Abstract
An on-the-go monitor and control means and method for an agriculture machines includes on-the-go soil sensors that can be used to control tillage and seeding depth. On seeder implements, the sensors provide information that affects uniform plant emergence.
Claims
1. A method of monitoring and displaying readings associated with a soil moisture sensor on an agricultural machine as the agricultural machine traverses a field, the method comprising: sensing soil moisture data with the soil moisture sensor on the agricultural machine as the agricultural machine traverses the field; displaying on a display associated with the agricultural machine a representation of soil moisture.
2. The method of claim 1 wherein the representation of soil moisture comprises soil moisture as percent content of soil.
3. The method of claim 1 wherein the representation of soil moisture comprises a soil moisture range in which the soil moisture falls.
4. The method of claim 1 wherein the agricultural machine is an agricultural tillage machine and wherein the soil moisture sensor is mounted on the agricultural machine to measure moisture at a cutting depth of the agricultural tillage machine.
5. The method of claim 1 wherein the agricultural machine is an agricultural tillage machine and wherein the method further comprises automatically controlling tillage depth of the agricultural tillage machine using the soil moisture data.
6. The method of claim 1 further comprising automatically controlling application rate of at least one agricultural input based on the soil moisture data, the at least one agricultural input selected from the set consisting of pesticides, fertilizers, growth regulators, defoliants, and seeds.
7. A method of monitoring and displaying readings associated with a soil temperature sensor on an agricultural machine as the agricultural machine traverses a field, the method comprising: sensing soil temperature data with the soil temperature sensor on the agricultural machine as the agricultural machine traverses the field; displaying on a display associated with the agricultural machine a representation of soil temperature.
8. The method of claim 7 wherein the representation of the soil temperature is in degrees Fahrenheit.
9. The method of claim 7 wherein the representation of the soil temperature is in degrees Celsius.
10. The method of claim 7 wherein the representation of soil temperature is in a range indicator format.
11. The method of claim 7 wherein the agricultural machine is an agricultural tillage machine and wherein the soil temperature sensor is mounted on the agricultural machine to measure temperature at a cutting depth of the agricultural tillage machine.
12. The method of claim 7 further comprising automatically controlling application rate of at least one agricultural input based on the soil temperature data, the at least one agricultural input selected from the set consisting of pesticides, fertilizers, growth regulators, defoliants, and seeds.
Description
DESCRIPTION OF FIGURES
[0039] The above mentioned features of this invention, and the methods of attaining them, will become more apparent and the invention itself will be better understood by reference to the following description of embodiments of the invention taken in conjunction with the accompanying figures, wherein:
[0040] FIG. 1 is a depiction of a healthy corn plant as compared to a late emerging corn plant.
[0041] FIG. 2 is a depiction of soil moisture variation in a crop field.
[0042] FIG. 3 illustrates one embodiment of a system of the present invention.
[0043] FIG. 4 illustrates another embodiment of a system of the present invention for adjusting planting depth and/or row unit down pressure on-the-go based on feedback from an on-the-go soil moisture sensors and/or seed to soil contact sensors on a planter.
[0044] FIG. 5 is a method of adjusting seed planting depth to ensure satisfactory soil moisture for optimum seed emergence.
[0045] FIG. 6 is a method of adjusting row unit down pressure to ensure satisfactory seed to soil contact for optimum seed emergence.
[0046] FIG. 7 is a diagram of an embodiment of the present invention attached to a tractor.
[0047] FIG. 8 is a depiction of soil moisture sensors or seed to soil contact sensors built into the bottom and/or sides of a seed firmer.
[0048] FIG. 9 is a diagram illustrating various methods of sensing data and displaying representations of the data.
[0049] FIG. 10 is a method for automatically adjusting tillage depth based on an on-the-go moisture sensor.
[0050] FIG. 11 is a method for automatically adjusting planting depth based on an on-the-go sensing of soil temperature.
[0051] FIG. 12 is a method for adjusting planting depth based on readings from an on-the-go seed furrow depth sensor.
[0052] FIG. 13 is a diagram of another example of a seed-firm with one or more sensors built-in.
DETAILED DESCRIPTION OF THE INVENTION
[0053] The present invention includes systems and methods for use in adjusting seed planting depth and row unit down pressure to account for varying levels of soil moisture in a field when planting to minimize occurrences of late emerging corn seedlings.
[0054] FIG. 3 illustrates one example of a system which includes a planter 4 having a control system 5. The control system 5 may include an intelligent control 11 operatively connected to a monitor 2. There may be a plurality of row units 6. For each row unit 6, there is an actuator 8 and sensors 7, 9. The sensors 7, 9 may include a soil moisture sensor, a seed to soil contact sensor, soil temperature sensor and seed trench depth sensor for adjusting seed planting depth and row unit down pressure on-the-go while planting.
[0055] FIG. 4 illustrates another example of the invention. As shown in FIG. 4, an intelligent control 11 is operatively connected to a monitor or display 2. The intelligent control unit 11 is also operatively connected to an actuator 8 and to one or more of various examples of sensors on the row unit. Examples of such sensors include a soil temperature sensor 102, a soil contact sensor 104, a count sensor 106, a soil moisture sensor 108, and a depth sensor 110. The soil moisture sensor 108 may be a dielectric or capacitance sensor, or an optical sensor for detecting moisture when put in contact of a soil. The soil moisture sensor may placed at the bottom or one of the sides of a seed trench in which seeds are deposited. It is contemplated that more than one soil moisture sensor may be used. The count sensor 106 may be used detect or count the number of seeds planted in a seed furrow. Dielectric or optical sensors may be used to do so. The soil contact sensor 104 may be used to sense seed to soil contact. Dielectric or optical sensors or contact sensors may be used to do so. The soil temperature sensor 102 may be a thermocouple sensor or other sensor used to detect temperature. The depth sensor 110 may be used to measure seed furrow depth and may include dielectric or optical sensors to detect the depth of the furrow by measuring height of a seed furrow sidewall.
[0056] The monitor 2 may be used to display soil moisture readings, such a monitor may also be used for a number of other purposes associated with planting such as informing the user whether he/she is within a target planting population, finding and displaying hidden mechanical problems, adjusting vacuum pressure, displaying transmissions, speed, row unit weight, field acres planted, GPS, seed singulation, plot maps, and alerting the user to skipped and clogged rows, as well as other information which is measured or derived directly or indirectly from parameters which are measured. As illustrated in FIG. 7, the monitor 2 is typically located in the cab of a tractor 3 attached to the planter 4.
[0057] Returning to FIG. 4, the intelligent control 11 may be a processor or a microcontroller, integrated circuit or other type of intelligent control programmed or otherwise configured to control the system. The actuator 8 may be a hydraulic or pneumatic actuator or other type of actuator for adjusting seed planting depth. There may be multiple row units 6 on the planter 4, and one or more soil moisture sensors 7 attached to each row unit 6. Each soil moisture sensor 7 may be configured to measure moisture at the planting depth as seeds are planted on-the-go. Real-time moisture readings taken from the soil moisture sensors 7 may be relayed to the intelligent control 11 and displayed on the monitor 2 for review by the user. The control system may provide for comparing the real-time soil moisture readings with a target soil moisture previously determined by the user to reach optimum seed emergence. In light of this comparison, the control system may then adjust seed planting depth on-the-go through the actuator 8 in relation to the level of moisture in the soil to assist in increasing yield potential. It is recognized that this adjustment may be automatically performed by the intelligent control 11 operatively connected to the actuator 8. It is further recognized that various types of soil moisture sensors 7 may be utilized, such as dielectric or optical sensors.
[0058] FIG. 5 illustrates one example of a method 40 of the present invention. The method may be used for adjusting planting depth on-the-go based on feedback from an on-the-go soil moisture sensor and may be implemented as a control algorithm using the intelligent control. The soil moisture sensor measures moisture at the planting depth, as seeds are planted and this information is used to control planting depth. Initially, in step 42, a user may have previously identified the target soil moisture required in a field for optimum seed emergence and input it into the system. The initial target soil moisture may be adjusted for weather parameters such as future precipitation forecasts in step 44. The initial target soil moisture may also be adjusted for soil profiles and field topography in step 46. In light of such factors, the desired final target soil moisture may be determined in step 48. In step 48, the final target soil moisture may be determined. Alternatively, this final target soil moisture may also be input by the user into a monitor. In step 50, moisture is measured at the planting depth as seeds are planted on-the-go by the soil moisture sensors. In step 52, a determination is made as to whether the actual soil moisture is greater than the final target soil moisture. If it is, then in step 54 a determination is made as to whether the planting depth is equal to the minimum planting depth. If the planting depth is equal to the minimum depth then in step 56 a determination is made to not adjust the planting depth. If the planting depth is not equal to the minimum planting depth as determined in step 54, then in step 58 the planting depth is decreased.
[0059] Returning to step 52, if the actual soil moisture is not greater than the final target soil moisture then in step 62 a determination is made as to whether the actual soil moisture is less than the final target soil moisture. If it is then in step 64 a determination is made as to whether the planting depth is equal to the maximum planting depth. If it is then in step 56 the planting depth is not adjusted. If it is not, then in step 66 the planting depth is increased. Returning to step 62, if the actual soil moisture is not greater than the final target soil moisture then in step 56 the planting depth is not adjusted.
[0060] After changing the planting depth, whether it be decreasing planting depth in step 58 or increasing planting depth in step 66, the process may perform the optional step of relieving the row unit down pressure while the actuator is adjusting planting depth. Regardless of whether or not the optional step is performed, the process returns to step 42.
[0061] FIG. 6 illustrates another example of a method 70 of the present invention. The method may be performed by an intelligent control as a control algorithm for adjusting planting depth on-the-go based on feedback from an on-the-go seed to soil contact sensor. The seed to soil contact sensor measures at the planting depth, as seeds are planted and provides for adjusting planting depth based on measurements from the soil contact sensor. Initially, a user may identify a desired target seed to soil contact required for optimum seed emergence such as by inputting the target seed to soil contact into a monitor device. The target seed to soil contact is provided in step 72. In step 74, the actual seed to soil contact is sensed or measured from an on-the-go soil sensor. In step 76, a determination is made as to whether the actual seed to soil contact is greater than the target. If it is then in step 78 the planting depth is not adjusted. If it is, then in step 80, a determination is made as to whether the actual seed to soil contact is less than the target. If it is not, then in step 78 the planting depth is not adjusted. If it is, then in step 82 a determination is made as to whether the planting depth is at the maximum depth. If it is then in step 78 the planting depth is not adjusted. If it is not, then in step 84 the planting depth is increased. Then an optional step 84 may be performed which involves relieving the row unit down pressure while the actuator is adjusting planting depth. Regardless of whether the planting depth is adjusted or not, the process then returns to step 72 to be repeated.
[0062] FIG. 7 which has been previously referenced includes a tractor 3 with a cab in which the monitor 2 may be placed. The tractor 4 pulls the planter 4 which includes row units 6.
[0063] FIG. 8 illustrates a seed firmer 92 which may be present on each row unit of a planter in order to improve seed to soil contact. Seed to soil contact sensors and/or soil moisture sensors or other sensors may be incorporated into the base, sides, or base and sides of the seed firmer 92. As shown in FIG. 8, a soil contact sensor 104 is shown, as is a soil temperature sensor 102, a seed count sensor 106, a soil moisture sensor 108, and a depth sensor 110. The seed firmer 92 improves seed to soil contact by pushing the seed 94 firmly into the bottom 98 of a seed trench 96 created by a planter when planting. Thus, the seed firmer tool 92 operatives conventionally with respect to improving seed germination but also uses sensors readings from the included sensors to prevent seed 94 from being planted in soil too dry for germination, seed planted too deep or too shallow or other conditions.
[0064] FIG. 9 is a diagram illustrating various methods of sensing data and displaying representations of the data. As shown in FIG. 9, a step 200 of sensing soil moisture may be performed and a step 202 of displaying a representation of the soil moisture on a display 2 may be performed. Similarly, a step 204 of sensing soil temperature may be performed and a step 206 of displaying a representation of soil temperature on the display 2 may be performed. Similarly, a step 208 of sensing seed-to-soil contact may be performed and a step 210 of displaying a representation of seed-to-soil contact on display 2 may be performed. Similarly, a step 212 of sensing cutting depth may be performed and a step 214 of displaying a representation of cutting depth on display 2 may be performed. For any sensed information the present invention contemplates that associated information may be displayed in various types of quantitative or qualitative representations which may indicate specific values, a range of values, or an interpretation of a value.
[0065] FIG. 10 is a method 300 for automatically adjusting tillage depth based on an on-the-go moisture sensor. As shown, there is a highest allowable soil moisture 302. In step 304 an actual soil moisture is read from the on-the-go soil moisture. In step 306, a determination is made as to whether or not the actual soil moisture is greater than the highest allowable soil moisture. If it is, then in step 308 a determination is made as to whether the tillage depth is equal to the minimum tillage depth. If it is, then in step 310, the tillage depth is not adjusted. If it is not, then in step 312, the tillage depth is decreased. Returning to step 306 if the actual soil moisture is not greater than the highest allowable soil moisture then in step 314, a determination is made as to whether the actual tillage depth is less than the target tillage depth. If it is, then in step 316, the tillage depth is increased to the target depth. Thus, tillage depth may be automatically adjusted based on the on-the-go soil moisture sensor.
[0066] FIG. 11 is a method 320 for automatically adjusting planting depth based on an on-the-go sensing of soil temperature. As shown there is a lowest allowable soil initial temperature setting 322. In step 324, an optional step of adjusting the lowest allowable soil temperature for weather parameters may be performed. In step 326, an optional step of adjusting the lowest allowable temperature for soil parameters may be performed. Where adjustments are made in steps 324 or 326, the adjustments may be made according to models, equations, or lookup tables or otherwise. In step 328, there is a final lowest allowable soil temperature obtained after any adjustments. In step 330, an actual soil temperature from the on-the-go temperature sensor is read. In step 332 a determination is made as to whether the actual soil temperature is less than the final lowest allowable soil temperature. If it is, then in step 334 a determination is made as to whether the planting depth is at the minimum depth. If it is not, then in step 338 the planting depth is decreased. If the planting depth is at the minimum depth, then in step 336, it is not adjusted. There is also an optional step 340 of relieving the row unit down pressure while the actuator is adjusting the planting depth.
[0067] FIG. 12 is a method 350 for adjusting planting depth based on readings from an on-the-go seed furrow depth sensor. As shown, there is a target planting depth 352. In step 354 actual seed planting depth is read from the on-the-go depth sensor. In step 356 a determination is made as to whether the actual planting depth is less than the target planting depth. If it is, then in step 360, the planting depth is increased until the actual depth is equal to the target depth. If not, then in step 358, a determination is made as to whether the actual planting depth is greater than the target planting depth. If it is, then in step 362 the planting depth is decreased until the actual depth is equal to the target depth. If not, then in step 366 the planting depth is not adjusted. Also, as shown there is an optional step 364 that provides for relieving the row unit down pressure while the actuator is adjusting planting depth.
[0068] FIG. 13 is a diagram of another example of a seed-firm with one or more sensors built-in. As shown, there are voids in soil at the bottom of the seed trench. There is a seed firmer 92 which may be present on each row unit of a planter in order to improve seed to soil contact. Seed to soil contact sensors and/or soil moisture sensors or other sensors may be incorporated into the base, sides, or base and sides of the seed firmer 92. As shown in FIG. 8, a soil contact sensor 104 is shown, as is a soil temperature sensor 102, a seed count sensor 106, a soil moisture sensor 108, and a depth sensor 110. The seed firmer 92 improves seed to soil contact by pushing the seed 94 firmly into the bottom 98 of a seed trench 96 created by a planter when planting. Where the voids are present in the soil at the bottom of the seed trench, there would be the risk of planting the seeds too deep without using the sensors to take into account depth and soil contact.
[0069] Although the invention has been described and illustrated with respect to preferred embodiments thereof, it is not to be so limited since changes and modifications may be made therein which are within the full intended scope of the invention. For example, the present invention contemplates variations in the type of soil moisture sensors utilized, whether it be dielectric or optical. Various structure differences in planter types are also within the full intended scope of the invention such as the number of row units, varying row spacing, split rows, and vacuum, brush-type or finger pickup seed metering systems. Moreover, the order and steps of the methods of the present invention may also be modified or revised in accordance with the changing parameters of the landscape and weather patterns while planting. Furthermore, although algorithms are provided to show how data collected from the sensors may be used, the present invention contemplates that different algorithms may be used applying different logic for control.
