METHOD AND SYSTEM TO DETERMINE THE MECHANICAL STATE OF AN AGRICULTURAL LAND (Machine-translation by

专利摘要:
The present invention refers to a method and a system to determine the mechanical state of an agricultural field, where sensors, arranged in a tillage element of an agricultural machine, obtain measurements of a vibratory signal that is the product of the tillage operation of the agricultural machine on the ground; communication means send said measurements in data packets to a processor module; The processor module transfers the measurements to the frequency domain and calculates some energy measurements to finally determine the mechanical state of the agricultural land, based on the analysis of said calculated energies, where the determined mechanical state comprises a degree of hardness and a degree of plasticity . (Machine-translation by Google Translate, not legally binding)
公开号:ES2784718A1
申请号:ES201930272
申请日:2019-03-26
公开日:2020-09-30
发明作者:Medina Serafín Lopez-Cuervo；Lopez Francisco Lamas；Lasa Miren Bakarne Lazcano
申请人:Bellota Agrisolutions S L；
IPC主号:

专利说明:

[0002] OBJECT OF THE INVENTION
[0003] The present invention relates to the technical field of agricultural production control methods and systems and more specifically to methods and systems for collecting data using sensors arranged in agricultural machines to optimize tillage, the use of implements and sowing.
[0005] BACKGROUND OF THE INVENTION
[0006] Currently, the use of instruments or implements for the preparation of the land and the subsequent sowing of agricultural crops is one of the most important tasks for the correct implantation of crops in agriculture.
[0008] The energy cost of the tasks associated with the preparation and sowing of the soil (breaking, loosening or removing the soil; destroying, burying or mixing residues; leveling, etc ...) forces farmers to select whether or not to execute each one. of the labors, sometimes dispensing with some of them for economic reasons to the detriment of the advantages of its use for the development of crops.
[0010] The trend in the industry is to optimize agricultural work, in order to establish the optimal management of tillage, integrating several tasks on the ground in fewer passes or even in a single one. Thus, it is essential to know the state of the soil during the work of preparing agricultural land, which allows the assessment, planning and decision-making on the work to be carried out with agricultural implements, both in soil preparation and sowing.
[0012] The mechanical parameters of the soil, such as hardness, plasticity or humidity, influence the optimal configuration of the equipment to be used in agricultural work, so its knowledge allows optimizing the development of the work, reduces costs and even allows to expand selectively the use of these tasks. In addition, this optimization increases the life of agricultural tools, avoiding breakages that increase the time of performance and decrease the productivity of labor, increasing the expenses of agricultural labor.
[0014] The state of the art offers different solutions for data collection, through the use of sensors associated with agricultural machines, with which to determine different parameters of agricultural land. For example, for years it has been known to use sensors to determine the state of crops by weighing the grain, measuring its humidity or other characteristics of the harvest, seeking to capture information about the crop or modify the application rates of agricultural products in real time. .
[0016] Other solutions for the mechanical study of the soil, contemplate the use of sensors capable of determining parameters of the terrain by taking samples while standing or extracting fractions for subsequent chemical analysis, which allows to determine the pH and other parameters.
[0018] Solutions are also known that opt for data collection for subsequent electro-conductivity analysis and even optical determinations of the soil associating it with the composition of the soil, for example organic matter, to vary the dosage of the seed in the sowing of the crop.
[0020] However, all the solutions offered by the state of the art are directed exclusively to cultivation, to its specific state during development and to sowing the seeds, taking into account, for example, the organic properties of the soil. However, to date there are no proposals capable of determining effectively and in real time the mechanical state of the soil with which to optimize the use of the tools for preparing the land and sowing. For example, patent application US 20160262300 A1 discloses an apparatus that dynamically adapts plowshares as a function of soil conditions, but bases its operation on radar-type sensors, temperature or soil composition measurements. The problem with this approach is that the conclusions, even assuming that they could be made in real time, are too general since they refer to areas of the field that are not strictly linked to the action of the plowshares.
[0021] In another line of work, some vibration determination algorithms applied to soil mechanics are known, capable of analyzing the bearing capacity of the ground, but always based on vibration sensors and passive soil vibration information treatments, where the equipment They are installed in specific positions, for example on a railroad track, to analyze the behavior of the railway platform and the soil / structure interaction in the face of an external excitation to its location (railway rolling stock) and measure how that environment evolves over time.
[0023] For all the above, it is evident that the state of the art lacks a dynamic solution for the control of agricultural production based on the precise determination of the mechanical state of the soil in real time, which would be in line with techniques such as conservation tillage. , direct sowing or precision agriculture, practices widely accepted as suitable by agricultural technicians. The current high demand for these practices, combined with the foreseeable evolution of robotic agronomy, augurs a real future for any solution of this type.
[0025] DESCRIPTION OF THE INVENTION
[0026] In order to achieve the objectives and avoid the aforementioned drawbacks, the present invention is based on an analysis of measurements obtained by moving sensors, where the excitation in this case (tractor / implement) is dynamic with respect to the object being monitored ( agricultural land), which results in a massive extraction of data obtained from multiple positions that, once processed, provide a series of parameters that determine the relationship of the different typologies / behaviors of the worked land.
[0028] To this end, the present invention describes, in a first aspect, a method for determining the mechanical state of an agricultural land, comprising the following steps:
[0029] - obtaining, by means of sensor means arranged in a tillage element of an agricultural machine, measurements of a vibratory signal, where the vibratory signal is produced as a result of a tillage operation of the agricultural machine on the agricultural land;
[0030] - sending, by means of communication, the measurements obtained from the vibratory signal, grouped in data packets (to optimize their electrical consumption), to a processor module;
[0031] - transforming, by the processor module, the vibratory signal measurements grouped in the data packets, into a frequency signal;
[0032] - calculate energy measurements from the frequency signal; Y
[0033] - determine the mechanical state of the agricultural land, based on the energy measurements of the frequency signal, where the determined mechanical state comprises a degree of hardness and a degree of plasticity.
[0035] The processor module transfers the measurements to the frequency domain, allowing it to calculate energy measurements from the frequency signal such as the power spectral density (PSD) signal or the energy spectral density, from the Which can be filtered and determine the vibrations that occur in the elements that make up agricultural implements. Thus, an automatic analysis of the mechanical state of the soil is advantageously achieved, dynamically and in real time, and of how the elements used in agricultural tillage and sowing implements act on the result of the land and allow to leave the best possible bed to optimize the subsequent implantation of the culture.
[0037] The treatment in the frequency domain allows the information to be processed as vibrations by establishing energy parameters that are able to eliminate noise in the readings obtained by the sensors and extract; on the one hand, parameters of strength and compaction of the ground and on the other, the possible blockages of the work elements. Additionally, the treatment of data in the frequency domain allows the management of acceleration measures capable of providing repeatability in the degree of compaction of agricultural land under equivalent soil conditions.
[0039] In one of the embodiments of the invention, the degree of hardness and the degree of plasticity of the agricultural land are determined as a function of a measure of the amplitude of the power spectral density (PSD) signal and a certain frequency band considered. In this way, the vibrations in a certain frequency band are advantageously characterized and thus it is possible to establish a correspondence between the plurality of mechanical states of the soil and different sets of mechanical parameters associated with different situations, which finally makes it possible to complete a database agricultural.
[0041] The present invention contemplates, in one of its embodiments, determining the mechanical state of the agricultural land based on the comparison of a first energy pattern, corresponding to the calculated energy measurements, with a plurality of energy patterns corresponding to a plurality of mechanical states.
[0043] In one of the embodiments of the invention, a communication flow is contemplated, to exchange information, comprising: sending the measurements of the sensor means, to a main communication node arranged in the agricultural machine; sending information based on the measurements from the main node to a central server; and store in the central server the information based on the measurements sent by the main node of each agricultural machine. Optionally, in scenarios with a very high number of sensors, the measurements from the sensor means can be channeled through several intermediate nodes with a mere bridge function, configured to receive and send measurements to the main node.
[0045] Additionally, the possibility of determining, by the processor module, a state of the tillage element according to a variation detected in a rotation frequency of the tillage element, where the state of the tillage element is selected from: a state of locking of the working element or a state with a certain degree of wear.
[0047] Optionally, the present invention contemplates modifying, by an actuator of a control system, a physical parameter of the tillage element depending on the determined mechanical state of the agricultural land, where the physical parameter is selected from: working depth, angle of attack of the tillage element, distance between tillage elements, tillage element pressure and rotation speed of the tillage element. As well as any other action contemplated in the agricultural machines to be used and the degrees of freedom of the tillage elements.
[0049] According to a particular embodiment, the present invention comprises a frequency filtering stage, where one or more repetitive frequencies of the frequency signal are eliminated, corresponding to vibrations inherent to the operation of the tillage element.
[0051] Additionally, the possibility of determining the mechanical state of the agricultural land is contemplated by comparing it with techniques linked to machine learning, such as neural networks or other grouping algorithms, a first energy pattern, corresponding to the energy measurements of the power spectral density signal, with a plurality of energy patterns corresponding to a plurality of mechanical states. To do this, the calculations made in the space of the frequencies, of the readings obtained, are integrated into a database that allows knowing, not only the specific data of each of the sensors, but the time evolution of the same, so that the techniques associated with artificial intelligence can correlate and classify the stored parameters of previous cases already classified.
[0053] The techniques linked to machine learning and Artificial Intelligence, according to one of the embodiments of the invention, work in two ways, on the one hand it allows to determine the values for the current moment in which the sensor is located, and on the other, it adds these new readings to the system to enrich the system in new determinations through a Big Data system, which manages to progressively increase the knowledge of the behavior of the tillage elements in new locations and with different contour parameters that the system can find, according to change the dates in which the system works in these fields.
[0055] In a second aspect, the present invention refers to a system for determining the mechanical state of an agricultural land, the system comprises:
[0056] - an agricultural machine with at least one tillage element;
[0057] - sensor means comprising at least one accelerometer and a gyroscope, arranged on at least one tillage element, configured to measure a vibratory signal that is produced as a result of a tillage operation of the agricultural machine on agricultural land;
[0058] - a processor module, in communication with the sensor means, to determine the mechanical state of the ground from the measured vibratory signal; Y
[0059] - communication means configured to exchange information between the sensor means and the processor module;
[0060] where the system is configured to: obtain measurements of the vibratory signal, by the sensor means, according to a pre-established frequency; group, in data packets, the measurements obtained from the vibratory signal; transforming the vibratory signal measurements grouped in the data packets into a frequency signal; calculating energy measurements from the frequency signal; and determine the mechanical state of the agricultural land, based on the signal energy measurements in frequency, where the determined mechanical state comprises a degree of hardness and a degree of plasticity.
[0062] The communication means, according to one of the embodiments of the invention, comprise: a main node, arranged in the agricultural machine, configured to receive the measurements from the sensor means; and a remote central server, configured to receive information based on the measurements, sent from the main node of each agricultural machine and store it in a database.
[0064] Optionally, in one of the embodiments of the invention it is contemplated that the communication means also comprise one or more intermediate nodes arranged between the sensor means and the main node, configured to receive the measurements from the sensor means and forward said measurements to the main node. making a bridge function.
[0066] In one of the most basic embodiments of the invention, the sensor means comprise a single sensor arranged in one of the working elements, a disk for example, and the communication means comprise a main node that is implemented virtually in a Smartphone, where the Smartphone also includes the processor module and a computer control application. Thus, advantageously, the hardware requirements of the system are reduced in the simplest possible scenario.
[0068] In one of the embodiments of the invention, a wireless communications module connected to the sensor means arranged in each working element is contemplated, configured to send the measurements of the sensor means to the next node, where the next node is also configured to receive and transmit wireless communications. Thus, advantageously, in addition to the classic option of establishing wired communications between the elements, the present invention can establish wireless communications between its elements.
[0070] The central server database, according to one of the embodiments of the invention, stores a plurality of energy patterns corresponding to a plurality of previously known mechanical states, and the processor module is further configured to compare a first pattern of energy, corresponding to the calculated energy measurements, with the database patterns and provide an estimate in real time of the mechanical state of the agricultural land. In a particular embodiment of the invention, the real-time estimate of the mechanical state of the agricultural land is obtained according to a mathematical regression model stored in the database.
[0072] The system of the present invention is a distributed system that, according to different embodiments, can vary the computational load of the processor module between the different elements of the system. In one of the embodiments, the processor module comprises a general processor housed in the main node. Additionally, in an embodiment of the invention, the processor module further comprises a local processor housed in one or more intermediate nodes. Thus, advantageously, the processing capacity of the intermediate nodes can be used to discharge a certain computational load to the general processor when necessary.
[0074] In one of the embodiments of the invention, the central server has processing capacity and is configured to mainly receive, store and allow the consultation of information at the historical level of previously captured data. The possibility is also contemplated that as its historical data is enriched, machine learning algorithms such as neural networks or others are used in the central server to refine the calculation of the estimates of the mechanical state of agricultural land. The output values of the algorithms are the references that set the algorithms of the processor module, so that in an embodiment of the invention, the main nodes can determine the mechanical state of the ground without the need for constant communication with the central server. otherwise it will be enough with punctual connections to transmit modifications to its algorithm.
[0076] The processor module, in one of the embodiments of the invention, also comprises a control system, with at least one actuator associated with the tillage element, configured to modify a physical parameter of the tillage element.
[0078] Additionally, an embodiment of the invention comprises a geolocation module configured to determine the location in which each of the measurements obtained from the vibratory signal has been obtained. Thus, advantageously, the present invention combines the location information together with the characterization of the terrain in the database to, for example, generate terrain compaction variability maps of the plots, storing and analyzing the results in real time. In addition to helping the immediate response of the operator on the ground, it enables the comparison of previous tasks and campaigns to make configuration decisions for the most efficient agricultural machines possible.
[0080] The agricultural machine is contemplated to comprise a tractor and at least one of the following implements: cultivator, seeder, plow or any other implement oriented to work agricultural soil; and where the tillage elements of the agricultural machine are selected from: discs, arms, bars, harrows, ties, tips, moldboards or any other element configured to receive vibrations during a tillage operation of the agricultural machine.
[0081] In one embodiment of the invention, the sensor means are arranged on a plurality of tillage elements of the agricultural machine according to a pre-established typology, where the processor module is configured to jointly process the vibratory signals obtained. Thus, advantageously, the present invention takes into account the arrangement of the sensors, their pairing and environment variables to extract the final parameters, resulting from the surveys.
[0083] The present invention has a multitude of advantages, including determining the behavior of agricultural machines by assessing the working status of each tillage element to conclude, for example, if there are blockages in the specific element to which a sensor is associated or to determine its wear, by analyzing the frequencies between the same component at the beginning and end of its useful life, with which the optimal moment for its replacement can be established.
[0085] The present invention collects multiple readings (different vibration parameters related to the mechanical behavior of the soil and data for the spatial location of the implement as data is collected), characterizing them independently and grouped. It is, therefore, a procedure for scalable growth and characterization of learning, while using what has been learned to perfect the work of machines. This is how it is possible to carry out a self-learning procedure in the field creating autonomous prediction systems.
[0086] With the method and system of the present invention, the state of the land is determined, the behavior of the tillage elements and the impact of both on the agricultural task are analyzed, in such a way that it is possible to optimize the cost, handling and energy consumption of the plants. agricultural land preparation work. By matching the analysis of the vibratory signals generated with agricultural tillage parameters such as the degree of hardness and / or plasticity of a land at the time that agricultural machines perform tillage or sowing for the implantation of crops, it is possible to reduce the economic impact of these tasks in terms of material wear, diesel consumption associated with the force or intensity with which the tasks are carried out and the final result necessary for planting.
[0088] The system of the present invention advantageously uses the measurements of the sensors, not only to measure the mechanical state of the soil, but also allows reading, communication, treatment, diagnosis, interpretation and action, thus achieving an intelligent system of interaction. between the agricultural tillage components, provided with said sensor means, and the agricultural machine. The measurements are therefore introduced into an intelligent prediction process that allows reducing the noise (error) of the captured data, comparing them with previous data and obtaining a response using artificial intelligence in real time, to provide the system with improvements in the determination of the parameters sought, which allow even to reach the autonomous work of the tillage elements for the preparation and sowing of agricultural land
[0090] BRIEF DESCRIPTION OF THE FIGURES
[0091] To complete the description of the invention and in order to help a better understanding of its characteristics, according to a preferred example of its embodiment, a set of drawings is attached in which, with an illustrative and non-limiting nature, they have been represented the following figures:
[0093] - Figure 1 represents one of the sensor spots of the present invention.
[0095] - Figure 2 represents a harrow disc, of an agricultural machine, with a sensor pad attached.
[0097] - Figure 3 schematically represents the control and communications system of the present invention.
[0098] - Figure 4 represents an arrangement of sensors on an agricultural machine, according to one of the embodiments of the invention.
[0100] - Figure 5 represents a diagram of the information flow of the mobile application installed in an embodiment of the invention.
[0102] - Figure 6 shows a communication scheme of the information of the sensors, in an embodiment of the invention.
[0104] - Figure 7 shows a scheme for creating a database in an embodiment of the invention.
[0106] DESCRIPTION OF A PREFERRED EMBODIMENT OF THE INVENTION
[0107] The present invention discloses a method and a system for determining the mechanical state of the soil by means of the measurements of sensors installed in the tillage elements of an agricultural machine.
[0109] The method and system of the present invention evaluates the measurements obtained by the sensors, to predict certain mechanical parameters of the soil, based on the analysis of the vibratory signals generated by the operation of the agricultural machine and its interaction with the ground, which advantageously It is used by farmers to make decisions regarding agricultural planning, operation of their machines or automation of work processes.
[0111] An agricultural seeder, a cultivator, a plow or other agricultural implements can have 10, 20, 30 or even 100 tillage elements and their arrangement on the implement is made in lines, reaching an implement 2, 3, 4 and even 8 lines of various types of elements, which allows to carry out various land preparation tasks in a single pass of the agricultural machine on the work field. Therefore, knowing in that single pass how the implement behaves in the terrain situation is optimal for its performance and is precisely one of the objectives of the present invention, where the behavior of the tools is captured during the preparation work and sowing of agricultural land, measuring the vibration that occurs in the equipment due to the different mechanical behavior of the land.
[0112] The agricultural machines most commonly used in land preparation and sowing comprise a tractor and one or more implements such as seeders, de-compactors, cultivators, or plows. On these agricultural implements, a series of tillage elements are arranged, which are specific for each of the tasks to be carried out. For example, the main tillage elements of the seeders are the coulters and the seeding discs, which are configured to open the furrow in the ground. In the unpacking machines, the tillage elements that contact the ground are the arms, which are configured to perform padding work and cause the soil to swell, while keeping the surface intact and improving the circulation of water and oxygenation of the earth, favoring the growth of the roots and the development of the plants, achieving a higher yield at harvest. The cultivators have multiple functions, such as removing weeds, crushing clods, loosening the surface layer of the land, forming fine soil in the seedbed or preparing the land for irrigation and incorporating fertilizers into the soil, for this they have of various tillage elements such as coulters and cultivator arms of different models and sizes depending on the work to be carried out. The harrows and plows also have discs with different concavities and sizes to carry out the work. Other tillage elements are moldboards, agricultural shares, tips, side skirts, blades or deflectors. All the previous elements have very specific characteristics that make them appropriate for some tasks or others. For example, the choice of concavities, sizes, degrees of hardness or toughness will depend on the mechanical conditions of the soil to be worked on, so it is essential to obtain this information to select the best configuration at all times.
[0114] In an example of embodiment of the invention, the system comprises a plurality of sensors 1 , which given their simplicity and small size, each of them can be referred to as " sensor spot" or "electronic spot", which is represented in the Figure 1. The basic sensor ball has vibration sensors to capture the behavior of an element, in contact with said sensor ball, through the vibratory signal that propagates through said element during operation. Thus, the system of the present invention it is based mainly on the configuration of accelerometer sensors in the sensor spots, although in some embodiments they have additional or optional information to that of the accelerometer itself, coming from other external sensors, which the system is capable of interpreting and using.
[0116] The electronic motes are designed to be installed in any work tool of land preparation and / or planting of those mentioned above, capture the vibrations received in said work tool, due to contact with the ground during operation, and transmit the corresponding measurements to a processor module. They can be installed on the outer surface of one of the tillage elements of an agricultural implement, such as the harrow disk 2 represented in figure 2 , to analyze its behavior or be used to evaluate a group of elements or some body of the implement.
[0118] As an example, the following table shows the data collected by one of the electronic specks, in this case "sensor 4", carried out in two different registers or zones, here referred to as "3" and "7" for a given pass, which in this case is referred to as "11B". The table includes the measurements of the maximum PSD (MPSD), the frequency at which the maximum PSD (FMPSD) occurs and the energy accumulated in said register, which is stored in the energy variable .
[0120] Past Sensor Record MPSD FMPSD energy
[0124] Figure 3 schematically shows the control system of the present invention, where a communication network comprising several nodes is contemplated to distribute the control information. Communication between sensor spots and the main node can be carried out by wiring or, for example, in the case of a large number of sensor spots, through a wireless connection according to the diagram in figure 3. In it, sensor spots 1 have a wireless communications module 30 to send the multiple measurements obtained from the detected vibratory signal to a main node 31 preferably arranged on the tractor of the agricultural machine, although in other basic embodiments, the main node is virtually integrated into a portable electronic device of the type from an electronic tablet or mobile phone. Additionally, intermediate nodes 32 can be included to bridge and forward the information to the main node. This main node acts as the master of the information, brings together the sensor records in a single database and makes them available to the user and the system for analysis and interaction with their environment thanks to this control system. All information from the main node is sent to a remote central server 35 , where it is stored in a general database that is accessible, with the appropriate security and privacy restrictions, from the main nodes of different machines.
[0126] Optionally, the intermediate nodes can have the same calculation functionalities as the main node, preventing possible communication problems in the face of a very high number of sensor spots that, in wireless mode, could saturate a reception limit of the intermediate node. In this way, duplicating the intermediate nodes guarantees the service, whatever the number of electronic spots. Furthermore, although the main function of the intermediate nodes is to act as a bridge, they can also be configured to process part of the information and thus reduce the computational tasks in the main node, which when receiving information from a very large number of sensors, might need certain processing time causing a bottleneck.
[0128] Third party systems 33 can be connected to the present invention through a single bus 34 provided in the agricultural machine, preferably in the tractor, following a serial or CANbus communications protocol, depending on the chosen embodiment, as well as specific actuators to dynamically configure certain physical parameters of the tillage elements, following instructions sent by the control system. In this way, the configuration and control of the present invention can be adapted to any type of final information needs of the system, also adapting the number of nodes and total sensors.
[0130] The arrangement of sensors on an agricultural machine 40 , as represented in the example of figure 4 where an agricultural implement hooked to a tractor (not represented) is shown in detail, is variable and depends on the number and distribution required by the operator in each specific case or the control possibilities of the tillage elements and the agricultural machine in general. For example, a row arrangement makes it possible to obtain information from the body of the agricultural machine, while a group configuration makes it possible to obtain variability parameters within the machine.
[0132] Specifically, the agricultural machine of figure 4 works with three lines of agricultural elements arranged on the implement. The first two lines 41 and 42 (those closest to the tractor) are disc harrows and the last line comprises a compactor roller 43 . Further, Four sensors 1 have been distributed throughout the implement frame. Thus, in this specific example, the agricultural machine performs two different tasks on the ground with a single pass. Taking into account that the tillage elements have several configurable parameters, such as working depth, rotation speed or angle of attack, obtaining information on the mechanical state of the soil, the present invention allows establishing the best configuration of these elements tillage for each of the lines. This configuration can be established by the user in real time or it can be established automatically, according to the information stored in the database of the same terrain in previous years or of similar fields worked with the same or very similar agricultural machines.
[0134] For example, for terrain that has been determined to be hard, the implement's first line 41 can be automatically assigned low depth settings and a shallow angle of attack for moderate disc harrowing. For another of the lines, such as line 42 , although it has the same function as line 41, the comparison of the sensors online allows you to know how it looks on the ground after the work carried out by line 41 and thus make decisions of different configurations, such as a smaller angle of attack and a different working depth than the first line, reducing the intensity of work thanks to knowing the result obtained that is in accordance with the needs of the farmer. In this case, the cost of the operation would be reduced by reducing the intensity of work in terms of both power required and wear of the implement components. In the same way, the last line 43 , corresponding to the compactor roller, will have associated a compaction / settlement of work that will depend on the result of the work measured by the previous sensors, the state of the soil and the similar tasks that have been stored in the base of data with satisfactory results. Thus, it is possible to optimize the work of each of the lines and, therefore, that of the agricultural machine, guaranteeing the reproducibility of the tasks under similar conditions.
[0136] The system is open to configuring the number, position or typology of the different sensors and the number of receiving nodes of the sensor information. In this way it is possible to configure the number of them through a mobile application or, if the equipment is connected, to the CANbus / lsobus of the agricultural machine tractor, through the user interface of said tractor. In figure 5 , the information flow diagram is represented in the mobile application comprised in one of the embodiments of the invention, or in the CANbus / lsobus system of the tractor, where once the process 50 has started, the system configuration 51 is carried out by entering the number of sensors, position, shape and type of implement of the agricultural machine; then the measurement reception operation 52 and the determination of the reading positions 53 obtained by the geolocation module begins. All this information is received 54 in the application, or failing that, in the user interface of the CANbus / lsobus system of the agricultural machine tractor. On the one hand, the application opens the communications 55 of the mobile device in which it has been installed to forward the information to a central server and, on the other hand, it proceeds to the registration 56 of the information received, where it is assigned a name 57 that allows you to retrieve it later. The data recording and naming steps run continuously until the system shutdown, which causes all the data recorded so far to be sent 58 to a database and the operation 59 terminated.
[0138] Figure 6 shows a communication scheme for the information of the sensors, in an embodiment of the invention, where the number and distribution of the sensors will depend on the information to be acquired, as described in the previous example of the figure 4. The information flow starts from the data collected by the electronic specks 1 and geolocation modules 63 , passes through the field computer comprised by the main node 31 of the tractor of each agricultural machine in the system and ends up in the central server 35 from the system or on a third-party machine 64 . There is also the reverse path of the information flow, so that the information analysis performed in the central server or the machine of a third manufacturer, is sent back to the main node, where control instructions 66 can be sent to the electronic motes. .
[0140] Detailing in more depth the communication scheme of figure 6, in this case, the electronic speck 1 has an accelerometer sensor 60 , a memory 61 , a wireless communications module 30 and other sensors 62 . The information obtained by the sensors is prepared in data packets that are sent to the controller of the field computer of the main node 31 , directly or through an intermediate node 32 , which receives packets from any of the electronic spots, processes the packets , analyzes the interrelation of the same, especially those paired and generates the parameters of action or registration.
[0141] The geolocation module 63 has a communication module for LTE / 4G / 3G / 2G networks that sends the location information by satellite (GNSS) to the controller of the field computer of the main node, where the synchronization and pairing of each one of the measurements with the location information received.
[0143] All the information received at the main node contributes to creating a database that is available to the system for storage and presentation on any electronic device that has been previously configured. In addition to being able to be sent to the central server 35 directly or to third-party machines 64 , it can also be sent to a mobile device 65 from which, at the user's choice, data can be uploaded to the central server via an Internet connection.
[0144] For communications with machines of other manufacturers or any element external to the system of the present invention, the controller is provided with an Isobus communication that can connect to agricultural communications and integrate its information with other manufacturers and controllers through the IS011783 standard.
[0146] Figure 7 shows a scheme for creating database 70 of one of the embodiments of the invention, where the information obtained by the electronic specks 1 distributed in an agricultural machine is combined with the position information obtained by the geolocation module. 63 . Basically, the process consists of synchronizing the data from the sensors with the position information. To do this, the sampling frequency and the recording and transmission times are taken into account, depending on the application, so the initially established configuration of the packet recording time parameters and the capture frequencies of the sensors will define the sample obtained and its precision. The synchronized data is grouped into different packets ( 711 , 712 , ... 713 ) that are stored in an orderly manner in the database 70 , where each of the packets in turn comprises several GPS measurements ( 714, 715 ) and several sensor measurement packages ( 716, 717, ... 718 ).
[0148] The present invention offers several layers of actuation, which can be concentrated in three tiered levels as follows:
[0149] At a first level, the basic operation of the invention has a sensor that makes readings of the behavior of the tillage and sowing tool on the surface of the land as the agricultural implement passes. For this, the sensor has, in one of the embodiments of the invention, an accelerometer and a gyroscope that record the vibration generated by the interaction of the machine with the ground, affecting all its components as a result of the hardness, humidity of the ground or other mechanical parameters mentioned. The processing of the registered vibrations, as described above, makes it possible to determine a mechanical state of the soil, associated with certain mechanical parameters, such as hardness or plasticity, derived from said processing.
[0151] At a second level, an embodiment of the invention more complete than the previous one, has a plurality of sensors distributed at various points of the agricultural machine (preferably in the structure of the implement and the tillage elements, although some sensors can also be installed in the tractor), which obtain measurements associated with different tillage elements or groups of elements during work. According to an example of the distribution of the sensors, such as the one represented in the example of figure 4, the measurements obtained by the sensors 1 coupled to the agricultural implement are sent to the main node 31 , where a local processor analyzes, according to the spatial distribution of the sensors, the measurements received to establish differential parameters of different points of the machine.
[0153] The sensors work individually, recording individual measurements in each pass of the agricultural machine, which serves as a brief analysis of the mechanical state of the soil, but knowing the location of all the sensors allows them to be jointly evaluated and the differential behavior of the machine determined. agricultural, separating into groups of actuators or even bodies throughout the machine, the way it runs in work.
[0155] In one of the embodiments, longitudinal groupings of the sensors are contemplated, which makes it possible to know how a first sensor gives information on how the ground is located before the discs or elements of the harrow act and a second sensor, arranged after the first sensor , allows to know the variation of the terrain after the harrow has acted.
[0156] In one of the embodiments, a transversal grouping of the sensors is contemplated, which makes it possible to modify the work intensity of the different bodies of the machine, adjusting the work to the different areas found, for example, the wider implements.
[0158] In a similar way, one can proceed with any element currently incorporated in agricultural machines, for example, it is interesting to control the work of some harrow discs located in a first line of an agricultural machine, by means of sensors arranged in a second line and this, in turn, be controlled from a third row. With this type of action, it is possible to control the work of different components or areas and bodies of the machine, an important fact when working with robotic machines that can act and react depending on the type of soils that they encounter as they pass through. the plot. Thus, it is advantageously possible for several components to work simultaneously and, by acting individually on each of them, the tasks of preparing the ground can be optimized and reduce the time and energy consumption necessary to even a single pass, which also reduces compaction of the ground carried out by the machines in each pass.
[0160] At a third level, corresponding to a more complete embodiment than the previous ones, the present invention interacts with other elements in addition to those of the embodiments set out above, such as, for example, specific sensors on the market that enrich the algorithms used and increase efficiency. of the system. With this, the basic system is provided with several digital communications input ports to include additional signals from humidity sensors, amount of stubble, organic matter, etc.
[0162] All the information from the sensors contributes to determining the mechanical parameters of the state of the ground, as well as the behavior of the tillage elements, received in real time by the system's processor module.
[0164] The processor module of the system can be implemented in the intermediate node, in the main node or be distributed between them. Any of the processing functions can also be performed in a processor housed in an intermediate node, in the main node or in the central server.
[0165] Additionally, the electronic speck includes a geolocation module, for example GPS, which generates position information for each of the measurements obtained by the sensors, which allows the temporal contrast of the evolution of the terrain and will result in future decision-making automatic thanks to the traceability of the system. Alternatively, the GPS location module can be integrated into the agricultural machine and it is the processor module that associates the measurements obtained by each of the sensors with the position information obtained by the geolocation module.
[0167] The present invention contemplates various data delivery possibilities. Thus, it can be configured to send reading information to users' communication devices, such as mobile phones or electronic tablets in which a specific application has been installed for it, or only electronically when interacting with other equipment to provide a configuration based on information derived from previous cases with similar conditions (such as the same agricultural machine or a similar mechanical state of the soil).
[0169] In the interaction with other equipment, according to one of the embodiments, the system of the present invention can add an electronic interconnection board with other systems or even have its own electronic box to send the information. In this way, both platforms, electronic board or box, allow the information to be transferred in an open format, such as Isobus or xml, to third-party manufacturers, with whom its use has been previously agreed, or it is integrated into a closed format so that other recipients integrate them into their machines. Once the mechanical parameters of the terrain determined by the processor module algorithms have been transmitted, all the information is stored in the central server database, which according to different implementations will be a dedicated physical server or will be implemented virtually in the cloud, where will be available for further analysis of system components and other terrain.
[0171] In combination with the hardware elements detailed above that comprise the system of the present invention, the objective of optimizing tillage, the use of implements and sowing requires certain algorithms in the processor module to manage the tasks of collecting information, processing , communication and performance. These algorithms work in two levels. At a first level, a relative or local processing is carried out, where the algorithm works exclusively according to what is found in the field, analyzing the specific plot in which the agricultural machine is working and the differential responses that occur in its soil, determining thus the mechanical variability of the soil through the massive analysis of the determinations obtained by the sensors (preferably accelerometers and gyroscopes) of the electronic specks. The result is a relative determination of the mechanical state of the soil, with degrees of hardness and plasticity referred only to the current field of work. The interpretation of these data allows to determine, in addition to the degree of hardness (corresponding to high vibrations) and degree of plasticity (corresponding to low vibrations), disk failures (corresponding to the lack of data at the same time that there is information on the sensor supply ), wear (corresponding to variations in the rotation frequency of an element) and service life (corresponding to a preset value of rotation limits or hours of operation). In a second level of work, the algorithms of the processor module include prediction, planning and traceability treatments of the work carried out in the preparation of the land. The determinations go from being relative to absolute, thanks to the capture, management and transmission of data to a cloud environment of different plots (whose data collection process is repeatable and comparable, mainly the speed of the agricultural machine and the structure that determines the external excitation on the ground) the storage and comparison of different positions / plots is achieved, with great spatial differentiation between them and it is sent to the central server. The central server normally contemplates a greater processing capacity for data treatment than the processors that incorporate the intermediate / main nodes on board the agricultural machines in the field.
[0173] Once the processor module has processed all the information of a specific plot, comparing measurements obtained with measurements stored from other fields of comparable characteristics, it sends the absolute calculations back to the main node of the agricultural machine to proceed to parameterize the different equipment to which is connected and the field of work. Simultaneously, the processor module generates a map of the behavior of the equipment and tasks, which can be related to a map of the mechanical behavior of the soil.
[0174] The calculations and predictions carried out by the processor module are supported by all the information obtained for previous cases (or at least an initial training period) and stored in the databases. After obtaining the mechanical parameters, they are used as input in analysis techniques based on artificial intelligence (such as neural networks that extract predictions from the physical parameters, based on the values measured by the sensors, or regression functions, which analyze the influence of each variable and its physical relationship with the system) in order to predict the mechanical behavior (output of the algorithm) in real time of the soil in which the agricultural implements are working.
[0176] To establish different types of terrain and their associated sensor data, resistance to penetration, humidity and plasticity is previously measured with market sensors and the values of frequencies and energies are studied through data collection campaigns for future treatment. Therefore, initial relative and absolute data are obtained with which to train the system.
[0178] The output predictions are made in real time, which is achieved by directly providing the processor module with the instantaneous readings of the vibration sensors integrated in the tillage elements of the agricultural machines as they are obtained. The readings are obtained by the sensors in the time domain, but they are characterized and filtered by vibration parameters calculated in the frequency domain, where the diagnosis is very rich in information for this type of signals. The frequency information is a first parameterization of a mechanical behavior in which different wavelengths are translated into energetic excitation at different frequencies. That is, the transformation to the frequency space allows dividing the vibratory signal into different wavelengths from which to obtain energy measurements of each of them and, with this, analyze them independently in order to diagnose what physical fact is producing the vibration.
[0180] Finally, the processor module associates these readings received in real time with an output value thanks to the relationship / training previously determined on values obtained manually from the soil in question and contrasting with historical data collected in the system databases.
[0181] The frequency and time of information capture by the sensors, notably influences the precision and resolution of the information captured. In addition, the reading frequency, packing and transmission times are variable depending on the elements used in the implement and the parameters sought, so that, for example, the study of vibrations requires a significant number of readings for the study. signal frequency, while twist or life faults don't need it. In one embodiment of the invention, the reading times used to establish the recording packets are performed in a frequency range between 50 and 500Hz, that is, data is taken from the sensors between 0.25 and 20 seconds. This ensures, on the one hand, good precision in the frequency domain, with data intervals in frequency around deltaf = 1 Hz in the worst case and precisions of spatial data in the field for data sets (packets) calculated between 0.2 and 20 meters. on the plot. The size of the packages varies between 250 and 2000 data, depending on the type of planned work, machine and tillage elements.
[0183] The algorithm groups these data packets received in the processor module from how many sensors have been installed in the agricultural machine. Said packages contain data from the accelerometer and gyroscope, which are characteristics joined and captured in a joint and three-dimensional way, which allows obtaining the spatial displacement suffered by each position controlled by the sensor in its X, Y, Z axes. Thus, the following are received values of each accelerometer sensor: time, AccX, AccY, AccZ, GirX, GirY and GirZ, thus knowing the rate of change and spatial direction.
[0185] From the vibration measured by the previous values, mechanical parameters such as plasticity, hardness, component rotation failures, component life or wear are calculated, which relate the behavior of each of the working elements and the implement. in conjunction with the mechanical resistance of the ground.
[0187] The data packets obtained are transferred from the temporal domain to the frequency domain for their treatment as vibrations, determining parameters in frequencies that are suitable for measuring the behavior of the soil-structure interaction and therefore of the terrain that is being excited with the passage of the agricultural machine.
[0188] To transfer the signals from the time domain to the frequency domain, the algorithms of the processor module use the Fourier Transform Function, then calculating energy measurements (such as maximum accumulated energy or the different energy peaks at different frequencies) obtained from of the signal energy density or power spectral density (PSD) and obtaining a classification of the vibrations by calculated frequencies and energies, within limits between 50 and 500hz. Energy measurements can be obtained relatively, contemplating the minimum and maximum values in a few first passes, in data registered in the same area on previous dates and registered in a database or even establish them at all by comparing them with data measured by other procedures such as penetrometers and compactors.
[0190] Once the measurements obtained in the time domain have been transferred to the frequency domain, the algorithms of the processor module apply a filtering stage to eliminate natural frequencies of rotation, wear or periodic friction, so that only the natural frequencies of the vibrations produced by soil-structure interaction that allow characterizing the variability of the soil of each plot. The filters are mainly based on identifying the repeatability of frequencies, extracting them and therefore reducing the noise of the readings. For example, in one of the embodiments, the very low frequencies are eliminated (with a high-pass filter) to avoid the “baseline” effect and the high frequencies, from 200 Hz, to avoid false measurements (with a low-pass filter ). In a particular embodiment, a Butterworth filter of order 5 is used on the accelerometer signal for the 0Hz-1Hz range.
[0192] The grouped treatment of the information allows to detect variations in the vibratory signal after the action of each tillage element on the ground, which reflects in real time the behavior of each element, since the local processor installed on board the agricultural machine receives , processes and instantly displays all the information received and the calculations made. These variations in the vibratory signal reflected by the gyroscope data allow us to analyze differences in rotational movements and, therefore, blockages in the working elements that mean poor performance of the implement and the need to observe and even stop the work temporarily to attend to repairs or readjustments on the machine.
[0194] The analysis of the signals in the frequency domain of the present invention is not only used for the determination of the mechanical state of the soil, but is also This is useful for determining the useful life of tillage elements installed on an implement or of some parts of the structure, since their cyclical vibrations, that is, those not related to the ground, change due to wear and structural variation of the elements, such as decrease in disc diameters or tip length. The parameters obtained, such as the maximum value of temporal acceleration, maximum accumulated energy or the different energy peaks in the PSD power spectral density signal for specific frequencies, therefore allow to automatically characterize, with a trained neural network, each group of readings between wear data for that instant and behavior of the tool (s) used depending on the terrain.
[0196] Therefore, according to all the previous processing, a user (farmer) of the present invention receives information in real time of the mechanical state of the soil, including the plasticity and hardness of the soil, failure of the tillage elements, useful life and wear them. Additionally, the calculation can be refined by incorporating the humidity obtained by external sensors. For example, in one of the embodiments, the user receives, through a screen connected to the main node, information on at which points (according to GPS location) of the plot the hardness is higher or lower and plasticity parameters, to estimate if the The work done by your implement is more or less intense, and thus evaluate changes in the configuration of the tillage elements that avoid damaging the equipment (increasing the useful life) due to abrasion or wear caused by the terrain. Additionally, for equipment connected to an agricultural machine, with the ability to automatically vary the implement configuration, the user receives electronically the same parameters for evaluating the degrees of freedom of the machine, such as the working depth, operating regime. operation, speed, intensity, distance between axes or inclination of the discs.
[0198] In addition to the information and relative performance, the present invention scales all the information obtained to the cloud through an LTE / 4G / 3G / 2G connection on board the agricultural machine, so that the machine connected with other equipment can react, thus allowing knowledge and action in real time to determine the state of the ground in an absolute way. In the absolute mode, the relative data is contrasted with the stored data of the same plot in order to obtain an absolute relationship for said plot. Likewise, these data can be compared with other plots obtaining a global absolute variation that allows contrasting the variability found. in different plots, regions and countries with which the treatment of the information reaches the feedback of parameters due to the richness of the variability found. In addition, it allows knowing the temporal variation in a relative way in treatments throughout a campaign or other years of the plots and, with this, knowing how the decisions made in previous years vary and influence the current state of a certain field. This means that the farmer and the system can determine whether their previous actions had the desired effects or need to be modified.
[0200] The agricultural machines in which the proposed sensors are integrated, can comprise harrows, cultivators, seeders and a multitude of agricultural equipment and implements, which are usually hooked to a tractor, in order to open the ground, remove and affirm the soil, compact it, etc. In this scenario, the present invention advantageously achieves a reduction in passes and precision in the execution thereof, managing to improve the use of each of the elements that go into work in the work of preparing the sowing soil and thereby improve performance and result of work.
[0202] The mechanical parameters obtained directly or indirectly, through the readings of the sensors, allow the farmer to change the application parameters of the agricultural task or work in real time or record the state of the soil and its conditions as the work is carried out for the subsequent traceability of his work.
[0204] The present invention has many advantages, among them, it allows the farmer to react on the fly in the agricultural implement, without waiting for the information to be processed, by receiving in real time information on the mechanical state of the soil that includes measurements related to hardness or the apparent density. In addition, information is also obtained on the behavior of the working element used, being able to assess its working state and determine possible blockages, as well as its wear or useful life, to determine the optimal time for replacement.
[0206] Additionally, in one embodiment of the invention, all this information that is presented to a user to help him in making decisions, is used to interact directly on the task that is being executed, thus entering into the robotic interaction with the guidance. of the machine. Thus, the information obtained is transmitted to the machine so that other elements of the machine can automatically activate its components and modify the way of operating based on the determination that these sensors make of the state of the ground. This feature is crucial for the new era of automatic machines that today automatically guide tractors, but in a short space of time they will be able to automate the operation of all agricultural tasks.
[0208] The present invention should not be limited to the embodiment described herein. Other configurations can be made by those skilled in the art in light of the present description. Accordingly, the scope of the invention is defined by the following claims.

权利要求:
Claims (19)
[1]
1. Method to determine the mechanical state of an agricultural land characterized by comprising:
a) Obtain, by sensor means (1) arranged in a tillage element (2) of an agricultural machine (40), measurements of a vibratory signal, where the vibratory signal is produced as a result of a tillage operation of the agricultural machine on agricultural land;
b) sending, by means of communication (30), the measurements obtained from the vibratory signal, grouped in data packets, to a processor module; c) transforming, by the processor module, the measurements of the vibratory signal grouped in the data packets, into a frequency signal;
d) calculating energy measurements from the frequency signal; Y
e) determine the mechanical state of the agricultural land, based on the energy measurements of the frequency signal, where the determined mechanical state comprises a degree of hardness and a degree of plasticity.
[2]
2. Method according to claim 1, wherein calculating energy measurements from the frequency signal comprises obtaining a power spectral density (PSD) signal.
[3]
3. Method according to claim 2, where the degree of hardness and the degree of plasticity of the agricultural land are determined based on a measure of the amplitude of the power spectral density signal (PSD) and a certain frequency band considered.
[4]
4. Method according to any of the preceding claims, wherein determining the mechanical state of the agricultural land further comprises comparing a first energy pattern, corresponding to the calculated energy measurements, with a plurality of energy patterns that correspond to a plurality of mechanical states.
[5]
5. Method according to any of the preceding claims, further comprising:
- send the measurements of the sensor means to a main communication node (31) arranged in the agricultural machine;
- sending information based on the measurements from the main node to a central server (35); Y
- Store in the central server the information based on the measurements sent by the main node of each agricultural machine.
[6]
6 . Method according to any of the preceding claims, which further comprises determining, by the processor module, a state of the tillage element according to a variation detected in a rotation frequency of the tillage element, where the state of the tillage element is selected from : a state of blocking of the working element or a state with a certain degree of wear.
[7]
7 . Method according to any of the preceding claims, which further comprises modifying, by an actuator of a control system, a physical parameter of the tillage element depending on the determined mechanical state of the agricultural land, where the physical parameter is selected from: depth of work, angle of attack of the tillage element, distance between tillage elements, pressure of the tillage element and rotation speed of the tillage element.
[8]
8 . Method according to any of the preceding claims, which further comprises a frequency filtering stage, where one or more repetitive frequencies of the frequency signal are eliminated, corresponding to vibrations inherent to the operation of the tillage element.
[9]
9 . System to determine the mechanical state of an agricultural land characterized by comprising:
- an agricultural machine (40) with at least one tillage element (2);
- Sensor means (1) comprising at least one accelerometer and a gyroscope, arranged in the at least one tillage element, configured to measure a vibratory signal that is produced as a result of a tillage operation of the agricultural machine on the ground agricultural;
- a processor module, in communication with the sensor means, to determine the mechanical state of the ground from the measured vibratory signal; Y
- communication means configured to exchange information between the sensor means and the processor module;
where the system is configured to: obtain measurements of the vibratory signal, by the sensor means, according to a pre-established frequency; group, in data packets, the measurements obtained from the vibratory signal; transforming the vibratory signal measurements grouped in the data packets into a frequency signal; calculating energy measurements from the frequency signal; and determining the mechanical state of the agricultural land, based on the energy measurements of the frequency signal, where the determined mechanical state comprises a degree of hardness and a degree of plasticity.
[10]
10 . System according to claim 9 where the communication means comprise:
- a main node (31), arranged in the agricultural machine, configured to receive the measurements from the sensor means; Y
- a remote central server (35), configured to receive information based on the measurements, sent from the main node of each agricultural machine and store it in a database.
[11]
11 . System according to claim 10 where the communication means further comprise at least one intermediate node (32) arranged between the sensor means and the main node (31), configured to receive the measurements from the sensor means and forward said measurements to the node main in a bridge function.
[12]
12 . System according to any of claims 10-11, which also comprises a wireless communications module (30) connected to the sensor means arranged in each tillage element, configured to send the measurements of the sensor means to the next node, where the The next node is also configured to receive and transmit wireless communications.
[13]
13 . System according to any of claims 9-12 where the central server database stores a plurality of energy patterns that correspond to a plurality of mechanical states, and
where the processor module is further configured to compare a first energy pattern, corresponding to the calculated energy measurements, with the database patterns and provide a real-time estimate of the mechanical state of the agricultural land.
[14]
14 . System according to claim 10, where the processor module comprises a general processor housed in the main node.
[15]
15 . System according to claim 11, wherein the processor module also comprises at least one local processor housed in the intermediate node.
[16]
16 . System according to any of claims 9-14, wherein the processor module also comprises a control system, with at least one actuator associated with the tillage element, configured to modify a physical parameter of the tillage element.
[17]
17 . System according to any of claims 10-16, where the main node is a virtual node implemented in a portable electronic device to be selected between a mobile phone and an electronic tablet.
[18]
18 . System according to any of claims 9-17, which also comprises a geolocation module (63) configured to determine the location in which each of the measurements obtained from the vibratory signal has been obtained.
[19]
19 . System according to any of claims 9-18 where the agricultural machine comprises a tractor and at least one of the following implements: cultivator, seeder, plow or any other implement aimed at working agricultural soil; and where the tillage elements of the agricultural machine are selected from: discs, arms, bars, harrows, ties, tips, moldboards or any other element configured to receive vibrations during a tillage operation of the agricultural machine.

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同族专利:

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公开号 | 公开日

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EP3951385A1|2022-02-09|

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AU2020249617A1|2021-11-04|

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CA3133377A1|2020-10-01|

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ES2784718B2|2022-01-25|

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WO2020193826A1|2020-10-01|

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CN113677991A|2021-11-19|

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ES201930272A|ES2784718B2|2019-03-26|2019-03-26|METHOD AND SYSTEM TO DETERMINE THE MECHANICAL STATE OF AN AGRICULTURAL LAND|ES201930272A| ES2784718B2|2019-03-26|2019-03-26|METHOD AND SYSTEM TO DETERMINE THE MECHANICAL STATE OF AN AGRICULTURAL LAND|

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EP20776769.0A| EP3951385A1|2019-03-26|2020-03-12|Method and system for determining the mechanical state of an agricultural field|

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CA3133377A| CA3133377A1|2019-03-26|2020-03-12|Method and system for determining the mechanical state of an agricultural land|

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AU2020249617A| AU2020249617A1|2019-03-26|2020-03-12|Method and system for determining the mechanical state of an agricultural field|

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CN202080023989.1A| CN113677991A|2019-03-26|2020-03-12|Method and system for determining the mechanical state of an agricultural land|

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PCT/ES2020/070174| WO2020193826A1|2019-03-26|2020-03-12|Method and system for determining the mechanical state of an agricultural field|