EP-4736622-A2 - AGRICULTURAL OPERATION MONITORING APPARATUS, SYSTEMS AND METHODS

Abstract

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.

Inventors

• The designation of the inventor has not yet been filed

Assignees

• Precision Planting LLC

Dates

Publication Date

20260506

Application Date

20190607

Claims (12)

1. An agricultural implement, comprising: at least one row unit, each said at least one row unit including an opening assembly configured to open a seed trench in a soil surface as the agricultural implement travels in a forward direction of travel; a time of flight camera disposed on said at least one row unit to image said seed trench from above said seed trench; and a processor in data communication with said time of flight camera, said processor configured to generate an image of said seed trench.
2. The agricultural implement of claim 1, wherein each said row unit further includes: a seed delivery device; and wherein said time of flight camera is disposed at a seed release location of said seed delivery device.
3. The agricultural implement of claim 1, further comprising: a gas dispenser disposed to expel gas into a space between said time of flight camera and said seed trench.
4. The agricultural implement of claim 1, wherein said time of flight camera has a lens comprising an electrostatic coating to repel dust.
5. The agricultural implement of claim 1, wherein said time of flight camera has a hydrophobic coating.
6. The agricultural implement of claim 4, further comprising: an electrostatic charging system disposed proximate to said time of flight camera.
7. The agricultural implement of claim 1, further comprising: a row cleaner assembly disposed forward of said opening assembly of said at least one row unit, said row cleaner assembly disposed to engage the soil surface to move soil and residue from the soil surface laterally with respect to the forward direction of travel and forward of said opening assembly.
8. The agricultural implement of claim 7, wherein said time of flight camera images said soil surface a distance laterally to each side of said seed trench to detect if said row cleaner is producing an extra trench laterally of said seed trench.
9. The agricultural implement of claim 7, further comprising a sensor mounted to the at least one row unit forward of said row cleaner to detect soil mounds forward of said row cleaner.
10. The agricultural implement of claim 9, wherein said sensor comprises one of: a camera, a time of flight camera, a radar, an ultrasonic sensor, a LIDAR, and a laser line triangulator.
11. A method for adjusting depth of a seed trench opened by an agricultural implement in a soil surfacethe agricultural implement, including: a row unit including an opening assembly having two opening discs rollingly mounted to a downwardly extending shank and disposed to open the seed trench in the soil surface, gauge wheels , and a depth adjustor for setting the position of the gauge wheels relative to the opening discs for limiting a depth of penetration of the opening discs into the soil surface; a time of flight camera disposed on said row unit and disposed to image said seed trench; and a processor in data communication with said time of flight camera, said processor configured to generate an image of said seed trench; wherein said method comprises: measuring a depth of said seed trench with said time of flight camera; and adjusting said depth adjustor to modify the depth of penetration of the opening discs into the soil surface.
12. A method for placing liquid relative to a seed in a seed trench opened by an agricultural implement, the agricultural implement including: a row unit including an opening assembly having two opening discs rollingly mounted to a downwardly extending shank and disposed to open the seed trench in the soil, a seed delivery mechanism for depositing seeds in the seed trench, and a valve for selectively supplying a fluid from a fluid source to a position relative to the seeds in the seed trench; a time of flight camera disposed on said row unit and disposed to image said seed trench; and a processor in data communication with said time of flight camera, said processor configured to generate a pulse based on placement of said seed in said seed trench; wherein said method comprises: generating a seed pulse based on placement of said seed in said seed trench based on said image from said time of flight camera; and selectively opening and closing said valve to place fluid on or adjacent to said seed.

Description

BACKGROUND 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 and in varying input application variables (e.g., planting depth) in light of such variations. Thus, there is a need in the art for a system for characterizing a seed trench during an agricultural input application. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a top view of an embodiment of an agricultural planter.FIG. 2 is a side elevation view of an embodiment of a planter row unit.FIG. 3 schematically illustrates an embodiment of a soil monitoring system.FIG. 4A is a side elevation view of an embodiment of a seed firmer having a plurality of firmer-mounted sensors.FIG. 4B is a plan view of the seed firmer of FIG. 4A.FIG. 4C is a rear elevation view of the seed firmer of FIG. 4A disposed in a seed trench.FIG. 5 illustrates an embodiment of a graphical display including a numerical representation of reflectivity variation.FIG. 6 illustrates an embodiment of a graphical display including a spatial map of reflectivity variation.FIG. 7 illustrates a partial view of row unit incorporating an embodiment of an image capture apparatus.FIG. 8 is a side elevation view of an embodiment of a shank extension incorporating sensors and an image capture apparatus.FIG. 9 is an elevation view of the shank extension of FIG. 8 showing a biasing member.FIG. 10 is a top partial plan view of the shank extension of FIG. 8 showing an alternative embodiment of a biasing member.FIG. 11 is a side elevation view of a trailing member with sensors in combination with a shank extension with an image capture apparatus.FIG. 12 illustrates an embodiment of a graphical display including an image captured by the image capture apparatus of FIGs.7, 8 or 11.FIG. 13 illustrates an embodiment of a row image selection process.FIG. 14A illustrates a side elevation view of an embodiment of a time of flight camera at various locations on a row unit.FIG. 14B illustrates a top plan view of the bracket from FIG. 14A with the time of flight camera disposed in the middle of the bracket.FIG. 15 illustrates an embodiment of a graphical display including a spatial map of seed depth.FIG. 16A illustrates a cross-sectional view of a seed trench.FIG. 16B illustrates a top view of the seed trench of FIG. 16A.FIG. 17 illustrates a side elevation view of an embodiment of a time of flight camera on a row unit and a gas source.FIG. 18 illustrates a side elevation view of an embodiment of a time of flight camera on a row unit and an electrostatic charging system.FIG. 19 illustrates a side elevation view of an embodiment of a row unit with a sensor disposed forward of the row cleaner to detect soil mounds and a camera rearward of the opening assembly to identify the lateral trench formed by the row cleaner.FIG. 20 is a cross-sectional view similar to FIG. 16A showing the seed trench and showing the lateral trench formed by the row cleaner. DESCRIPTION Depth Control and Soil Monitoring Systems 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 is shown located in the cab of the tractor 5. The implement monitor 50 may include a central processing unit ("CPU"), memory and graphical user interface ("GUI") (e.g., a touch-screen interface). A global positioning system ("GPS") receiver 52 may be mounted to the tractor 5. FIG. 2 is a side elevation view of an embodiment of a row unit 200, such as a planter row unit. The row unit 200 is pivotally connected to the toolbar 14 by a parallel linkage 216. The row unit supports an opening assembly 234 and a closing assembly 236. An actuator 218 may be provided to apply lift and/or downforce on the row unit 200. A solenoid valve 390 is shown in fluid communication with the actuator 218 for modifying the lift and/or downforce applied by the actuator 218. The opening assembly 234 may include two opening discs 244 rollingly mounted to a downwardly-extending shank 254 and disposed to open a v-shaped trench 38 in the soil surface 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 opening 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 configured to modify a position of the depth adjustment rocker 268 and thus modifying the position of the gauge wheels 248 relative to the opening discs 244. The depth adjustment actuator 380 may be a linear actuator mounted to the row unit 200