An agricultural row unit assembly employs a pair of tine assemblies and a seedbed cultivator for soil preparation to enhance opportune planting.

A method for determining soil clod parameters within a field includes receiving, with a computing system, three-dimensional image data depicting an imaged portion of the field. The three-dimensional image data, in turn, includes a first two-dimensional image depicting the imaged portion of the field relative to a first position and a second two-dimensional image depicting the imaged portion of the field relative to a second position, with the first position being spaced apart from the second position. Furthermore, the method includes identifying, with the computing system, a soil clod depicted with the received three-dimensional image data. Additionally, the method includes comparing, with the computing system, the first and second two-dimensional images to identify a shadow surrounding at least a portion of the identified soil clod. Moreover, the method includes determining, with the computing system, a soil clod parameter associated with the identified soil clod based on the identified shadow.

The stalk eliminator chops stalks, uproots stalks, and re-chops stalks. The apparatus includes a front stalk chopper on a rotating cylinder with angularly attached blades. A plow tool attaches to the apparatus and provides a subsoiler wing behind and under the front stalk chopper. A rear stalk chopper on a rotating cylinder with angularly attached blades follows the plow tool.

A method for determining soil clod parameters within a field includes receiving, with a computing system, three-dimensional image data depicting an imaged portion of the field. The three-dimensional image data, in turn, includes a first two-dimensional image depicting the imaged portion of the field relative to a first position and a second two-dimensional image depicting the imaged portion of the field relative to a second position, with the first position being spaced apart from the second position. Furthermore, the method includes identifying, with the computing system, a soil clod depicted with the received three-dimensional image data. Additionally, the method includes comparing, with the computing system, the first and second two-dimensional images to identify a shadow surrounding at least a portion of the identified soil clod. Moreover, the method includes determining, with the computing system, a soil clod parameter associated with the identified soil clod based on the identified shadow.

A method for determining soil clod size within a field includes receiving an image depicting an imaged portion of the field. Furthermore, the method includes identifying a soil clod present within the imaged portion of the field. Additionally, the method includes determining a maximum height of the identified soil clod above a soil surface of the field. Moreover, the method includes determining a maximum length of the identified soil clod. In addition, the method includes determining a radius of a sphere based on the determined maximum height and the determined maximum length, with the sphere including a first portion approximating a portion of the identified soil clod positioned above the soil surface and a second portion approximating a portion of the identified soil clod positioned below the soil surface. Furthermore, the method includes determining a size of the identified soil clod based on the determined radius.

In one aspect, a method for determining soil clods within a field includes receiving one or more images depicting an imaged portion of an agricultural field. The method also includes classifying a portion of the plurality of pixels that are associated with soil within the imaged portion of the field as soil pixels with each soil pixel being associated with a respective pixel height. The method also includes generating a first ray from a local maximum in a first direction and a second ray from the local maximum in a second direction that is perpendicular to the first ray until opposing endpoints are determined based on a detected edge condition. Lastly, the method includes determining whether a soil clod based at least in part the first ray or the second ray of the candidate soil clod.

The stalk eliminator chops stalks, uproots stalks, and re-chops stalks. The apparatus includes a front stalk chopper on a rotating cylinder with angularly attached blades. A plow tool attaches to the apparatus and provides a subsoiler wing behind and under the front stalk chopper. A rear stalk chopper on a rotating cylinder with angularly attached blades follows the plow tool.

An implement has an implement frame and a wheel for supporting the implement frame on a ground surface for movement in a direction of travel. The implement also includes a first basket coupled to the implement frame by a first arm and configured to work a portion of the ground surface, and a second basket coupled to the implement frame by a second arm and positioned rearward of the first basket relative to the direction of travel. The second basket is configured to work the portion of the ground surface after the first basket. A hydraulic cylinder is operatively coupled to the first arm and/or the second arm and configured to lift and lower the respective basket with respect to the ground surface to and from a raised position for travel. The hydraulic cylinder is further configured to regulate a pressure of the respective basket against the portion of the ground surface.

An agricultural trench depth sensing system and method includes a light source (2002), a receiver (2003) and a sensor (2004). The light source directs light downwardly toward a trench previously opened in a soil surface. The receiver is disposed at an angle relative to the light source to receive reflected light. A sensor connected to the receiver senses a pattern of the reflected light. A monitoring system in communication with the sensor, generates a data frame containing triangulated line coordinates and intensity values of the reflected light indicative of a measured depth of the trench. The generated data frame may be associated with GPS coordinates for generating spatial maps and may be used to control operating parameters. The generated data frames may also identify relative soil moisture versus trench depth, or presence of dry topsoil or residue in the trench, or to identify seeds, seed spacing and seed depth.

Systems, methods and apparatus for imaging and characterizing a soil surface and a trench in the soil surface formed by an agricultural implement. The sensors are disposed on the agricultural implement in data communication with a processor to generate the soil surface and trench images which may be displayed to the operator. In one embodiment, the sensors include one or more time of flight cameras for determining a depth of the trench and other characteristics of the surrounding soil surface and the trench, including detection of seeds, soil or other debris in the trench and moisture lines within the trench. The system may control operating parameters of the implement based on the generated images.