precise fit, as shown in Figure 65. The threads can allow a very high elasticity and allow the movement of the emitters.
[00121] [00121] Figure 66 illustrates a base having a part of the window separated, according to an embodiment. A 6630 window portion is a separate portion to allow the 5592 window to be serviced separately.
[00122] [00122] “A 6650 water drain crack can be a gap in the base
[00123] [00123] There may be an incident when the agricultural implement is activated is reversed with the sensor implement (such as a 400, 400 'compactor) still in contact with the ground. This can damage the sensor implement. The 5502 base can be the most expensive part of the sensor implement, because it can be made of cobalt or other expensive materials. To prevent damage to the base 5502, a power attenuator (5529, 5522, 5523) can be arranged on the mounting part 5520, or, optionally, on the base 5502, when the base 5502 is attached directly to the implement. A hole 5529, which is shown in Figure 70A, can be arranged in the mounting part 5520. When the agricultural implement is to be reversed, the force in the sensor implement (such as the compactor 400, 400 ') is transferred to hole 5525 to make the mounting part 5520 break to relieve the applied force. The 5520 mounting part is typically cheaper than the 5502 base. Instead of breaking the 5520 mounting part, a spring (5522, 5523) can be formed on the 5520 mounting part.
[00124] [00124] In another embodiment illustrated in Figures 73 to 78, a 5600 compactor is modified to reduce the adherence of suitable soil in the 5600 compactor.
[00125] [00125] Compactor 5600 may contain circuit board 6520, emitters 350, temperature sensor 5593, resilient layer 6510, window 5592, holes 6570, wear-resistant insert 5700, etc. equal to those of the 5500 compactor, or the 5600 compactor can be modified as described below. The 5600 compactor has a 5620 mounting part (which can be the same as the 5520 mounting part) and a 5602 base.
[00126] [00126] The base 5602 has a lower external part 5603, which is shown in Figures 74A to 74D. The lower outer part 5603 covers the lower part of the base 5602 except the window part 5631. The lower outer part 5603 is made of a material with a low friction coefficient (less than or equal to 0.3 static or less than or equal to 0.24 dynamic measured according to ASTM D1894). In other embodiments, the coefficient of friction is less than 0.2 static or less than or equal to 0.15 dynamic. In one embodiment, the bottom outer part 5603 is made of UHMW polyethylene (ultra-high molecular weight). In other embodiments, the bottom outer part 5603 covers at least 50% of the height of the base 5602. In other embodiments, the bottom outer part 5603 covers at least 80%, at least 85%, at least 90%, at least 95% or at least 97% of the height of the base 5602. The height can be measured perpendicular to any point along the bottom of the lower outer part 5603.
[00127] [00127] Base 5602 additionally includes a second part 5605, having an upper base part 5610 and a lower inner part 5606, as shown in Figure 75. The upper base part may contain a 6050 channel, as illustrated in Figure 76A, which is similar to channel 6050 for the upper base part 5510.
[00128] [00128] The lower outer part 5603 covers the lower inner part 5606, which is arranged below the upper lower part 5610. The lower inner part 5606 has an end 5607, as illustrated in Figures 77A, 77B and 77C, for connection with the mounting part 5620. The mounting part 5620 can be the same as the mounting part 5520. The lower inner part 5606 can provide a structure for the 5600 compactor, and can accommodate the 6520 circuit board, as shown in Figure 78. The lower outer part 5603 can contact the upper base part in a seam 5604. As the height of the lower outer part 5603 varies, the location of seam 5604 varies.
[00129] [00129] The lower coupling part 5631 is similar to the lower coupling part 5530, but is small in size as the lower outer part 5603 covers more of the base 5602. The lower coupling part 5631 has window 5592 and the sensor temperature 5593, as shown in Figure 73. The lower coupling part 5631 can be made of the same material as the lower coupling part 5530 to provide wear resistance and protect circuit board 6520 and emitters 350.
[00130] [00130] Any data, which is measured during a visit to the field, can be stored on a map with geographic references and used again, during a later visit, in the same field during the same season or in a subsequent year. For example, organic matter can be measured during a planting pass through the field during planting. With geographical references, the organic matter content can be used during a fertilizer pass at a variable speed, based on a separate data file or as part of the field file.
[00131] [00131] Figure 79 shows an example of a 1200 system, which includes a 1202 machine (for example, a tractor, a combine, etc.) and a 1240 implement (for example, a planter, a side straightening bar, a cultivator, plow, sprinkler, spreader, irrigation implement, etc.) according to one embodiment. The machine 1202 includes a processing system 1220, a memory 1205, a machine network 1210 (for example, a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.) and an interface 1215 network for communication with other systems or devices including the 1240 implement. The 1210 machine network includes 1212 sensors (for example, speed sensors), 1211 controllers (for example, the GPS receiver, the radar unit) to control and monitor machine or implement operations. The 1215 network interface can include at least one of a GPS transceiver, a WLAN transceiver (for example, WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other communications interfaces with other devices and systems including the implement 1240. Network interface 1215 can be integrated with machine network 1210, or separated from machine network 1210, as shown in Figure 12. Ports 1 / O 1229 (on-board diagnostic port - OBD) provide communication with another system or data processing device (e.g., display devices,
[00132] [00132] In one example, the machine performs operations on a tractor, which is coupled to an implement in field planting applications. The planting data for each implement cultivation unit can be associated with the location data, at the time of application, to have a better understanding of the planting for each row and region of a field. The data associated with the planting applications can be displayed on at least one of the display devices 1225 and 1230. The display devices can be integrated with other components (for example, the 1220 processing system, the 1205 memory, etc.) to form monitor 50.
[00133] [00133] The processing system 1220 may include one or more microprocessors, processors, a system on a chip (integrated circuit), or one or more microcontrollers. The processing system includes processing logic 1226, to execute software instructions from one or more programs, and a communication unit 1228 (for example, a transmitter, a transceiver), to transmit and receive communications from the machine over a machine network 1210 or network interface 1215, or implement through an implement network 1250 or network interface 1260. The communication unit 1228 can be integrated with or separate from the processing system. In one embodiment, communication unit 1228 is in data communication with machine network 1210 and implement network 1250 via an OBD diagnostic port on ports 1 / O 1229.
[00134] [00134] —1226 processing logic, including one or more processors or processing units, can process communications received from the 1228 communication unit, including agricultural data (eg GPS data, application data planting, soil characteristics, any data detected from implement 1240 and machine 1202 sensors, etc.). System 1200 includes memory 1205 for storing data and programs for execution (software 1206) by the processing system. Memory 1205 can store, for example, software components, such as planting application software for soil application and planting analysis, to perform the operations of the present invention, or any other application or software application module, images (for example, images captured from crops, furrow soil, clods of soil, cultivation units, etc.), alerts, maps, etc. Memory 1205 can be any known form of a machine-readable non-transitory storage medium, such as semiconductor memory (e.g., instantaneous, SRAM, DRAM, etc.), or non-volatile memory, such as hard drives - or a solid state unit. The system may also include an audio input / output subsystem (not shown), which may include a microphone and a loudspeaker, for example, for receiving and sending voice commands or for user authentication or authorization ( for example, biometrics).
[00135] [00135] Processing system 1220 communicates bidirectionally with memory 1205, machine network 1201, network interface 1215, header 1280, display device 1230, display device 1225 and ports 1 / O 1229 via communication links 1231-1236, respectively. The processing system 1220 can be integrated with memory 1205 or separated from memory 1205.
[00136] [00136] Display devices 1225 and 1230 can provide visual user interfaces for a user or an operator. Display devices can include display controllers. In one embodiment, the display device 1225 is a portable tablet device or a computing device with a touch screen that displays data (for example, data from planting applications, captured images, map layer of localized views, field maps definition of seed germination data, seed environment data, data on planting and harvesting or other variables or agricultural parameters, yield maps, alerts, etc.) and data generated by a software application data analysis, and receives input from the user or operator for a detailed view of a region in a field, to monitor and control operations in the field. Operations can include machine or implement configuration, data logging, machine or implement control, including sensors and controllers, and the storage of generated data. The 1230 display device can be a video monitor (for example, a video monitor provided by an original equipment manufacturer (OEM)), which displays images and data for a localized map view layer, application data of fluid in the state after application, or data in the state after planting or in the state after harvest, yield data, seed germination data, seed environment data, controlling a machine (for example, a planter , a tractor, a combine, a sprinkler, etc.), driving the machine, and monitoring the machine or an implement (for example, a planter, a tractor, a combine, a sprinkler, etc.), which is connected to the machine with sensors and controllers located on the machine or implement.
[00137] [00137] A 1270 cabin control module can include an additional control module, to enable or disable certain components or devices of the machine or implement. For example, if the user or operator is unable to control the machine or implement using one or more of the display devices, then the cab control module includes switches to interrupt or shut down the components or devices of the machine or implement.
[00138] [00138] Implement 1240 (for example, a planter, a side smoothing bar, a cultivator, a plow, a sprinkler, a spreader, an irrigation implement, etc.) includes an implement network
[00139] [00139] For example, controllers can include processors in communication with various seed sensors. The processors are configured to process data (for example, fluid application data, seed sensor data, soil data, furrow or ditch data) and transmit the processed data to the 1262 or 1220 processing system. The controllers and sensors can be used to monitor motors and drives on a planter, including a variable speed drive system to change plant populations. Controllers and sensors can also provide scythe control to shut down individual rows or sections of the planter. Sensors and controllers can detect variations in an electric motor, which individually controls all the rows of a planter. These sensors and controllers can detect seed release speeds in a seed tube for all rows of a planter.
[00140] [00140] The network interface 1260 can be a GPS transceiver, a WLAN transceiver (for example, WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other communications interfaces with other devices and systems including the machine
[00141] [00141] The processing system 1262 communicates bidirectionally with the implement network 1250, the network interface 1260 and ports 1 / O 1266 through the communication links 1241 - 1243, respectively.
[00142] [00142] The implement communicates with the machine via bidirectional wired and possibly also wireless communications
[00143] [00143] Memory 1205 can be a non-transitory, machine accessible medium in which one or more sets of instructions are stored (for example, software 1206) incorporating any one or more of the methodologies or functions described in this report. - critical. The 1206 software can also reside, completely or at least partially, in the 1205 memory and / or with the 1220 processing system, during its execution by the 1200 system, the memory and the processing system also constituting the readable storage media per machine. The 1206 software can also be transmitted or received over a network via the 1215 network interface.
[00144] [00144] In one embodiment, a non-transitory, machine-accessible medium (for example, memory 1205) contains instructions from executable computer programs, which, when executed by a data processing system, make the system perform operations or methods of the present invention. Although the non-transient, machine-accessible medium (for example, memory 1205) is shown in an exemplary embodiment as a single medium, the term "non-transient, computer-accessible medium" should be considered to include a single medium or multiple media (for example, a centralized or distributed database, and / or caches and associated servers), which store one or more sets of instructions. The term "non-transitory, computer accessible medium" should also be considered to include any medium, which is capable of storing, coding or conducting a set of instructions for execution by the machine, and which causes the machine to execute any or all more of the technologies of the present invention. The term "non-transitory, computer accessible medium" should also be considered to include, but is not limited to, solid state memories, optical and magnetic media and carrier wave signals.
[00145] [00145] “Any of the examples presented below can be combined into a single embodiment or these examples can be separate embodiments. In an example of a first design, agricultural equipment comprises: a lower base part for contacting the soil of an agricultural field; an upper base part; and a neck part having protrusions for insertion in the lower base part of a base, and then locking, when a region of the upper base part is inserted in the lower base part and that region of the upper base part compresses the protuberances - cleats to lock the neck part on the upper base part.
[00146] [00146] In another example of the first embodiment, the agricultural equipment also comprises: a window arranged in the lower base part; and a sensor arranged in the lower base part adjacent to the window, the sensor being configured to detect the soil through the window, when the lower base part is in contact with the soil of the agricultural field.
[00147] [00147] In another example of the first embodiment, the sensor to detect the characteristics of the soil or a ditch includes at least one of soil moisture, organic matter in the soil, soil temperature, presence of seed, spacing between seeds , percentage of compacted seeds and presence of residue in the soil.
[00148] [00148] In another example of the first embodiment, the window is mounted flush with a lower surface of the lower part for contact with the soil, so that the soil flows below the window, without accumulating through the window or along an edge from the window.
[00149] [00149] In another example of the first embodiment, a wear-resistant insert positioned very close to the window to provide wear resistance for the window.
[00150] [00150] In another example of the first embodiment, the agricultural equipment comprises a seed compactor.
[00151] [00151] In another example of the first embodiment, the upper base part includes an internal cavity, which is designed to receive a liquid application duct, and the internal cavity includes a rear opening, through which the liquid application duct is located. extends to dispense fluid behind the compactor.
[00152] [00152] In another example of the first embodiment, the bottom base part includes a resilient layer for positioning a circuit board close to the window.
[00153] [00153] In another example of the first embodiment, the bottom base part includes a separate window part to allow separate maintenance on the window.
[00154] [00154] In another example of the first embodiment, the bottom base part includes a water drain slot, which defines a feature for the window part of the bottom base part to join with the bottom base part.
[00155] [00155] In another example of the first embodiment, the neck part includes a force attenuator to prevent damage to the lower base part, if the agricultural equipment is in contact with the ground while an agricultural implement is driven in one direction inverted.
[00156] [00156] In another example of the first embodiment, the neck part includes a partial opening to prevent damage to agricultural equipment, if the agricultural equipment is in contact with the ground while an agricultural implement is driven in an inverted direction.
[00157] [00157] In another example of the first embodiment, the lower base part includes a lower external part to protect the lower base part.
[00158] [00158] In another example of the first embodiment, the lower external part is made of a material with a low friction coefficient.
[00159] [00159] In another example of the first embodiment, the lower outer part covers at least 50% of a height of the lower base part.
[00160] [00160] In another example of the first embodiment, the lower base part additionally includes a second part, having an upper base part and a lower inner part.
[00161] [00161] In another example of the first embodiment, the upper base part of the second part includes a channel.
[00162] [00162] In another example of the first embodiment, the lower inner part is arranged below the upper base part, and the lower inner part has an end for connection with the neck part.
[00163] [00163] In another example of the first embodiment, the bottom base part is at least 50% of a combined height of the bottom base part and the top base part, and the bottom base part is made of a material having a coefficient of static friction less than or equal to 0.3.
[00164] [00164] In another example of the first embodiment, the coefficient of static friction is equal to or less than 0.2, and the bottom base part is at least 90% of the combined height.
[00165] [00165] In an example of a second embodiment, an agricultural equipment comprises: a lower base part for contact with the soil of an agricultural field; an upper base part; and a neck part having protuberances for insertion of the lower base part and then locking in the lower base part, when the openings receive the protuberances.
[00166] [00166] In another example of the second embodiment, the openings comprise holes for receiving flaps from the protrusions for locking the neck part in the lower base part.
[00167] [00167] In another example of the second embodiment, the protrusions comprise two ends.
[00168] [00168] In another example of the second embodiment, the neck part includes a dividing ridge in the neck part, for division into a fluid tube and an electric line.
[00169] [00169] In another example of the second embodiment, a window is arranged on the bottom base part and a sensor is arranged on the bottom base part adjacent to the window. The sensor is configured to detect the soil through the window, when the lower base part comes into contact with the soil of the agricultural field.
[00170] [00170] In another example of the second embodiment, the agricultural equipment comprises a seed compactor.
[00171] [00171] In another example of the second embodiment, the bottom base part includes a resilient layer for positioning a circuit board close to the window.
[00172] [00172] In another example of the second embodiment, the neck part includes a force attenuator to prevent damage to the lower base part, if the agricultural equipment is in contact with the ground while an agricultural implement is driven in an inverted direction .
[00173] [00173] In another example of the second embodiment, the neck part includes a spring to prevent damage to agricultural equipment, if the agricultural equipment is in contact with the ground while an agricultural implement is driven in an inverted direction.
[00174] [00174] In another example of the second embodiment, the lower base part includes a lower outer part to protect the lower base part.
[00175] [00175] In another example of the second embodiment, the lower outer part is made of a material with a low friction coefficient.
[00176] [00176] In another example of the second embodiment, the lower outer part covers at least 50% of a height of the lower base part.
[00177] [00177] In an example of a third embodiment, an agricultural equipment comprises: a base part for contact with the soil of an agricultural field; and a neck part connected to the base part, the neck part configured to attach to an agricultural implement. The neck part includes a force attenuator to prevent damage to the base part, if the agricultural equipment is in contact with the ground while the agricultural implement is driven in an inverted direction.
[00178] [00178] In another example of the third embodiment, the neck part and the base part are separate components.
[00179] [00179] In another example of the third embodiment, the neck part is removably connected to the agricultural implement.
[00180] [00180] In another example of the third embodiment, the force attenuator is a hole in the neck to allow the neck to break to prevent damage to the base part.
[00181] [00181] In another example of the third embodiment, the force attenuator is a spring to allow the neck to flex.
[00182] [00182] In another example of the third embodiment, the base part comprises a lower base part and an upper base part.
[00183] [00183] In an example of a fourth embodiment, an agricultural equipment comprises: a base part for contact with the soil of an agricultural field, and the base part is adapted for connection to an agricultural implement; a soil sensor, arranged in or on the base part, to measure a property of the soil; a power attenuator, arranged on the base part or between the base part and the implement, to prevent damage to the base part, if the agricultural equipment is in contact with the ground while the implement is driven in an inverted direction.
[00184] [00184] In another example of the fourth embodiment, the agricultural equipment further comprises a neck part connected to the base part, the neck part configured to be attached to the agricultural implement, and the force attenuator is arranged on the neck part.
[00185] [00185] In another example of the fourth embodiment, the agricultural equipment comprises a base part for contacting the soil of an agricultural field, and the base part is adapted for connection with an agricultural implement.
[00186] [00186] In another example of the fourth embodiment, the agricultural equipment comprises: a window in the base part; a wear-resistant insert disposed in or on the base part in one or more locations selected from the group consisting of: i) in front of the window in a direction of displacement of the agricultural equipment by the ground; ii) above the window; and iii) below the window.
[00187] [00187] In another example of the fourth embodiment, the agricultural equipment further comprises a neck part connected to the base part, the neck part configured to be attached to the agricultural implement.
[00188] [00188] In an example of a fifth embodiment, an agricultural equipment comprises a base part for contacting the soil of an agricultural field, and the base part is adapted for connection to an agricultural implement. The base part comprises an external part, arranged on an internal part, and in which the external part is made of a material having a coefficient of static friction less than or equal to 0.3.
[00189] [00189] In another example of the fifth embodiment, the agricultural equipment further comprises a neck part connected to the base part, the neck part configured to be attached to the agricultural implement.
[00190] [00190] In another example of the fifth embodiment, the inner part comprises a lower base part and an upper base part.
[00191] [00191] In another example of the fifth embodiment, the lower base part comprises a window, and the external part is not arranged on the window.
[00192] [00192] In another example of the fifth embodiment, the external part is at least 50% of a height of the base part.
[00193] [00193] In another example of the fifth embodiment, the external part is at least 90% of a height of the base part.
[00194] [00194] In another example of the fifth embodiment, the coefficient of static friction is less than or equal to 0.2.
[00195] [00195] In an example of a sixth embodiment, a method of calculating a measure of furrow uniformity, as agricultural equipment is pulled from a furrow, includes agricultural equipment to measure one or more soil properties. The method comprises: measuring, during a measurement period, with the agricultural equipment, a percentage of time outside the furrow, optionally, a percentage of voids, and, optionally, a percentage humidity variation, or a percentage of voids and a percentage humidity variation, to obtain a measurement; and calculate a groove uniformity by subtracting the measurement from 100 percent.
[00196] [00196] In another example of the sixth embodiment, the percentage of voids and the variation in the percentage of humidity are measured.
[00197] [00197] In another example of the sixth embodiment, the coefficient of static friction is less than or equal to 0.2.
[00198] [00198] In another example of the sixth embodiment, measuring the percentage of time outside the groove comprises measuring a percentage of time in which ambient light is detected.
[00199] [00199] In another example of the sixth embodiment, measuring the percentage of voids comprises measuring a percentage of time in which an inaccurate height is greater than an initial value.
[00200] [00200] In another example of the sixth embodiment, measuring the change in the moisture percentage comprises calculating an absolute value of a difference between (an instantaneous reflection value of a first wavelength divided by an instantaneous reflection value of a second length of minus (moving average of the reflection value of the first wavelength divided by moving average of the reflection value of the second wavelength).
[00201] [00201] In another example of the sixth embodiment, the first wavelength is 1,200 nm and the second wavelength is 1,450 nm.
[00202] [00202] In another example of the sixth embodiment, measuring the change in the percentage of humidity comprises calculating an absolute value of (humidity indicator of instantaneous reflectance values minus the humidity indicator of reflectance values of moving average), in which the indicator of humidity is calculated as ((actual reflectance value of
[00203] [00203] In an example of a seventh embodiment, a method for determining a percentage of voids in a groove, as far as agricultural equipment is pulled by the groove, the method comprising: using agricultural equipment to obtain a reflectance of the groove; measure an inaccurate height between the agricultural equipment and the furrow; calculate a percentage of time in which the inaccurate measured height is greater than an initial value other than an inaccurate predicted height between farm equipment and the furrow.
[00204] [00204] In an example of an eighth embodiment, a method for correcting a soil reflectance reading from agricultural equipment pulled by a furrow, includes: using agricultural equipment to obtain a furrow reflectance; measure an inaccurate height between the agricultural equipment and the furrow; adjust the inaccurate height measurement to obtain a zero error percentage for the inaccurate height measurement.
[00205] [00205] In an example of a ninth embodiment, the processing system comprises a central processing unit ("CPU") for executing instructions for processing agricultural data; and a communication unit for transmitting and receiving agricultural data. The CPU is configured to execute instructions to obtain the soil temperature of an agricultural equipment, having at least one sensor to detect the soil temperature, to obtain the air temperature, to determine a temperature deviation based on the temperature of the soil. soil and air temperature, to obtain an expected air temperature, and to determine the expected soil temperature for a future period of time, based on the temperature deviation and the expected air temperature.
[00206] [00206] In another example of the ninth embodiment, the CPU is further configured to execute instructions to trigger an alarm, if the predicted soil temperature is below a minimum soil temperature for seed germination, greater than a maximum soil temperature for seed germination, or deviates by a defined amount of average temperature at a future time.
[00207] [00207] In another example of the ninth embodiment, the CPU is further configured to execute instructions to correct an error in a reflectance measure of a reflectance sensor, when an inaccurate height of the agricultural equipment occurs, by determining a correction factor to convert a gross reflectance to a corrected measurement.
[00208] [00208] In another example of the ninth embodiment, the correction factor is determined based on the receipt of measured reflectance data, which are measured at different inaccurate heights from the agricultural equipment.
[00209] [00209] In an example of a tenth embodiment, a processing system comprises: a processing unit for executing instructions for processing agricultural data; and a memory to store agricultural data, the processing unit being configured to: execute instructions to obtain data from at least one sensor from an implement; and determining, based on soil data, seed germination data including at least one time for germination, time for emergence and risk of seed germination for display on a display device.
[00210] [00210] In another example of the tenth embodiment, the display device displays seed germination data, including a seed germination map with the germination time and emergency time shown in hours or days, and the time is blocked. banded and represented by different colors, shapes or models.
[00211] [00211] In another example of the tenth embodiment, the time for germination is shown in hours on the display device, with a first time range receiving a first color, a second time range receiving a second color and a third time range ras receiving a third color.
[00212] [00212] In another example of the tenth embodiment, the risk for seed germination does not include any germination / emergency, germination / emergency on the spot or later germination / emergency.
[00213] [00213] In another example of the tenth embodiment, the risk for seed germination includes factors other than time, including deformities, damaged seed, reduced vigor or disease.
[00214] [00214] In another example of the tenth embodiment, the data for seed germination are calculated with at least one of the following measures: soil moisture, including the amount of water in the soil, the matrix potential of water in the soil and the humidity seed germination; soil temperature; organic matter in the soil; groove uniformity; groove residue; soil type, including sand, silt and clay; and residue coverage, including quantity, location, distribution and model of ancient and current crop material on the soil surface.
[00215] [00215] In an example of an eleventh embodiment, a processing system comprises a processing unit for executing instructions for processing agricultural data; and a memory to store agricultural data, the processing unit being configured to execute instructions for obtaining properties for data from seed environments, including at least two seed colors, residue, topography, texture and soil type, organic matter , soil temperature, soil moisture, seed shape and size, cold seed germ, furrow depth, predicted temperature, predicted precipitation, predicted wind speed and unanticipated cloudiness, and determine the environmental data of - minds based on properties.
[00216] [00216] In another example of the eleventh embodiment, the processing unit is further configured to generate a seed environment indicator, to indicate whether the soil conditions are suitable for planting, during a specific period of time.
[00217] [00217] In another example of the eleventh embodiment, the processing unit is further configured to generate an indicator to indicate whether the soil conditions will remain acceptable for at least during germination and emergence.
[00218] [00218] In another example of the eleventh embodiment, the processing unit is further configured to generate a count in the environment of seeds, based on data from environmental media of seeds, with a display device to display the counting in the environment of seeds.
[00219] [00219] In another example of the eleventh embodiment, the display device, to display the seed count in the environment, includes a first indicator, to indicate acceptable planting conditions, or a second indicator, to indicate conditions unacceptable planting
[00220] [00220] In another example of the eleventh embodiment, the display device, to display the counting properties in the seed environment, includes a moment temperature, a moment humidity, a predicted temperature, a predicted humidity , and whether all of these properties are within an acceptable range.

权利要求:
Claims (1)
[1]
1. Agricultural equipment, characterized by the fact that it comprises: a lower base part for contacting the soil of an agricultural field; an upper base part; and a neck part having protrusions for insertion in the lower base part of a base, and then locking, when a region of the upper base part is inserted in the lower base part and that region of the upper base part compresses the protubs - reasons to lock the neck part on the upper base part.
2. Agricultural equipment, according to claim 1, characterized by the fact that it also comprises: a window arranged in the lower base part; and a sensor arranged in the lower base part adjacent to the window, the sensor being configured to detect the soil through the window, when the lower base part is in contact with the soil of the agricultural field.
3. Agricultural equipment, according to claim 2, characterized by the fact that the sensor to detect the characteristics of the soil or a ditch includes at least one of soil moisture, organic matter in the soil, soil temperature, presence of seed, spacing between seeds, percentage of compacted seeds and presence of residue in the soil.
4. Agricultural equipment, according to claim 3, characterized by the fact that the window is mounted flush with a lower surface of the lower part for contact with the soil, so that the soil flows below the window, without accumulating through the window or along a window edge.
5. Agricultural equipment according to claim 2,
characterized by the fact that it also comprises a wear-resistant insert positioned very close to the window to provide wear resistance for the window.
6. Agricultural equipment according to claim 1, characterized by the fact that the agricultural equipment comprises a seed compactor.
7. Agricultural equipment according to claim 6, characterized by the fact that the upper base part includes an internal cavity, which is designed to receive a liquid application duct, and the internal cavity includes a rear opening, through which the liquid application line extends to dispense fluid behind the compactor.
8. Agricultural equipment according to claim 2, characterized by the fact that the lower base part includes a resilient layer to position a circuit board close to the window.
Agricultural equipment according to claim 8, characterized in that the lower base part includes a separate window part to allow separate maintenance on the window.
10. Agricultural equipment according to claim 9, characterized by the fact that the lower base part includes a water drain slot, which defines a characteristic for the window part of the lower base part to join with the bottom base.
11. Agricultural equipment according to claim 10, characterized by the fact that the neck part includes a strength attenuator to prevent damage to the lower base part, if the agricultural equipment is in contact with the ground while an agricultural implement is driven in an inverted direction.
12. Agricultural equipment according to claim 10, characterized by the fact that the neck part includes a partial opening to prevent damage to agricultural equipment, if the agricultural equipment is in contact with the soil while an agricultural implement is engaged in an inverted direction.
13. Agricultural equipment according to claim 9, characterized by the fact that the lower base part includes a lower external part to protect the lower base part.
14. Agricultural equipment according to claim 13, characterized by the fact that the lower external part is made of a material with a low friction coefficient.
15. Agricultural equipment according to claim 14, characterized by the fact that the lower external part covers at least 50% of a height of the lower base part.
16. Agricultural equipment according to claim 15, characterized by the fact that the lower base part additionally includes a second part, having an upper base part and a lower internal part.
17. Agricultural equipment according to claim 16, characterized by the fact that the upper base part of the second part includes a channel.
18. Agricultural equipment according to claim 17, characterized by the fact that the lower inner part is arranged below the upper base part, and the lower inner part has an end for connection with the neck part.
19. Agricultural equipment according to claim 1, characterized by the fact that the lower base part is at least 50% of a combined height of the lower base part and the upper base part, and the lower base part is made of a material having a coefficient of static friction less than or equal to 0.3.
20. Agricultural equipment according to claim 19, characterized by the fact that the coefficient of static friction is equal to or less than 0.2, and the lower base part is at least 90% of the combined height.
21. Agricultural equipment, characterized by the fact that it comprises: a lower base part for contact with the soil of an agricultural field; an upper base part; and a neck part having protrusions for insertion of the lower base part and then locking in the lower base part, when the openings receive the protuberances.
22. Agricultural equipment according to claim 21, characterized by the fact that the openings comprise holes for receiving flaps from the protrusions for locking the neck part on the lower base part.
23. Agricultural equipment according to claim 22, characterized by the fact that the protrusions comprise two ends.
24. Agricultural equipment according to claim 21, characterized by the fact that the neck part includes a dividing ridge in the neck part, for division into a fluid tube and an electric line.
25. Agricultural equipment according to claim 21, characterized by the fact that it further comprises: a window is arranged in the lower base part; and a sensor is disposed on the lower base part adjacent to the window, the sensor being configured to detect the soil through the window, when the lower base part comes into contact with the soil of the agricultural field.
26. Agricultural equipment according to claim 21, characterized in that the agricultural equipment comprises a seed compactor.
27. Agricultural equipment according to claim 25, characterized by the fact that the lower base part includes a resilient layer for positioning a circuit board close to the window.
28. Agricultural equipment according to claim 21, characterized by the fact that the neck part includes a strength attenuator to prevent damage to the lower base part, if the agricultural equipment is in contact with the ground while an agricultural implement is driven in an inverted direction.
29. Agricultural equipment according to claim 21, characterized by the fact that the neck part includes a spring to prevent damage to agricultural equipment, if the agricultural equipment is in contact with the soil while an agricultural implement is activated in an inverted direction.
30. Agricultural equipment according to claim 21, characterized by the fact that the lower base part includes a lower external part to protect the lower base part.
31. Agricultural equipment according to claim 30, characterized by the fact that the lower external part is made of a material with a low friction coefficient.
32. Agricultural equipment according to claim 31, characterized in that the lower outer part covers at least 50% of a height of the lower base part.
33. Agricultural equipment, characterized by the fact that it comprises: a base part for contact with the soil of an agricultural field; and a neck part connected to the base part, the neck part configured to attach to an agricultural implement,
where the neck part includes a force attenuator to prevent damage to the base part, if the agricultural equipment is in contact with the ground while the agricultural implement is operated in an inverted direction.
34. Agricultural equipment according to claim 33, characterized by the fact that the neck part and the base part are separate components.
35. Agricultural equipment according to claim 33, characterized in that the neck part is removably connected to the agricultural implement.
36. Agricultural equipment according to claim 33, characterized in that the force attenuator is a hole in the neck to allow the neck to break to prevent damage to the base part.
37. Agricultural equipment according to claim 33, characterized by the fact that the force attenuator is a spring to allow the neck to flex.
38. Agricultural equipment according to claim 33, characterized in that the base part comprises a lower base part and an upper base part.
39. Agricultural equipment, characterized by the fact that it comprises: a base part for contact with the soil of an agricultural field, and the base part is adapted for connection to an agricultural implement; a soil sensor, arranged in or on the base part, to measure a property of the soil; and a force attenuator, disposed on the base part or between the base part and the implement, to prevent damage to the base part, if the agricultural equipment is in contact with the ground while
7I14 the agricultural implement is driven in an inverted direction.
40. Agricultural equipment, according to claim 39, characterized by the fact that the agricultural equipment further comprises a neck part connected to the base part, the neck part configured to be attached to the agricultural implement, and the attenuator of force is disposed on the neck part.
41. Agricultural equipment, characterized by the fact that it comprises: a base part for contacting the soil of an agricultural field, and the base part is adapted for connection with an agricultural implement; a window in the base part; and a wear-resistant insert disposed on or over the base part in one or more locations selected from the group consisting of: i) in front of the window in a direction of displacement of the agricultural equipment by the ground; ii) above the window; and iii) below the window.
42. Agricultural equipment according to claim 41, characterized by the fact that it also comprises a neck part connected to the base part, the neck part configured to be attached to the agricultural implement.
43. Agricultural equipment, characterized by the fact that it comprises: a base part for contacting the soil of an agricultural field, and the base part is adapted for connection to an agricultural implement, where: the base part comprises a external part, arranged on an internal part; and the outer part is made of a material having a coefficient of static friction less than or equal to 0.3.
44. Agricultural equipment according to claim 43, characterized by the fact that it also comprises a neck part connected to the base part, the neck part configured to be attached to the agricultural implement.
45. Agricultural equipment according to claim 43, characterized in that the inner part comprises a lower base part and an upper base part.
46. Agricultural equipment according to claim 45, characterized by the fact that the lower base part comprises a window, and the external part is not arranged on the window.
47. Agricultural equipment according to claim 43, characterized by the fact that the external part is at least 90% of a height of the base part.
48. Agricultural equipment, according to claim 43, characterized by the fact that the coefficient of static friction is less than or equal to 0.2.
50. Method of calculating a measure of uniformity of the furrow, in that an agricultural equipment is pulled from a furrow, in which the agricultural equipment can measure one or more properties of the soil, the method characterized by the fact that it comprises: The. measure, during a measurement period, with the agricultural equipment: i. a percentage of time outside the groove, optionally, a percentage of voids, and, optionally, a percentage humidity variation, or ii. a percentage of voids and a variation of percentage humidity, to obtain a measure; and b. calculate a groove uniformity by subtracting the 100 percent measure.
51. Method, according to claim 50, characterized by the fact that the percentage of voids and the variation in the percentage of humidity are measured.
52. Method, according to claim 50, characterized by the fact that measuring the percentage of time outside the groove comprises measuring a percentage of time in which ambient light is detected.
53. Method, according to claim 51, characterized by the fact that measuring the percentage of voids comprises measuring a percentage of time in which an inaccurate height is greater than an initial value.
54. Method, according to claim 51, characterized by the fact that measuring the change in the humidity percentage comprises calculating an absolute value of a difference between (an instantaneous reflection value of a first wavelength divided by an instantaneous reflection value of a second wavelength) minus (moving average of the reflection value of the first wavelength divided by a moving average of the reflection value of the second wavelength).
55. Method according to claim 51, characterized by the fact that the first wavelength is 1,200 nm and the second wavelength is 1,450 nm.
56. Method, according to claim 51, characterized by the fact that measuring the variation in the percentage of humidity comprises calculating an absolute value of (humidity indicator of instantaneous reflectance values minus the humidity indicator of reflectance values of moving average), in which the humidity indicator is calculated as ((actual reflectance value of 1,450 nm for dry soil at 1,450 nm - E1450) divided by (actual reflectance value of
1,450 nm + dry E1450), where dry E1450 is calculated as the reflectance value at 1,200 nm times 2 minus 850.
57. Method for determining a percentage of voids in a furrow, as far as agricultural equipment is pulled by the furrow, the method characterized by the fact that it comprises: a. use agricultural equipment to obtain a groove reflectance; B. measure an inaccurate height between the agricultural equipment and the furrow; and Cc. calculate a percentage of time in which the inaccurate measured height is greater than an initial value other than an inaccurate predicted height between farm equipment and the furrow.
58. Method to correct a soil reflectance reading of agricultural equipment pulled by a furrow, the method characterized by the fact that it comprises: a. use agricultural equipment to obtain a groove reflectance; B. measure an inaccurate height between the agricultural equipment and the furrow; and c. adjust the inaccurate height measurement to obtain a zero error percentage for the inaccurate height measurement.
59. Processing system, characterized by the fact that it comprises: a central processing unit ("CPU") to execute instructions for processing agricultural data; and a communication unit to transmit and receive agricultural data, the CPU being configured to execute instructions to obtain the soil temperature of an agricultural equipment, having at least one sensor to detect the soil temperature, to obtain the air temperature , to determine a temperature deviation based on soil temperature and air temperature, to obtain an expected air temperature, and to determine the expected soil temperature for a future period of time, based on the temperature deviation rature and expected air temperature.
60. Processing system according to claim 59, characterized by the fact that the CPU is further configured to execute instructions to trigger an alarm, if the predicted soil temperature is below a minimum soil temperature to manage seed mining, greater than a maximum soil temperature for seed germination, or deviates by a defined amount of an average temperature at a future time.
61. Processing system according to claim 59, characterized by the fact that the CPU is further configured to execute instructions to correct an error in the reflectance measure of a reflectance sensor, when an inaccurate equipment height occurs by determining a correction factor to convert a gross measured reflectance into a corrected measure.
62. Processing system, according to claim 61, characterized by the fact that the correction factor is determined based on the receipt of measured reflectance data, which are measured at different inaccurate heights of the agricultural equipment.
63. Processing system, characterized by the fact that it comprises: a processing unit to execute instructions for processing agricultural data; and a memory for storing agricultural data, the processing unit being configured to: execute instructions to obtain data from at least one sensor from an implement; and determine, based on soil data, seed germination data including at least one time for germination, time for emergence and risk of seed germination for display on a display device.
64. Processing system according to claim 63, characterized by the fact that the display device displays seed germination data, including a seed germination map with the time for germination and the time for emergence presented in hours or days, and time is blocked in bands and represented by different colors, shapes or models.
65. Processing system according to claim 64, characterized by the fact that the time for germination is shown in hours on the display device, with a first range of hours receiving a first color, a second range of hours ras receiving a second color and a third hour range receiving a third color.
66. Processing system according to claim 63, characterized by the fact that the risk for seed germination does not include any germination / emergency, germination / emergency on the spot or later germination / emergency.
67. Processing system according to claim 66, characterized by the fact that the risk for seed germination includes factors other than time, including deformities, damaged, reduced vigor or disease.
68. Processing system according to claim 66, characterized by the fact that data for seed germination are calculated with at least one of the following measures: soil moisture, including the amount of water in the soil, the matrix potential of water in the soil and the humidity of seed germination;
soil temperature; organic matter in the soil; groove uniformity; groove residue; type of soil, including sand, silt and clay; and residue coverage, including quantity, location, distribution and model of ancient and current crop material on the soil surface.
69. Processing system, characterized by the fact that it comprises: a processing unit to execute instructions for processing agricultural data; and a memory to store agricultural data, the processing unit being configured to execute instructions for obtaining properties for data from seed environment media, including at least two seed color, residue, topography, texture and soil type, organic matter, soil temperature, soil moisture, seed shape and size, cold seed germ, furrow depth, predicted temperature, predicted precipitation, predicted wind speed and unanticipated cloudiness, and determine environmental data of seeds based on properties.
70. Processing system, according to claim 69, characterized by the fact that the processing unit is further configured to generate an environmentally friendly indicator, to indicate whether the soil conditions are suitable for the planting for a specific period of time.
71. Processing system according to claim 69, characterized by the fact that the processing unit is further configured to generate an indicator to indicate whether soil conditions will remain acceptable at least during germination and emergence .
72. Processing system, according to claim 69, characterized by the fact that the processing unit is further configured to generate a count in the environment of seeds, based on data from seed environment environments, with a display device to display the seed count in the environment.
73. Processing system according to claim 72, characterized by the fact that the display device, to display the seed count in the environment, includes a first indicator, to indicate acceptable planting conditions, or a second indicator to indicate unacceptable planting conditions.
74. Processing system according to claim 72, characterized in that the display device, for displaying the counting properties in the seed environment, includes a moment temperature, a moment humidity, a temperature expected humidity, and whether all of these properties are within an acceptable range.

类似技术:

---

公开号 | 公开日 | 专利标题

---

BR112020005882A2|2020-09-29|systems and equipment for soil and seed monitoring

---

US10681862B2|2020-06-16|Systems, methods, and apparatus for soil and seed monitoring

---

CA2948354C|2019-10-01|Systems, methods, and apparatus for soil and seed monitoring

---

BR112017026946B1|2021-08-31|LIQUID APPLICATION APPLIANCE FOR APPLYING LIQUID TO A SOIL ADJACENT TO A DITCH

---

AU2016278133B2|2020-07-09|Systems, methods, and apparatus for agricultural liquid application

---

AU2018260716B2|2020-03-19|Method for leveling sensor readings across an implement

---

US10561059B2|2020-02-18|Systems, methods, and apparatus for agricultural liquid application

---

US20200375090A1|2020-12-03|Agricultural operation monitoring apparatus, systems and methods

---

AU2020204604B2|2022-03-03|Systems, methods, and apparatus for agricultural liquid application

同族专利:

---

公开号 | 公开日

---

US20220074913A1|2022-03-10|

---

EP3691436A1|2020-08-12|

---

US20200249218A1|2020-08-06|

---

US20200225206A1|2020-07-16|

---

US20200245527A1|2020-08-06|

---

RU2020113431A|2021-11-08|

---

EP3691436A4|2021-05-26|

---

CA3075884A1|2019-04-11|

---

CN111386031A|2020-07-07|

---

BR112020005882A8|2021-01-12|

---

WO2019070617A1|2019-04-11|

---

US20200221632A1|2020-07-16|

---

AU2018345735A2|2020-05-07|

---

AU2018345735A1|2020-04-23|

---

US20200245528A1|2020-08-06|

引用文献:

---

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

---

---

DE3429470C2|1984-08-10|1986-10-16|Amazonen-Werke H. Dreyer Gmbh & Co Kg, 4507 Hasbergen|Seed drill|

---

US5425318A|1994-02-14|1995-06-20|J & K Keeton Enterprises, Inc.|Resilient seed firming attachment for a planting machine|

---

US6283050B1|1997-06-23|2001-09-04|Paul E. Schaffert|Extension for reducing seed bounce and associated hose attachment|

---

US6918342B2|2003-09-18|2005-07-19|Precision Planting, Inc.|Planter bracket assembly for supporting appurtenances in substantial alignment with the seed tube|

---

WO2008086283A2|2007-01-08|2008-07-17|Precision Planting Inc.|Load sensing pin|

---

EP2104413B2|2007-01-08|2020-03-25|The Climate Corporation|Planter monitor system and method|

---

US8204689B2|2007-10-24|2012-06-19|Veris Technologies, Inc.|Mobile soil mapping system for collecting soil reflectance measurements|

---

US8146519B2|2008-12-24|2012-04-03|Dawn Equipment Company|Agricultural implement for delivering multiple media to soil|

---

US8850995B2|2009-02-02|2014-10-07|Deere & Company|Seeding machine with seed delivery system|

---

US9723777B2|2013-02-22|2017-08-08|Schaffert Manufacturing Company, Inc.|Supporting device for mounting a furrow device on a seed tube|

---

US9943027B2|2013-03-14|2018-04-17|Precision Planting Llc|Systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring|

---

US9585301B1|2013-04-15|2017-03-07|Veris Technologies, Inc.|Agricultural planter with automatic depth and seeding rate control|

---

US8849523B1|2013-05-20|2014-09-30|Elwha Llc|Systems and methods for detecting soil characteristics|

---

US10785905B2|2014-05-08|2020-09-29|Precision Planting Llc|Liquid application apparatus comprising a seed firmer|

---

AU2015255935B2|2014-05-08|2019-02-28|The Climate Corporation|Systems, methods, and apparatus for soil and seed monitoring|

---

US10045477B2|2015-03-10|2018-08-14|Matthew P. Hagny|Seed firming assembly for agricultural seeders and mounting system therefor|

---

AU2016278130B2|2015-06-15|2020-08-27|Precision Planting Llc|Systems, methods, and apparatus for agricultural liquid application|

---

US11067560B2|2015-09-09|2021-07-20|Veris Technologies, Inc.|System for measuring multiple soil properties using narrow profile sensor configuration|

---

CN105929733B|2016-04-27|2018-06-29|山东省农业科学院玉米研究所|A kind of corn intelligence seeding and fertilizing control system and control method|

---

BR112019012697A2|2016-12-19|2019-12-10|Climate Corp|soil and seed monitoring systems, methods and apparatus|

---

CN107148814B|2017-05-10|2019-04-26|吉林大学|A kind of bionical drop resistance visbreaking colter of coupling|US11140812B2|2017-12-15|2021-10-12|Kinze Manufacturing, Inc.|Systems, methods, and apparatus for controlling downforce of an agricultural implement|

---

US11240961B2|2018-10-26|2022-02-08|Deere & Company|Controlling a harvesting machine based on a geo-spatial representation indicating where the harvesting machine is likely to reach capacity|

---

US11178818B2|2018-10-26|2021-11-23|Deere & Company|Harvesting machine control system with fill level processing based on yield data|

---

US11079725B2|2019-04-10|2021-08-03|Deere & Company|Machine control using real-time model|

---

US11234366B2|2019-04-10|2022-02-01|Deere & Company|Image selection for machine control|

---

WO2020217107A1|2019-04-25|2020-10-29|Agco Corporation|Apparatus and methods for measuring soil conditions|

---

CA3124021A1|2019-05-31|2020-12-03|Precision Planting Llc|Methods and systems for using duty cycle of sensors to determine seed or particle flow rate|

---

US11212955B2|2019-06-14|2022-01-04|Cnh Industrial America Llc|System and method for monitoring soil conditions based on data received from a sensor mounted within a ground-engaging tool tooth|

---

US20210314528A1|2020-04-07|2021-10-07|Caterpillar Inc.|Enhanced visibility system for work machines|

---

WO2021234503A1|2020-05-19|2021-11-25|Precision Planting Llc|Reversible seed trench appurtenance assembly|

---

WO2021239972A1|2020-05-29|2021-12-02|Basf Agro Trademarks Gmbh|A method for an "on-the-fly" treatment of an agricultural field using a soil sensor|

---

GB202108294D0|2021-06-10|2021-07-28|Prec Planting Llc|Agricultural sampling system and related methods|

---

GB202108314D0|2021-06-10|2021-07-28|Prec Planting Llc|Agricultural sampling system and related methods|

---

GB202108289D0|2021-06-10|2021-07-28|Prec Planting Llc|Methods of analyzing one or more agricultural materials, and systems thereof|

---

GB202108290D0|2021-06-10|2021-07-28|Prec Planting Llc|Methods of analyzing one or more agricultural materials, and systems thereof|

---

GB202108293D0|2021-06-10|2021-07-28|Prec Planting Llc|Agricultural sampling system and related methods|

法律状态:
2021-11-23| B350| Update of information on the portal [chapter 15.35 patent gazette]|

优先权:

---

申请号 | 申请日 | 专利标题

---

US201762567135P| true| 2017-10-02|2017-10-02|

---

US62/567,135|2017-10-02|

---

US201862625855P| true| 2018-02-02|2018-02-02|

---

US62/625,855|2018-02-02|

---

US201862661783P| true| 2018-04-24|2018-04-24|

---

US62/661,783|2018-04-24|

---

PCT/US2018/053832|WO2019070617A1|2017-10-02|2018-10-02|Systems and apparatuses for soil and seed monitoring|

---