U.S. patent application number 17/660957 was filed with the patent office on 2022-08-11 for systems, methods, and apparatus for agricultural implement trench depth control and soil monitoring.
The applicant listed for this patent is Precision Planting LLC. Invention is credited to Troy Plattner, Derek A. Sauder, Jason J. Stoller.
Application Number | 20220248592 17/660957 |
Document ID | / |
Family ID | 1000006290837 |
Filed Date | 2022-08-11 |
United States Patent
Application |
20220248592 |
Kind Code |
A1 |
Sauder; Derek A. ; et
al. |
August 11, 2022 |
SYSTEMS, METHODS, AND APPARATUS FOR AGRICULTURAL IMPLEMENT TRENCH
DEPTH CONTROL AND SOIL MONITORING
Abstract
Systems, methods and apparatus are provided for monitoring soil
properties including soil moisture and soil temperature during an
agricultural input application. Embodiments include a soil moisture
sensor and/or a soil temperature sensor mounted to a seed firmer
for measuring moisture and temperature in a planting trench.
Additionally, systems, methods and apparatus are provided for
adjusting depth based on the monitored soil properties.
Inventors: |
Sauder; Derek A.; (US)
; Stoller; Jason J.; (Eureka, IL) ; Plattner;
Troy; (Goodfield, IL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Precision Planting LLC |
Tremont |
IL |
US |
|
|
Family ID: |
1000006290837 |
Appl. No.: |
17/660957 |
Filed: |
April 27, 2022 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16535063 |
Aug 7, 2019 |
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17660957 |
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15908103 |
Feb 28, 2018 |
10609857 |
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16535063 |
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14776504 |
Sep 14, 2015 |
9943027 |
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PCT/US2014/029352 |
Mar 14, 2014 |
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15908103 |
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61783591 |
Mar 14, 2013 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A01C 7/203 20130101;
G05B 15/02 20130101; A01C 21/007 20130101; A01C 5/068 20130101;
A01C 5/062 20130101 |
International
Class: |
A01C 5/06 20060101
A01C005/06; A01C 7/20 20060101 A01C007/20; A01C 21/00 20060101
A01C021/00; G05B 15/02 20060101 G05B015/02 |
Claims
1. A system for measuring multiple soil properties on-the-go,
comprising: an implement for traversing a field; an optical module
carried by said implement for collecting soil reflectance data from
soil in said field; a soil electrical conductivity measurement
device carried by said implement for collecting soil electrical
conductivity data from soil in said field; a soil moisture
measurement device carried by said implement for collecting soil
moisture data from soil in said field; whereby said optical module,
said soil electrical conductivity measurement device and said soil
moisture measurement device are arranged to measure soil
reflectance, soil electrical conductivity and soil moisture,
respectively, at approximately the same soil depth; wherein said
soil electrical conductivity measurement device and said soil
moisture measurement device are arranged to measure soil electrical
conductivity and soil moisture, respectively, in proximity to said
optical module; wherein said soil electrical conductivity
measurement device and said soil moisture measurement device
include at least one soil contact member carried by said implement,
said at least one soil contact member being arranged for collecting
both soil electrical conductivity data and soil moisture data from
soil in said field; and wherein said optical module includes a
hardened wear plate with a window, and wherein said at least one
soil contact member protrudes from or is exposed on a bottom side
of said hardened wear plate.
2. The system according to claim 1, wherein said at least one soil
contact member includes two metal soil contact blades protruding
from the bottom side of said hardened wear plate.
3. A system for measuring multiple soil properties on-the-go,
comprising: an implement for traversing a field; an optical module
carried by said implement for collecting soil reflectance data from
soil in said field; a soil electrical conductivity measurement
device carried by said implement for collecting soil electrical
conductivity data from soil in said field; a soil moisture
measurement device carried by said implement for collecting soil
moisture data from soil in said field; and means for calibrating
said soil electrical conductivity data based on said soil moisture
data to minimize the effect of soil moisture variations on said
soil electrical conductivity data; said optical module, said soil
electrical conductivity measurement device and said soil moisture
measurement device are arranged to measure soil reflectance, soil
electrical conductivity and soil moisture, respectively, at
approximately the same soil depth.
4. A system for measuring soil properties on-the-go, comprising: an
implement for traversing a field; a sensor carried by said
implement for measuring at least one soil property, said sensor
including at least one of an optical module for collecting soil
reflectance data, a soil electrical conductivity measurement device
for collecting soil electrical conductivity data, and a soil
moisture measurement device for collecting soil moisture data; and
means for measuring a depth of operation of said sensor on-the-go
while said sensor is measuring said at least one soil property;
wherein said sensor further includes an optical module arranged for
collecting soil reflectance data from soil in said field; and
wherein said optical module includes a hardened wear plate with a
window that protrudes from or is embedded in a bottom side of said
hardened wear plate; and wherein said sensor further includes at
least one soil contact member for collecting soil electrical
conductivity data and/or soil moisture data.
5. The system according to claim 4, wherein said at least one soil
contact member includes two metal soil contact blades protruding
from the bottom side of said hardened wear plate.
6. A system for measuring multiple soil properties on-the-go,
comprising: an implement for traversing a field; at least one soil
contact member carried by said implement, said at least one soil
contact member being arranged for collecting data of both soil
electrical conductivity and soil moisture from soil in said field;
and a phase lock loop connected to said at least one soil contact
member for capturing readings of both soil electrical conductivity
and soil moisture simultaneously.
7. An agricultural planter, comprising: a planter row unit having a
furrow opener for creating a furrow in which seeds are deposited;
an optical measurement device for collecting soil reflectance data;
a soil electrical conductivity measurement device for collecting
soil electrical conductivity data; a soil moisture measurement
device for collecting soil moisture data; and means for varying a
seeding rate of the planter on-the-go based on the data collected
by said optical measurement device, said soil electrical
conductivity measurement device and said soil moisture measurement
device.
8. The agricultural planter according to claim 7, further
comprising: means for determining an available water holding
capacity of the soil based on said data collected by said optical
module, said soil electrical conductivity measurement device, and
said soil moisture measurement device; and wherein said means for
varying a seeding rate includes means for varying said seeding rate
based on said determined available water holding capacity.
9. An agricultural planter, comprising: a planter row unit having a
furrow opener for creating a furrow in which seeds are deposited; a
sensor for collecting measurements of at least one soil property;
and a controller for varying a seeding rate of said planter
on-the-go based on said measurements collected by said sensor.
10. The agricultural planter according to claim 9, wherein said
sensor is selected from the group consisting of: an optical
measurement device for collecting soil reflectance data, a soil
electrical conductivity measurement device for collecting soil
electrical conductivity data, and a soil moisture measurement
device for collecting soil moisture data.
11. The agricultural planter according to claim 9, wherein said
sensor includes an optical measurement device for collecting soil
reflectance data, and a soil electrical conductivity measurement
device for collecting soil electrical conductivity data.
12. The agricultural planter according to claim 11, wherein said
sensor further includes a soil moisture measurement device for
collecting soil moisture data.
13. The agricultural planter according to claim 12, wherein said
controller includes means for varying a seeding rate of said
planter on-the-go based on said data collected by said optical
measurement device, said soil electrical conductivity measurement
device and said soil moisture measurement device.
14. The agricultural planter according to claim 13, further
comprising: means for determining an available water holding
capacity of the soil based on the data collected by said optical
measurement device, said soil electrical conductivity measurement
device, and said soil moisture measurement device, and wherein said
means for varying a seeding rate includes means for varying said
seeding rate based on said determined available water holding
capacity.
15. The agricultural planter according to claim 9, wherein said
sensor comprises an optical measurement device for collecting soil
reflectance data, and a soil moisture measurement device for
collecting soil moisture data.
16. The agricultural planter according to claim 9, wherein said
sensor includes a soil electrical conductivity measurement device
for collecting soil electrical conductivity data, and a soil
moisture measurement device for collecting soil moisture data.
17. The agricultural planter according to claim 9, wherein said
sensor includes a soil electrical conductivity measurement device
for collecting soil electrical conductivity data.
18. The agricultural planter according to claim 9, wherein said
sensor includes a soil moisture measurement device for collecting
soil moisture data.
19. The agricultural planter according to claim 9, wherein said
sensor includes an optical measurement device for collecting soil
reflectance data.
20. An agricultural planter, comprising: a planter row unit having
a furrow opener for creating a furrow in which seeds are deposited;
an optical measurement device for collecting soil reflectance data
on-the-go as the agricultural planter traverses a field; a soil EC
measurement device for collecting soil EC data on-the-go as the
agricultural planter traverses a field; a soil moisture measurement
device for collecting soil moisture data on-the-go as the
agricultural planter traverses a field; and a means for varying a
seeding rate of the agricultural planter on-the-go based on the
data collected on-the-go by said optical measurement device, said
soil EC measurement device and said soil moisture measurement
device.
21. The agricultural planter according to claim 20, further
comprising a means for determining an available water holding
capacity of the soil based on the data collected by said optical
module, said soil EC measurement device, and said soil moisture
measurement device, and wherein said means for varying a seeding
rate comprises a means for varying the seeding rate based on said
determined available water holding capacity.
22. An agricultural planter, comprising: a planter row unit having
a furrow opener for creating a furrow in which seeds are deposited;
a sensor on the agricultural planter for collecting measurements of
at least one soil property on-the-go as the agricultural planter
traverses a field; and a controller for varying a seeding rate of
the agricultural planter on-the-go based on the measurements
collected by said sensor.
23. The agricultural planter according to claim 22, wherein said
sensor is selected from the group consisting of: an optical
measurement device for collecting soil reflectance data, a soil EC
measurement device for collecting soil EC data, and a soil moisture
measurement device for collecting soil moisture data.
24. The agricultural planter according to claim 22, wherein said
sensor comprises an optical measurement device for collecting soil
reflectance data, and a soil EC measurement device for collecting
soil EC data.
25. The agricultural planter according to claim 24, wherein said
sensor further comprises a soil moisture measurement device for
collecting soil moisture data.
26. The agricultural planter according to claim 25, wherein said
controller comprises a means for varying a seeding rate of the
planter on-the-go based on the data collected by said optical
measurement device, said soil EC measurement device and said soil
moisture measurement device.
27. The agricultural planter according to claim 22, wherein said
sensor comprises an optical measurement device for collecting soil
reflectance data, and a soil moisture measurement device for
collecting soil moisture data.
28. The agricultural planter according to claim 22, wherein said
sensor comprises a soil EC measurement device for collecting soil
EC data, and a soil moisture measurement device for collecting soil
moisture data.
29. The agricultural planter according to claim 22, wherein said
sensor comprises a soil EC measurement device for collecting soil
EC data.
30. The agricultural planter according to claim 22, wherein said
sensor comprises a soil moisture measurement device for collecting
soil moisture data.
31. The agricultural planter according to claim 22, wherein said
sensor comprises an optical measurement device for collecting soil
reflectance data.
32. An agricultural planter, comprising: a planter row unit having
a furrow opener for creating a furrow in which seeds are deposited;
a sensor for collecting measurements of at least one soil property;
and a controller for varying a seeding rate of the agricultural
planter on-the-go based on the measurements collected by said
sensor; wherein said sensor comprises an optical measurement device
for collecting soil reflectance data, and a soil EC measurement
device for collecting soil EC data; wherein said sensor further
comprises a soil moisture measurement device for collecting soil
moisture data; wherein said controller comprises a means for
varying a seeding rate of the planter on-the-go based on the data
collected by said optical measurement device, said soil EC
measurement device and said soil moisture measurement device; and
further comprising a means for determining an available water
holding capacity of the soil based on the data collected by said
optical measurement device, said soil EC measurement device, and
said soil moisture measurement device, and wherein said controller
comprises a means for varying the seeding rate based on said
determined available water holding capacity.
Description
BACKGROUND
[0001] In recent years, the availability of advanced
location-specific agricultural application and measurement systems
(used in so-called "precision farming" practices) has increased
grower interest in determining spatial variations in soil
properties and in varying input application variables (e.g.,
planting depth) in light of such variations. However, the available
mechanisms for measuring properties such as temperature are either
not effectively locally made throughout the field or are not made
at the same time as an input (e.g. planting) operation. Moreover,
available methods for adjusting depth are not effectively
responsive to changes in soil properties such as depth and
temperature.
[0002] Thus there is a need in the art for a method for monitoring
soil properties during an agricultural input application. Moreover,
there is a need in the art for adjusting depth based on the
monitored soil properties.
BRIEF DESCRIPTION OF THE DRAWINGS
[0003] FIG. 1 is a top view of an embodiment agricultural
planter.
[0004] FIG. 2 is a side elevation view of an embodiment of a
planter row unit.
[0005] FIG. 3 schematically illustrates an embodiment of a soil
monitoring and depth control system.
[0006] FIG. 4A is a side elevation view of an embodiment of a
temperature sensor and an embodiment of a moisture sensor.
[0007] FIG. 4B is a rear elevation view of the temperature sensor
and moisture sensor of FIG. 4A.
[0008] FIG. 4C is a rear elevation view of another embodiment of a
temperature sensor.
[0009] FIG. 5 illustrates an embodiment of a process for
controlling trench depth based on soil moisture.
[0010] FIG. 6 illustrates an embodiment of a process for
controlling trench depth based on soil temperature.
[0011] FIG. 7 illustrates an embodiment of a process for
controlling trench depth based on soil temperature and soil
moisture.
[0012] FIG. 8 illustrates another embodiment of a process for
controlling trench depth based on soil temperature and soil
moisture.
[0013] FIG. 9 illustrates still another embodiment of a process for
controlling trench depth based on soil temperature and soil
moisture.
[0014] FIG. 10 is a side elevation view of another embodiment of a
temperature sensor.
[0015] FIG. 11 illustrates an embodiment of a process for
controlling trench depth based on soil data.
[0016] FIG. 12 illustrates an embodiment of a process for
controlling trench depth based on soil data and soil
temperature.
[0017] FIG. 13 illustrates an embodiment of a process for
controlling trench depth based on weather data.
[0018] FIG. 14 illustrates an embodiment of a process for
controlling trench depth based on weather data and soil
temperature.
[0019] FIG. 15 illustrates an embodiment of a process for
controlling trench depth based on soil moisture and soil moisture
measurements made at a base station.
[0020] FIG. 16 illustrates an embodiment of a process for
controlling trench depth based on weather data as well as soil
moisture and soil moisture measurements made at a base station.
[0021] FIG. 17 illustrates an embodiment of a planter monitor
screen displaying a soil temperature map.
[0022] FIG. 18 illustrates an embodiment of a planter monitor
screen displaying a soil moisture map.
[0023] FIG. 19 illustrates an embodiment of a planter monitor
screen displaying a trench depth map.
[0024] FIG. 20 illustrates an embodiment of a planter monitor
screen displaying summarized planting data and planting
recommendations.
[0025] FIG. 21 illustrates an embodiment of a planter monitor
screen displaying row-by-row planting data.
[0026] FIG. 22 illustrates an embodiment of a planter monitor
screen displaying row-specific planting data.
[0027] FIG. 23 illustrates an embodiment of a planter monitor depth
control setup screen.
[0028] FIG. 24 is a side elevation view of an embodiment of a base
station for monitoring and transmitting soil data and weather
data.
[0029] FIG. 25 is a side elevation of an embodiment of a
measurement unit.
[0030] FIG. 26 is a side elevation view of an embodiment of a depth
sensor.
[0031] FIG. 27 illustrates an embodiment of a planter monitor
screen for setting trench depth and displaying soil data.
DESCRIPTION
Depth Control and Soil Monitoring System
[0032] Referring now to the drawings, wherein like reference
numerals designate identical or corresponding parts throughout the
several views, FIG. 1 illustrates a tractor 5 drawing an
agricultural implement, e.g., a planter 10, comprising a toolbar 14
operatively supporting multiple row units 200. An implement monitor
50 preferably including a central processing unit ("CPU"), memory
and graphical user interface ("GUI") (e.g., a touch-screen
interface) is preferably located in the cab of the tractor 10. A
global positioning system ("GPS") receiver 52 is preferably mounted
to the tractor 10.
[0033] Turing to FIG. 2, an embodiment is illustrated in which the
row unit 200 is a planter row unit. The row unit 200 is preferably
pivotally connected to the toolbar 14 by a parallel linkage 216. An
actuator 218 is preferably disposed to apply lift and/or downforce
on the row unit 200. A solenoid valve 390 is preferably in fluid
communication with the actuator 218 for modifying the lift and/or
downforce applied by the actuator. An opening system 234 preferably
includes two opening discs 244 rollingly mounted to a
downwardly-extending shank 254 and disposed to open a v-shaped
trench 38 in the soil 40. A pair of gauge wheels 248 is pivotally
supported by a pair of corresponding gauge wheel arms 260; the
height of the gauge wheels 248 relative to the opener discs 244
sets the depth of the trench 38. A depth adjustment rocker 268
limits the upward travel of the gauge wheel arms 260 and thus the
upward travel of the gauge wheels 248. A depth adjustment actuator
380 is preferably configured to modify a position of the depth
adjustment rocker 268 and thus the height of the gauge wheels 248.
The actuator 380 is preferably a linear actuator mounted to the row
unit 200 and pivotally coupled to an upper end of the rocker 268.
In some embodiments the depth adjustment actuator 380 comprises a
device such as that disclosed in International Patent Application
No. PCT/US2012/035585, the disclosure of which is hereby
incorporated herein by reference. An encoder 382 is preferably
configured to generate a signal related to the linear extension of
the actuator 380; it should be appreciated that the linear
extension of the actuator 380 is related to the depth of the trench
38 when the gauge wheel arms 260 are in contact with the rocker
268. A downforce sensor 392 is preferably configured to generate a
signal related to the amount of force imposed by the gauge wheels
248 on the soil 40; in some embodiments the downforce sensor 392
comprises an instrumented pin about which the rocker 268 is
pivotally coupled to the row unit 200, such as those instrumented
pins disclosed in Applicant's co-pending U.S. patent application
Ser. No. 12/522,253 (Pub. No. US 2010/0180695), the disclosure of
which is hereby incorporated herein by reference.
[0034] Continuing to refer to FIG. 2, a seed meter 230 such as that
disclosed in Applicant's co-pending International Patent
Application No. PCT/US2012/030192, the disclosure of which is
hereby incorporated herein by reference, is preferably disposed to
deposit seeds 42 from a hopper 226 into the trench 38, e.g.,
through a seed tube 232 disposed to guide the seeds toward the
trench. In some embodiments, the meter is powered by an electric
drive 315 configured to drive a seed disc within the seed meter. In
other embodiments, the drive 315 may comprise a hydraulic drive
configured to drive the seed disc. A seed sensor 305 (e.g., an
optical or electromagnetic seed sensor configured to generate a
signal indicating passage of a seed) is preferably mounted to the
seed tube 232 and disposed to send light or electromagnetic waves
across the path of seeds 42. A closing system 236 including one or
more closing wheels is pivotally coupled to the row unit 200 and
configured to close the trench 38.
[0035] Turning to FIG. 3, a depth control and soil monitoring
system 300 is schematically illustrated. The monitor 50 is
preferably in electrical communication with components associated
with each row unit 200 including the drives 315, the seed sensors
305, the GPS receiver 52, the downforce sensors 392, the valves
390, the depth adjustment actuator 380, the depth actuator encoders
382 (and in some embodiments an actual depth sensor 385 described
later herein), and the solenoid valves 390. In some embodiments,
particularly those in which each seed meter 230 is not driven by an
individual drive 315, the monitor 50 is also preferably in
electrical communication with clutches 310 configured to
selectively operably couple the seed meter 230 to the drive
315.
[0036] Continuing to refer to FIG. 3, the monitor 50 is preferably
in electrical communication with a cellular modem 330 or other
component configured to place the monitor 50 in data communication
with the Internet, indicated by reference numeral 335. Via the
Internet connection, the monitor 50 preferably receives data from a
weather data server 340 and a soil data server 345.
[0037] Continuing to refer to FIG. 3, the monitor 50 is also
preferably in electrical communication with one or more temperature
sensors 360 mounted to the planter 10 and configured to generate a
signal related to the temperature of soil being worked by the
planter row units 200. In some embodiments one or more of the
temperature sensors 360 comprise thermocouples disposed to engage
the soil; in such embodiments the temperature sensors 360
preferably engage the soil at the bottom of the trench 38. One such
embodiment is illustrated in FIG. 4A, in which a seed firmer 410 is
illustrated mounted to the shank 254 by a bracket 415. As is known
in the art, the seed firmer is preferably designed to resiliently
engage the bottom of the trench 38 in order to press seeds 42 into
the soil before the trench is closed. In the embodiment of FIG. 4A,
the thermocouple is housed partially inside the firmer 410 and
extends slightly from a bottom surface of the firmer in order to
engage the soil such that the temperature sensor 360 generates a
signal related to the temperature of the soil at the bottom of the
trench 38. As illustrated in the rear elevation view of FIG. 4B,
the temperature sensor 360 preferably extends from the firmer 410
at a transverse distance from the centerline of the firmer such
that the temperature sensor does not contact seeds 42 passing
beneath the bottom surface of the firmer. In another embodiment
illustrated in FIG. 4C, the thermocouple is in contact with a
soil-contacting component, e.g., a hollow copper tube 420 housed
partially within the firmer 410 and extending therefrom to contact
the soil near the bottom of the trench 38. In the illustrated
embodiment, the tube 420 contacts the soil on both sides of the
trench 38 such that the signal generated by the thermocouple is
related to the temperature of the soil at the points of contact
between the tube 420 and the soil. In other embodiments, one or
more of the temperature sensors 360 may comprise a sensor disposed
and configured to measure the temperature of the soil without
contacting the soil as disclosed in International Patent
Application No. PCT/US2012/035563, the disclosure of which is
hereby incorporated herein in its entirety by reference.
[0038] Referring to FIG. 3, the monitor 50 is preferably in
electrical communication with one or more moisture sensors 350
mounted to the planter 10 and configured to generate a signal
related to the temperature of soil being worked by the planter row
units 200. In some embodiments one or more of the moisture sensors
350 comprise moisture probes (e.g., sensors configured to measure
the electrical conductivity or dielectric permittivity) disposed to
engage the soil; in such embodiments the temperature sensors 360
preferably engage the soil at the bottom of the trench 38. One such
embodiment is illustrated in FIG. 4A, in which the moisture sensor
350 is housed partially inside the firmer 410 and extends slightly
from a bottom surface of the firmer in order to engage the soil
such that the moisture sensor 350 generates a signal related to the
temperature of the soil at the bottom of the trench 38. As
illustrated in the rear elevation view of FIG. 4B, the moisture
sensor 350 preferably extends from the bottom of the firmer 410 at
a transverse distance from the centerline of the firmer such that
the moisture sensor does not contact seeds 42 passing beneath the
bottom surface of the firmer. In another embodiment illustrated in
FIG. 10, the moisture sensor 350 includes two co-planar capacitor
plates 1020a and 1020b housed within the firmer 410 which pass
adjacent to the bottom of the trench without displacing soil at the
bottom of the trench. In some embodiments, the firmer 410 includes
a region 1030 disposed above the capacitor plates 1020, the region
1030 having a low permittivity (e.g., in embodiments in which the
region 1030 comprises an air cavity or a material having a low
permittivity) or a high permittivity (e.g., in embodiments in which
the region 1030 contains a material having high permittivity). In
other embodiments, one or more of the moisture sensors 350 may
comprise a sensor disposed and configured to measure the moisture
content of the soil without contacting the soil, e.g., one or more
infrared or near-infra-red sensors disposed to measure
electromagnetic waves generated by one or more emitters (e.g.,
light-emitting diodes) and reflected from the soil surface (e.g.,
the bottom of the trench 38).
[0039] Referring to FIG. 3, the monitor 50 is preferably in
electrical communication with a mobile receiver 54 (e.g., a
wireless data receiver) configured to receive data wirelessly
(e.g., via a radio transmitter) from a base station 325 located in
a field of interest. Turning to FIG. 24, the base station 325
preferably includes one or more temperature probes 2420, 2422
disposed at multiple depths in the soil in order to measure soil
temperature at multiple depths. The base station 325 preferably
includes one or more moisture probes 2430, 2432 disposed at
multiple depths in the soil 40 in order to measure soil moisture at
multiple depths. Each soil and moisture probe is preferably in
electrical communication with a processor 2405. The processor 2405
is preferably in communication with a wireless transmitter 2415.
The processor 2405 is preferably configured to convert signals to a
format suitable for transmission via the wireless transmitter 2415
and to transmit the resulting formatted signals via the wireless
transmitter. The base station 325 preferably includes a digital
rain gauge 2410 (e.g., an optical, acoustic or weighing-type gauge)
and a digital air temperature sensor 2412, both of which are
preferably in electrical communication with the processor 2405.
[0040] In some embodiments, a temperature and/or moisture
measurement may be made by a measurement unit independent of the
row units 200. An embodiment of a measurement unit 2500 is
illustrated in FIG. 25. The measurement unit 2500 preferably
includes a coulter 2530 disposed to open a trench 39 in the soil
40; in some embodiments the measurement unit instead includes two
angled opening discs disposed to open a more v-shaped trench). The
coulter 2530 is preferably rollingly mounted to a bracket 2540. The
bracket 2540 preferably has sufficient weight to urge the coulter
2530 into the soil. A gauge wheel 2520 (or pair of gauge wheels) is
preferably rollingly mounted to the bracket 2540 and disposed to
ride along the surface of the soil, thus limiting the depth of the
trench 39. The depth of the trench 39 is preferably set to a depth
of interest; e.g., a default trench depth such as 1.75 inches. In
some embodiments, the measuring unit 2500 incorporates a depth
adjustment actuator in electrical communication with the monitor 50
and configured to modify the vertical distance between the mounting
points of the coulter 2530 and the gauge wheel 2520 in order to
adjust the trench depth. The bracket 2540 is preferably mounted to
the toolbar 14 via a parallel arm arrangement 2526 such that the
bracket is permitted to translate vertically with respect to the
toolbar. A spring 2518 is preferably mounted to the parallel arm
arrangement in order to urge the coulter 2530 into the soil 40. A
temperature and/or moisture sensor 2550 is preferably mounted to
the measurement unit 2500 (or in some embodiments the toolbar 14)
and configured to measure temperature and/or moisture of soil in
the trench 39. As in the illustrated embodiment, the sensor 2550
may comprise a sensor configured to measure temperature and/or
moisture without contacting the soil such as an infrared sensor. In
other embodiments, the sensor 2550 may incorporate sensors
configured to engage the soil at the bottom of the trench 39
similar to those described herein, e.g., with respect to FIG.
4A.
Depth Adjustment Methods
[0041] Various methods disclosed herein in the section titled
"Depth Control Methods" determine desired depths and/or desired
depth adjustments. The actual adjustment of depth to the desired
depth may be accomplished according to one of several methods as
described in this section.
[0042] In a first method, the system 300 sends a command signal to
the depth adjustment actuator 380 which corresponds to a desired
depth or desired depth adjustment. The actuator 380 is preferably
calibrated such that a set of depths and corresponding command
signals are stored in the memory of the monitor 50.
[0043] In a second method, the system 300 sends a command signal to
the depth adjustment actuator 380 in order to increase or decrease
the trench depth until the desired depth or depth adjustment has
been indicated by the depth actuator encoder 382.
[0044] In a third method, the system 300 sends a command signal to
the depth adjustment actuator 380 in order to increase or decrease
the trench depth until the desired depth or depth adjustment has
been indicated by a depth sensor 385 configured to measure the
actual depth of the trench. In some embodiments, the depth sensor
385 may comprise a sensor (or multiple sensors) disposed to measure
a rotational position of the gauge wheel arms 260 relative to the
row unit 200 as disclosed in Applicant's co-pending Provisional
Patent Application No. 61/718,073, the disclosure of which is
hereby incorporated herein in its entirety by reference. In other
embodiments, the depth sensor 385 comprises a sensor disposed to
directly measure the depth of the trench 38. One such embodiment is
illustrated in FIG. 26, in which the depth sensor 385 includes a
ski 2610 configured to ride along the surface of the soil to the
side of the trench 38. In some embodiments, the ski 2610 includes
two ground-engaging portions disposed to ride the surface of the
soil on either side of the trench 38. An arm 2620 is preferably
mounted to an upper surface of a portion of the firmer 410 which
engages the trench 38. The arm 2620 preferably extends through an
aperture in the ski 2610 such that the arm slides vertically
relative to the ski as the firmer 410 deflects up and down. A
magnet 2640 is preferably mounted to the arm 2620. A Hall-effect
sensor 2630 is preferably mounted to the ski 2610. The Hall-effect
sensor 2630 preferably comprises a circuit board including multiple
Hall-effect sensors vertically spaced along a surface of the
circuit board adjacent a plane defined by the range of motion of
the magnet 2640. The Hall-effect sensor 2630 is preferably
configured to generate a signal related to the position of the
magnet 2640. The Hall-effect sensor 2630 is preferably in
electrical communication with the monitor 50. The monitor 50 is
preferably configured to determine the depth of the trench 38 based
on the signal generated by the Hall-effect sensor 2630, for
example, using an empirical lookup table.
Depth Control Methods
[0045] The system 300 preferably controls the depth of the trench
38 in which seeds are planted according to various processes based
on one or more measurements or data inputs obtained by the system
300. It should be appreciated that the trench depth for an
individual row unit 200 or group of row units may be controlled by
measurements made by a sensor on the row unit or by a sensor on
another row unit or remote from the row units 200 (e.g., on a
measurement unit 2500 as described herein) or remote from the
implement 10 (e.g., on a base station 325 as described herein).
Likewise, the depth control methods described herein may be used to
control the trench depth for a single row unit or a group of row
units. Thus, for example, a single temperature measurement may be
made at a single row unit 200 and used to determine a desired depth
at multiple row units 200. Additionally, the moisture measurements
used in the processes described herein may be obtained either from
one of the moisture sensors described herein or using multiple
temperature measurements at multiple depths, e.g., by generating a
best-fit linear temperature-depth relationship and consulting a
lookup table or empirically-developed equation correlating the
slope of the temperature-depth relationship to soil moisture.
[0046] A process 500 for controlling trench depth based on soil
moisture is illustrated in FIG. 5. At step 505, the system 300
preferably commands the depth adjustment actuator 380 to set the
trench depth to a default depth Dd, e.g., 1.75 inches. At step 510,
the system 300 preferably monitors the signal from a moisture
sensor 350. At step 515, the system 300 preferably compares the
measured moisture M to a predetermined range, preferably defined by
a low moisture Ml (e.g., 15%) and an high moisture Mh (e.g., 35%).
Moisture values are expressed herein as a volumetric percentage of
water content; it should be appreciated that other units or
measures of soil moisture as are known in the art may be
substituted for these values. If the moisture M is less than Ml,
then at step 520 the system 300 preferably determines whether the
current depth D is less than or equal to a maximum depth Dmax
(e.g., 2.25 inches); if it is, then at step 525 the system 300
preferably increases the depth D by an increment (e.g., 0.175
inches) and again monitors the soil moisture; if not, then at step
505 the system 300 preferably sets the depth D to the default
depth. If at step 515 the moisture M is greater than Mh, then at
step 530 the system 300 preferably determines whether the current
depth D is greater than or equal to a minimum depth Dmin (e.g.,
1.25 inches); if it is, then at step 535 the system 300 preferably
decreases the depth D by an increment (e.g., 0.175 inches); if not,
then at step 510 the system 300 preferably again monitors the
moisture measurement signal. If at step 515 the current moisture M
is between Ml and Mh, then at step 517 the system 300 preferably
retains the current depth setting D and returns to monitoring the
moisture measurement signal. In some embodiments of the method 500
reflected by alternate path 524, if M is greater than Mh and D is
less than Dmin, the system adjusts the depth D to the default
depth. In other embodiments of the method 500 reflected by
alternate path 522, if M is less than Ml and D is greater than
Dmax, then the system 300 returns to monitoring the moisture
measurement signal without adjusting the depth D to the default
depth.
[0047] A process 600 for controlling trench depth based on soil
temperature is illustrated in FIG. 6. At step 605, the system 300
preferably commands the depth adjustment actuator 380 to set the
trench depth to a default depth, e.g., 1.75 inches. At step 610,
the system 300 preferably monitors the signal from a temperature
sensor 360. At step 615, the system 300 preferably compares the
measured temperature T to a predetermined range, preferably defined
by a low temperature Tl (e.g., 55 degrees Fahrenheit) and a high
temperature Th (e.g., 65 degrees Fahrenheit). If the temperature T
is greater than Th, then at step 620 the system 300 preferably
determines whether the current depth D is less than or equal to a
maximum depth Dmax (e.g., 2.25 inches); if it is, then at step 625
the system 300 preferably increases the depth D by an increment
(e.g., 0.175 inches) and again monitors the soil temperature; if
not, then at step 605 the system 300 preferably sets the depth D to
the default depth. If at step 615 the temperature T is less than
Tl, then at step 630 the system 300 preferably determines whether
the current depth D is greater than or equal to a minimum depth
Dmin (e.g., 1.25 inches); if it is, then at step 635 the system 300
preferably decreases the depth D by an increment (e.g., 0.175
inches); if not, then at step 610 the system 300 preferably again
monitors the moisture measurement signal. If at step 615 the
current temperature T is between Tl and Th, then at step 617 the
system 300 preferably retains the current depth D and returns to
monitoring the temperature measurement signal. In some embodiments
of the process 600 reflected by alternate path 622, if T is greater
than Th and D is greater than Dmax, the system 300 returns to
monitoring the temperature measurement signal without adjusting the
depth D to the default depth. In other embodiments of the process
600 reflected by alternate path 624, if T is less than Tl and D is
less than Dmin, then the system 300 adjusts the depth D to the
default depth before returning to monitoring the moisture
measurement signal. In still other embodiments of the process 600
reflected by alternate path 626, if T is greater than Th and D is
less than or equal to Dmax, then the system 300 returns to
monitoring the temperature measurement signal without adjusting the
depth D to the default depth.
[0048] In other embodiments of the process 600, a stationary probe
or on-planter temperature probe is configured and disposed to
determine the soil temperature at a constant depth (e.g., 4 inches)
Dc greater than or equal to Dmax. The system preferably compares
the measured temperature at depth D to the measured temperature at
Dc and determines a distribution of temperatures between D and Dc.
The desired depth is then selected corresponding to a desired
temperature within the distribution.
[0049] A process 700 for controlling depth based on soil moisture
and soil temperature is illustrated in FIG. 7. At step 705, the
system 300 preferably runs the process 500 and the process 600
simultaneously. The term "simultaneously" as used herein means that
the processes generally run at the same time and does not require
that any particular corresponding step in each process be carried
out at or near the same time; however, in a preferred embodiment,
after each cycle of the processes 500, 600 (the term "cycle"
meaning, e.g., a sequence resulting in a depth change
recommendation even if the recommendation is to retain the current
depth) is completed, each process (e.g., process 500) preferably
waits for the current cycle of the other process (e.g., process
600) to complete before moving on to step 710. Once both processes
500, 600 have generated a depth recommendation, at step 710 the
system 300 preferably determines whether one process is
recommending a depth change while the other process is recommending
a depth change; if so, at step 715 the system 300 preferably
follows the recommendation requesting a depth change. If not, then
at step 720 the system 300 preferably determines whether the
moisture process 500 is recommending increased depth while the
temperature process 600 is requesting reduced depth; if not, then
at step 715 the system 300 preferably follows the recommendation
requesting a depth change; if so, then at step 725 the system 300
preferably adjusts the trench depth up and down by increments
relative to the current depth setting (e.g., by 0.175 inches deeper
and shallower than the current depth setting) in order to determine
whether a threshold increase in moisture or temperature is obtained
at depths above and below the current depth setting; after cycling
up and down at step 725, the system 300 preferably returns to the
current depth setting. At step 730, the system 300 preferably
determines whether temperature or moisture increases at the
increased or reduced depths sampled at step 725. If temperature
does not increase by at least a threshold (e.g., 2 degrees
Fahrenheit) at decreased depth but moisture increases by at least a
threshold (e.g., 2%) at increased depth, then at step 732 the
system 300 preferably increases the depth by the increment
recommended by the moisture process 500. If temperature increases
by at least a threshold (e.g., 2 degrees Fahrenheit) at decreased
depth but moisture does not increase by at least a threshold (e.g.,
2%) at increased depth, then at step 734 the system 300 preferably
reduces the depth by the increment recommended by the temperature
process 600. In all other cases, at step 736 the system 300
preferably retains the current depth setting.
[0050] Another process 800 for controlling depth based on soil
temperature and soil moisture is illustrated in FIG. 8. At step
805, the system preferably runs the process 500 and the process 600
simultaneously. At step 810, after each cycle of the processes 500,
600, the system 300 preferably waits until both processes have
supplied a depth recommendation. At step 815, the system 300
preferably sums the recommended depth adjustment increments
recommended by both processes 500, 600; it should be appreciated
that if either of the processes 500, 600 recommend retaining the
current depth, then that process contributes zero to the summed
increment. At step 820, the system 300 preferably adjusts the depth
setting by the summed increment.
[0051] A modified process 800' for controlling depth based on soil
temperature and soil moisture is illustrated in FIG. 9. The
modified process 800' is similar to the process 800, but at step
812 multipliers are preferably applied to each of the incremental
depth adjustments recommended by the processes 500, 600. In some
embodiments, the multipliers may be based on the relative agronomic
cost associated with lost moisture and/or temperature; for example,
assuming a greater agronomic cost is associated with lost moisture
than with lost temperature, the multipliers may be 0.9 for the
temperature recommendation and 1.1 for the moisture recommendation.
It should be appreciated that multipliers may be applied to the
input values rather than the resulting recommendations of processes
500, 600; for example, a multiplier of 0.9 per degree Fahrenheit
may be applied to the temperature measurement and a multiplier of
1.1 per 1% moisture content may be applied to the moisture
measurement.
[0052] A process 1100 for controlling depth based on soil data is
illustrated in FIG. 11. At step 1105, the system 300 preferably
accesses soil data (e.g., a geo-referenced soil data map such as a
shape file associating soil data with geo-referenced positions);
the monitor 50 may obtain the soil data from the soil data server
345, although in some embodiments the soil data may be stored in
the memory of the monitor 50. At step 1110, the system 300
preferably compares a current location of the planter 10 (e.g., as
reported by the GPS receiver 52) to the geo-referenced soil data in
order to determine a soil characteristic (e.g., soil type) of the
soil at the current location. At step 1115, the system 300
preferably determines a desired depth based on the retrieved soil
data, e.g., using a lookup table relating desired depths to soil
characteristic ranges. In one illustrative example, the lookup
table may include a set of soil types, each associated with a
desired depth; e.g., Ipava soil may be associated with a desired
depth of 1.75 inches while Sable soil may be associated with a
desired depth of 1.8 inches. In other embodiments, at step 1115 the
system 300 uses a formula to calculate a desired depth Dd based on
the soil data, e.g., using the equation:
D.sub.d=1.75+0.007.times.(C-10)
[0053] Where: C is the clay content of the soil, expressed as a
percentage.
[0054] At step 1120 the system 300 preferably adjusts the trench
depth to the desired depth.
[0055] A process 1200 for controlling depth based on soil data and
soil temperature is illustrated in FIG. 12. At step 1205, the
system 300 preferably accesses soil data as described above with
respect to step 1105 of process 1100. At step 1210, the system 300
preferably determines a soil characteristic by comparing the
current location to the geo-referenced soil data as described above
with respect to step 1110 of process 1100. At step 1215, the system
300 preferably determines a temperature multiplier using a lookup
table or equation relating temperature multipliers to soil
characteristic ranges; e.g., a multiplier of 1.1 may be associated
with Ipava soil while a multiplier of 0.9 may be associated with
Sable soil. At step 1220, the system 300 preferably determines the
current temperature from the temperature sensor signal. At step
1225, the system 300 preferably applies the temperature multiplier
to the measured temperature. At step 1230, the system 300
preferably determines a recommended depth adjustment using the
modified (multiplier-applied) temperature, e.g., using the process
600 described herein. At step 1235, the system 300 preferably
applies the recommended depth adjustment. It should be appreciated
that the process 1200 could be modified in order to control depth
based on soil type and other measured soil characteristics such as
soil moisture. In some embodiments, the monitor 50 consults a
lookup table to determine values of Mh and Ml for the soil type
corresponding to the current position of the row unit; e.g., the
values of Mh, Ml may be 30%, 15% respectively for silt loam and
36%, 20% respectively for sandy clay loam.
[0056] A process 1300 for controlling depth based on weather data
is illustrated in FIG. 13. At step 1305, the system 300 preferably
accesses weather data, e.g. from the weather data server 340. The
system 300 then determines a desired depth based on the weather
data, which may include, inter alia, predicted precipitation,
predicted air temperature, past precipitation, or past air
temperature. In the illustrated example, at step 1310 the system
300 obtains the predicted air temperature and determines the number
of growing degree days G between the time of planting and the time
of germination, e.g., using the equation below in which preferred
values are specified for corn:
G = n = 1 N ( T max + T min 2 - Tbase ) ##EQU00001## [0057] Where:
N is the number of days between planting to germination, e.g. 5;
[0058] Tmax is the maximum predicted temperature in Fahrenheit
during each successive 24-hour period following the time of
planting; [0059] Tmin is the minimum predicted temperature in
Fahrenheit during each successive 24-hour period following the time
of planting, or Tbase if the minimum predicted temperature is less
than Tbase; and [0060] Tbase is the base temperature for the seed,
e.g., 50 degrees Fahrenheit.
[0061] Once the number of predicted growing degree days is
determined, at step 1315 the system 300 preferably determines a
desired depth based on the number of predicted growing days. In
some embodiments, the system 300 consults a lookup table stored in
the memory of the monitor 50; for example, a depth of 1.75 inches
may be desired for growing degree days greater than 30, a depth of
1.5 inches may be desired for growing degree days between 15 and
30, and a depth of 1.25 inches may be desired for growing degree
days between 0 and 15 degrees. It should be appreciated that a
shallower depth is generally desired for lesser growing degree day
values. At step 1335, the system 300 preferably adjusts the trench
depth to the desired depth determined at step 1315.
[0062] A process 1400 for controlling depth based on weather data
and soil temperature is illustrated in FIG. 14. At step 1405, the
system 300 preferably accesses weather data as described above with
respect to process 1300. At step 1410, the system 300 preferably
determines a number of growing degree days as described above with
respect to process 1300. At step 1415, the system 300 preferably
determines the current temperature based on the signal received
from the temperature sensor 360. At step 1420, the system 300
preferably applies a multiplier to the measured temperature; the
multiplier is preferably based on the number of growing degree days
calculated at step 1410. For example, a multiplier of 1 may be
applied for growing degree days greater than 15 and a multiplier of
0.8 may be applied for growing degree days less than 15; it should
be appreciated that resulting modified soil temperature is
preferably smaller for smaller growing degree day values. At step
1425, the system 300 preferably determines a recommended depth
adjustment based on the modified (multiplier-applied) temperature,
e.g., using the process 600 described herein. At step 1430, the
system 300 preferably adjusts the trench depth according to the
adjustment determined at step 1425.
[0063] A process 1500 for controlling depth based on data received
from the base station 325 is illustrated in FIG. 15. At step 1505,
the system 300 preferably receives temperature measurements at
multiple depths from the base station 325. At step 1510, the system
300 preferably determines an empirical relationship between depth
and temperature, e.g., by determining a linear or other equation
that best fits the temperature measurements at the base station
325. At step 1515, the system 300 preferably receives moisture
measurements at multiple depths from the base station 325. At step
1520, the system 300 preferably determines an empirical
relationship between depth and moisture, e.g., by determining a
linear or other equation that best fits the moisture measurements
at the base station 325. At step 1525, the system 300 preferably
determines a desired depth based on the moisture and depth
measurements received from the base station 325. In some
embodiments, the system 300 selects a depth at which the loss L
resulting from a lack of moisture and temperature is minimized,
e.g., where the loss L is determined by the equation:
L=L.sub.m+L.sub.t [0064] Where: Lt=Tl-T for T<Tl, Lt=0 for
T.gtoreq.Tl; [0065] Lm=15-Ml for M<Ml, Lm=0 for M.gtoreq.Ml;
[0066] Ml is the minimum moisture level as described elsewhere
herein, e.g., 15%; and [0067] Tl is the minimum temperature
described elsewhere herein, e.g., 50 degrees F.
[0068] The system 300 preferably selects a depth corresponding to
the minimum L-value for all depths between the maximum depth Dmax
and minimum depth Dmin. If the minimum value of L is within a
threshold (e.g., 5%) of the maximum L-value, then the system 300
preferably selects a default depth (e.g., 1.75 inches) instead of
the depth corresponding to the minimum L-value. At step 1530, the
system 300 preferably adjusts the trench depth to the depth
selected at step 1525.
[0069] A process 1600 for controlling depth based on soil and
moisture data and weather data is illustrated in FIG. 16. At step
1605, the system 300 preferably receives temperature measurements
at multiple depths from the base station 325 as described above
with respect to the process 1500. At step 1610, the system 300
preferably determines an empirical relationship between temperature
and depth as described above with respect to the process 1500. At
step 1615, the system 300 preferably receives moisture measurements
at multiple depths from the base station 325 as described above
with respect to the process 1500. At step 1620, the system 300
preferably determines an empirical relationship between moisture
and depth as described above with respect to the process 1500. At
step 1625, the system 300 receives temperature data, preferably
from the base station 325 and/or the weather data server 340. The
temperature data may include past recorded air temperature (e.g.,
recorded local air temperature during the previous 24 hours) as
well as forecasted air temperature (e.g., forecasted local air
temperature during the following 60 hours); the temperature data
may also include recorded cloud conditions and forecasted cloud
conditions. At step 1630, the system 300 preferably adjusts the
temperature-depth relationship based on the temperature data. For
example, in some embodiments the system 300 may adjust the
temperature-depth relationship based on the local air temperature
recorded during a period prior to planting and the forecasted
temperature during the germination period (e.g., 60 hours) after
planting. In one such embodiment, the system 300 modifies the
temperature-depth relationship T(d) to a modified temperature-depth
relationship T'(d) using the equation:
T ' ( d ) = T .function. ( d ) .times. H p H f .times. .intg. 0 H
.times. f A .function. ( h ) .times. d .times. h .intg. - H .times.
p 0 A .function. ( h ) .times. d .times. h ##EQU00002## [0070]
Where: A(h) is air temperature as a function of time in hours h;
[0071] Hp is the number of hours prior to planting over which
recorded air temperature is used; and [0072] Hf is the number of
hours after planting over which forecasted air temperature is
used.
[0073] Continuing to refer to process 1600 of FIG. 16, at step 1635
the system 300 receives precipitation data, preferably from the
base station 325 and/or the weather data server 340. The
precipitation data may include past recorded rainfall (e.g.,
recorded local rainfall during the previous 24 hours) as well as
forecasted rainfall (e.g., forecasted local rainfall during the
following 60 hours). At step 1640, the system 300 preferably
adjusts the moisture-depth relationship based on the precipitation
data. For example, in some embodiments the system 300 may adjust
the moisture-depth relationship based on local rainfall recorded
during a period prior to planting and the forecasted rainfall
during the germination period (e.g., 60 hours) after planting. In
one such embodiment, the system 300 modifies the moisture-depth
relationship M(d) to a modified moisture-depth relationship M'(d)
using the equation:
M ' ( d ) = M .function. ( d ) .times. H p H f .times. .intg. 0 H
.times. f R .function. ( h ) .times. d .times. h .intg. - H .times.
p 0 R .function. ( h ) .times. d .times. h ##EQU00003## [0074]
Where: R(h) is rainfall as a function of time in hours h; [0075] Hp
is the number of hours prior to planting over which recorded
rainfall is used; and [0076] Hf is the number of hours after
planting over which forecasted rainfall is used.
[0077] Continuing to refer to process 1600 of FIG. 16, at step 1645
the system 300 preferably determines a desired depth based on the
modified temperature-depth and modified moisture-depth
relationships generated at steps 1630, 1640; in some embodiments,
step 1645 is carried out as described herein with respect to step
1525 of process 1500. At step 1650, the system 300 preferably
adjusts the trench depth to the desired depth.
Display and User Interface
[0078] As illustrated in FIG. 17, the monitor 50 is preferably
configured to display a screen 1700 displaying spatial soil
temperature data. The screen 1700 preferably displays the live
position of the planter 10 and each of the associated row units 200
(numbered 1 through 4 in FIG. 17). In the embodiment of FIG. 17,
temperature measurements are made at each row unit 200. Each
temperature measurement is preferably time-stamped and associated
with a GPS position; the screen 1700 preferably displays resulting
temperature-location data points 1722, 1724, 1726 associated (e.g.,
by color or hatching) with legend ranges 1712, 1714, 1716, which
are preferably illustrated in a legend 1710. An interface 90
preferably enables the user to navigate between map screens.
[0079] As illustrated in FIG. 18, the monitor 50 is preferably
configured to display a screen 1800 displaying spatial soil
moisture data. The screen 1800 preferably displays the live
position of the planter 10 and each of the associated row units 200
(numbered 1 through 4 in FIG. 18). In the embodiment of FIG. 18,
moisture measurements are made at each row unit 200. Each moisture
measurement is preferably time-stamped and associated with a GPS
position; the screen 1800 preferably displays resulting
moisture-location data points 1822, 1824, 1826 associated with
legend ranges 1812, 1814, 1816, which are preferably illustrated in
a legend 1810.
[0080] As illustrated in FIG. 19, the monitor 50 is preferably
configured to display a screen 1900 displaying spatial trench depth
data. The screen 1900 preferably displays the live position of the
planter 10 and each of the associated row units 200 (numbered 1
through 4 in FIG. 19). In the embodiment of FIG. 19, trench depth
measurements (or records of commanded trench depth) are made at
each row unit 200. Each trench depth measurement is preferably
time-stamped and associated with a GPS position; the screen 1900
preferably displays resulting depth-location data points 1922,
1924, 1926 associated with legend ranges 1912, 1914, 1916, which
are preferably illustrated in a legend 1910.
[0081] In some embodiments, the screens 1700, 1800 and/or 1900
include a map overlay comprising spatial data from prior operations
and/or prior seasons. The map overlay may be compared side-by-side
with or partially transparent and superimposed over the
temperature, moisture or depth data. In some embodiments the map
overlay comprises aerial imagery (e.g., photographic, NDVI, plant
emergence, or thermal imagery) previously captured for the same
field. In other embodiments, the map overlay comprises application
data (e.g., planting data gathered from seed sensors or nitrogen
application rate data). In still other embodiments the map overlay
comprises yield data recorded during harvest in a prior season.
[0082] Turning to FIG. 20, the monitor 50 is preferably configured
to display a germination summary screen 2000. A window 2005
preferably displays the percentage of seeds S planted at a desired
moisture level, which the monitor 50 preferably calculates
according to the equation:
S = S m S t .times. 1 .times. 0 .times. 0 .times. % ##EQU00004##
[0083] Where: St is the total number of seeds planted during the
current planting operation (e.g., in the current field); and [0084]
Sm is the number of seeds planted within a threshold distance
(e.g., 6 inches) of a GPS location associated with a moisture
measurement of at least a threshold value (e.g., 15%).
[0085] In embodiments of the system 300 having a moisture sensor
350 at each row, the value of Sm is preferably determined on a
row-by-row basis and then summed. In embodiments having fewer
moisture sensors 350 than row units 200, each moisture sensor is
associated with one or more row units and the value of Sm is
determined on a row-by-row basis with each row unit using the
moisture measurements of its associated moisture sensor. The
monitor 50 also determines the value of S for each individual row
and identifies the row having the lowest value of S in window
2005.
[0086] The germination summary screen 2000 also preferably includes
a window 2010 displaying the percentage of seeds R planted at a
desired temperature, which the monitor 50 preferably calculates
according to the equation:
R = R t S t .times. 1 .times. 0 .times. 0 .times. % ##EQU00005##
[0087] Where: Rt is the number of seeds planted within a threshold
distance (e.g., 6 inches) of a GPS location associated with a
temperature measurement of at least a threshold value (e.g., 55
degrees Fahrenheit).
[0088] In embodiments of the system 300 having a temperature sensor
360 at each row, the value of Rm is preferably determined on a
row-by-row basis and then summed. In embodiments having fewer
temperature sensors 360 than row units 200, each temperature sensor
is associated with one or more row units and the value of Rm is
determined on a row-by-row basis with each row unit using the
temperature measurements of its associated temperature sensor. The
monitor 50 also determines the value of R for each individual row
and identifies the row having the lowest value of R in window
2010.
[0089] The screen 2000 also preferably includes a window 2015
displaying an estimate of the probability P of successful
germination of seeds planted during the current planting operation
(e.g., in the current field), which the monitor 50 preferably
calculates using the equation:
P = R t + S m 2 .times. S t .times. 1 .times. 0 .times. 0 .times. %
##EQU00006##
[0090] In embodiments of the system 300 having moisture sensors but
no temperature sensors, the monitor 50 preferably calculates the
germination probability P using the equation:
P = S m S t .times. 1 .times. 0 .times. 0 .times. %
##EQU00007##
[0091] In embodiments of the system 300 having moisture sensors but
no temperature sensors, the monitor 50 preferably calculates the
germination probability P using the equation:
P = R t S t .times. 1 .times. 0 .times. 0 .times. %
##EQU00008##
[0092] Continuing to refer to FIG. 20, the screen 2000 preferably
includes a window 2020 displaying the average of the current
moisture measurements obtained from the moisture sensors 350. The
window 2020 preferably identifies the row unit or section (i.e.,
group of row units associated with a single moisture sensor 350)
from which the lowest moisture measurement is obtained. The screen
2000 preferably includes a window 2025 displaying the average of
the current temperature measurements obtained from the temperature
sensors 360. The window 2025 preferably identifies the row unit or
section (i.e., group of row units associated with a single
temperature sensor 360) from which the lowest temperature
measurement is obtained. The screen 2000 also preferably includes a
window 2030 displaying the current average depth setting commanded
to the depth adjustment actuators 380 (or in some embodiments, the
current average actual depth measurement obtained from depth
sensors 385). The window 2030 also preferably identifies the row
units having the shallowest and deepest trench depths. The screen
2000 also preferably includes an interface 2040 enabling the user
to navigate to row detail screens described later herein.
[0093] Continuing to refer to FIG. 20, the screen 2000 preferably
includes a planting recommendation window 2035 displaying a
recommendation indicating whether planting is recommended (e.g.,
"Keep Planting") or not recommended (e.g., "Stop Planting"). The
monitor 50 preferably determines which recommendation to display
based on current moisture and/or temperature measurements made by
the system 300 or the average measurements made during the current
planting operation (e.g., in the current field). In some
embodiments the monitor recommends planting only if the loss L
(calculated as described above) is less than a threshold, e.g., 20.
In embodiments in which the system 300 includes moisture sensors
350 but no temperature sensors 360, the monitor 50 preferably
recommends planting only if the moisture measurement displayed in
window 2020 is greater than a threshold, e.g., 15%. In embodiments
in which the system 300 includes temperature sensors 360 but no
moisture sensors 350, the monitor 50 preferably recommends planting
only if the temperature measurement displayed in window 2025 is
greater than a threshold, e.g., 55 degrees Fahrenheit.
[0094] It should be appreciated that the moisture and temperature
values displayed in the screen 2000 and used to calculate the
germination potential value (window 2015) and determine the
planting recommendation (window 2035) may be adjusted based on
weather data as described earlier herein.
[0095] Turning to FIG. 21, the monitor 50 is preferably configured
to display a row by row summary screen 2100. The screen 2100
preferably includes a graph 2110 illustrating the trench depth at
each row unit, a graph 2130 illustrating the moisture measured at
each row unit, a graph 2120 illustrating the germination potential
determined for each row unit, and a graph 2140 illustrating the
temperature measured at each row unit.
[0096] Turning to FIG. 22, the monitor 50 is preferably configured
to display a row details screen 2200 for each row unit 200. The row
details screen preferably includes windows 2205, 2210, 2215, 2220,
2225, 2230 displaying individual row values used to calculate the
average values displayed in windows 2005, 2010, 2015, 2020, 2025,
2030, respectively, of the screen 2000.
[0097] Turning to FIG. 23, the monitor 50 is preferably configured
to display a setup screen 2300 enabling the user to vary the
parameters used in the depth control processes described herein.
The screen 2300 preferably includes a depth interface 2310 for
setting the minimum depth Dmin, the default depth Dd, and the
maximum depth Dmax. The screen 2300 preferably includes a
temperature interface 2320 for setting the high temperature Th and
the low temperature Tl. The screen 2300 preferably includes a
moisture interface 2330 for setting a high moisture Mh and a low
moisture Ml. The screen 2300 preferably includes an interface 2340
enabling the user to select which variables are used to control
depth. The monitor 50 is preferably configured to select a depth
control process which uses the variables selected by the user as in
puts and does not require the variables not selected by the user.
For example, if the user selects only "Live Moisture", the system
300 preferably uses the process 500 to control trench depth,
whereas if the user selects only "Live Moisture" and "Live
Temperature", the system 300 preferably uses one of the processes
700, 800, or 800' to control trench depth.
[0098] Continuing to refer to FIG. 23, the screen 2300 preferably
includes a depth control interface 2350 enabling allowing the user
to turn off all of the depth control processes (e.g., by selecting
"Off") such that the system 300 leaves the trench depth at each row
unit 200 at the current setting (or in some embodiments, returns
each row unit to the default depth Dd). The screen 2300 also
preferably includes a user approval interface 2360 enabling the
user to select whether the monitor 50 requests user approval before
requesting. If the user selects "On" in the interface 2360, then
the monitor 50 preferably prompts the user to approve or reject
changes in depth requested by the depth control processes described
herein (e.g., by a window superimposed over the active screen).
[0099] Turning to FIG. 27, the monitor 50 is preferably configured
to display a screen 2700 for manually setting trench depth and
preferably for viewing moisture and temperature data. The screen
2700 preferably displays a graph 2710 illustrating the relationship
between depth and moisture and between depth and temperature. The
depth-temperature relationship illustrated in the graph 2710 is
preferably generated by averaging the temperature measurements made
by the system 300 at various depths. The depth-moisture
relationship illustrated in the graph 2720 is preferably generated
by averaging the moisture measurements made by the system 300 at
various depths. It should be appreciated that the graph 2620
assists the user in selecting a depth at which the desired moisture
and temperature are available. The screen 2700 preferably displays
a depth interface (e.g., a sliding interface as illustrated)
allowing the user to set a trench depth; the system 300 preferably
adjusts the trench depth at each row unit to the manually selected
trench depth if a manual override interface 2605 is set to
"On".
[0100] The foregoing description is presented to enable one of
ordinary skill in the art to make and use the invention and is
provided in the context of a patent application and its
requirements. Various modifications to the preferred embodiment of
the apparatus, and the general principles and features of the
system and methods described herein will be readily apparent to
those of skill in the art. Thus, the present invention is not to be
limited to the embodiments of the apparatus, system and methods
described above and illustrated in the drawing figures, but is to
be accorded the widest scope consistent with the spirit and scope
of the appended claims.
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