Various embodiments relate generally to computer vision and automation to autonomously identify and deliver for application a treatment to an object among other objects, data science and data analysis, including machine learning, deep learning, and other disciplines of computer-based artificial intelligence to facilitate identification and treatment of objects, and robotics and mobility technologies to navigate a delivery system, more specifically, to an agricultural delivery system configured to identify and apply, for example, an agricultural treatment to an identified agricultural object. In some examples, a method may include identifying an emitter of an agricultural projectile delivery system to calibrate a trajectory of an agricultural projectile to intercept a target, predicting a projectile impact site relative to the reference of alignment, determining a calibration parameter to align the projectile impact site and the target, and adjusting the trajectory based on the one or more calibration parameters.

The present disclosure describes methods of treating soil with a composition including methyl isothiocyanate (MITC) or a compound that produces MITC as a degradate, or a functional equivalent or alternative thereof, by (1) applying the composition to soil to produce treated soil; and mixing/blending the treated soil to a depth of at least 60 cm; (2)applying the composition at two depths between 0 cm and 60 cm below the soil surface, at least one depth of which is at least 40 cm below the soil surface. Also provided are systems for delivering a composition including MITC or a compound that produces MITC as a degradate, or a functional equivalent or alternative thereof, to soil, for instance in a field. Described systems provide for delivery of the composition at least 40 cm below the soil surface, and optionally for mixing/blending the soil.

The present disclosure describes methods of treating soil with a composition including methyl isothiocyanate (MITC) or a compound that produces MITC as a degradate, or a functional equivalent or alternative thereof, by (1) applying the composition to soil to produce treated soil; and mixing/blending the treated soil to a depth of at least 60 cm; (2)applying the composition at two depths between 0 cm and 60 cm below the soil surface, at least one depth of which is at least 40 cm below the soil surface. Also provided are systems for delivering a composition including MITC or a compound that produces MITC as a degradate, or a functional equivalent or alternative thereof, to soil, for instance in a field. Described systems provide for delivery of the composition at least 40 cm below the soil surface, and optionally for mixing/blending the soil.

The present invention relates to a method for treatment of an agricultural field, the method comprising the steps: 1) receiving (S10) a parametrization (10) for controlling a treatment device (200) by the treatment device (200) from a field manager system (100); 2) receiving (S20) from at least one soil sensor (400) real-time soil information on the real-world situation of the geographical location G1 in the agricultural field; 3) processing (S30) the real-time soil information to generate processed information (30), 4) determining (S40) a control signal (50) for controlling a treatment arrangement (270) of the treatment device (200) based on the received parametrization (10) and the processed information (30), 5) executing (S50) a treatment on the geographical location G2 in the agricultural field, wherein the treatment is executed based on the control signal (50) real-time after receiving the real-time soil information in such a way that the distance between location G1 and location G2 does not exceed 100 meters.

An agricultural monitoring system, the agricultural monitoring system comprising: an imaging sensor, configured and operable to acquire image data at submillimetric image resolution of parts of an agricultural area in which crops grow, when the imaging sensor is airborne; a communication module, configured and operable to transmit to an external system image data content which is based on the image data acquired by the airborne imaging sensor; and a connector operable to connect the imaging sensor and the communication module to an airborne platform.

A penetration depth control and gauge wheel contact force monitoring system for a row unit includes a penetration depth actuator configured to drive a gauge wheel arm assembly to move a gauge wheel relative to a row unit frame to control a penetration depth of an opener of the row unit. The penetration depth actuator includes a contact force sensor configured to output a sensor signal indicative of a contact force between the gauge wheel and a soil surface, the penetration depth actuator includes a body configured to be coupled to one of the frame or the gauge wheel arm assembly, the penetration depth actuator includes an actuating device configured to be coupled to the other of the frame or the gauge wheel arm assembly, and the actuating device is configured to move relative to the body to drive the gauge wheel arm assembly to move the gauge wheel.

A penetration depth control and gauge wheel contact force monitoring system for a row unit includes a penetration depth actuator configured to drive a gauge wheel arm assembly to move a gauge wheel relative to a row unit frame to control a penetration depth of an opener of the row unit. The penetration depth actuator includes a contact force sensor configured to output a sensor signal indicative of a contact force between the gauge wheel and a soil surface, the penetration depth actuator includes a body configured to be coupled to one of the frame or the gauge wheel arm assembly, the penetration depth actuator includes an actuating device configured to be coupled to the other of the frame or the gauge wheel arm assembly, and the actuating device is configured to move relative to the body to drive the gauge wheel arm assembly to move the gauge wheel.

Modern farming is currently being done by powerful ground equipment or aircraft that weigh several tons and treat uniformly tens of hectares per hour. Automated farming can use small, agile, lightweight, energy-efficient automated robotic equipment that flies to do the same job, even able to farm on a plant-by-plant basis, allowing for new ways of farming. A hybrid airship-drone has both passive lift provided by a gas balloon and active lift provided by propellers. A hybrid airship-drone may be cheaper, more stable in flight, and require less maintenance than other aerial vehicles such as quadrocopters. However, hybrid airship-drones may also be larger in size and have more inertia that needs to be overcome for starting, stopping and turning.

Modern farming is currently being done by powerful ground equipment or aircraft that weigh several tons and treat uniformly tens of hectares per hour. Automated farming can use small, agile, lightweight, energy-efficient automated robotic equipment that flies to do the same job, even able to farm on a plant-by-plant basis, allowing for new ways of farming. A hybrid airship-drone has both passive lift provided by a gas balloon and active lift provided by propellers. A hybrid airship-drone may be cheaper, more stable in flight, and require less maintenance than other aerial vehicles such as quadrocopters. However, hybrid airship-drones may also be larger in size and have more inertia that needs to be overcome for starting, stopping and turning.

A mobile agricultural machine includes a row unit having a furrow opener mounted to the row unit and configured to engage a surface of ground over which the mobile agricultural machine travels to open a furrow in the ground. A furrow closer is mounted to the row unit behind the furrow opener and configured to engage the surface of the ground to close the furrow. A furrow sensor system is mounted to the row unit and configured to sense characteristics relative to the furrow opened by the furrow opener and generate a sensor signal indicative of the characteristics. The mobile agricultural machine can further include a control system configured to determine a furrow quality metric corresponding to the furrow sensed by the furrow sensor system based on the sensor signal and generate an action signal to control an action of the mobile agricultural machine based on the furrow quality metric.