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.

1 . An agricultural planter, comprising:
 a planter row unit having a furrow opener for creating a furrow in which seeds are deposited;   a sensor carried by the agricultural planter for measuring at least one soil property, said sensor comprising at least one of an optical module 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 a soil temperature measurement device for collecting soil temperature data; and   means for controlling a soil penetration depth of said furrow opener to control planting depth based on said at least one soil property measured by said sensor;   wherein said means for controlling said soil penetration depth of said furrow opener comprises an automatic adjustment means for adjusting said soil penetration depth of said furrow opener in real time based on said at least one soil property measured by said sensor.   
     
     
         2 . The agricultural planter according to  claim 1 , wherein said sensor is an optical module for collecting soil reflectance data. 
     
     
         3 . The agricultural planter according to  claim 1 , wherein said sensor is a soil electrical conductivity measurement device, and wherein said at least one soil property comprises soil electrical conductivity. 
     
     
         4 . The agricultural planter according to  claim 1 , wherein said sensor is a soil moisture measurement device, and wherein said at least one soil property comprises soil moisture. 
     
     
         5 . The agricultural planter according to  claim 1 , wherein said sensor is a soil temperature measurement device, and wherein said at least one soil property comprises soil temperature. 
     
     
         6 . The agricultural planter according to  claim 1 , wherein said sensor comprises a soil moisture measurement device and a soil temperature measurement device for measuring soil moisture and soil temperature, respectively, and wherein said automatic adjustment means for adjusting said soil penetration depth of said furrow opener in real time uses an algorithm that determines optimum planting depth based on soil moisture and soil temperature. 
     
     
         7 . The agricultural planter according to  claim 1 , further comprising: means for adjusting a depth of operation of said sensor on-the-go for measuring said at least one soil property at various depths in the soil. 
     
     
         8 . The agricultural planter according to  claim 7 , wherein said means for adjusting a depth of operation of said sensor comprises a means for adjusting an operating depth of said sensor on-the-go at multiple discrete operating depths to measure said at least one soil property at said multiple discrete operating depths. 
     
     
         9 . The agricultural planter according to  claim 1 , wherein said sensor comprises a sensor module assembly comprising an optical module for collecting soil reflectance data, a soil electrical conductivity measurement device for collecting soil electrical conductivity, a soil moisture measurement device for measuring soil moisture, and a soil temperature measurement device for measuring soil temperature. 
     
     
         10 . An agricultural planter, comprising:
 a planter row unit having a furrow opener for creating a furrow in which seeds are deposited as the planter row unit travels in a forward direction of travel;   a sensor carried by the agricultural planter for measuring at least one soil property, said sensor comprising at least one of an optical module 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 a soil temperature measurement device for collecting soil temperature data; and   a depth control mechanism arranged to automatically vary a depth of soil penetration of said furrow opener to adjust planting depth in real time based on said at least one soil property measured by said sensor.   
     
     
         11 . The agricultural planter according to  claim 10 , further comprising:
 a seed firmer for firming seeds into soil in said furrow created by said furrow opener, and wherein said sensor is located on said seed firmer.   
     
     
         12 . The agricultural planter according to  claim 10 , wherein said furrow opener comprises a pair of opener disks, and said row unit further comprises a seed tube and a seed tube guard positioned between said opener disks, said seed tube guard being positioned forward of said seed tube with respect to said forward direction of travel, and wherein said sensor is located on said seed tube guard. 
     
     
         13 . The agricultural planter according to  claim 10 , wherein said sensor is an optical module for collecting soil reflectance data. 
     
     
         14 . The agricultural planter according to  claim 10 , wherein said sensor is a soil electrical conductivity measurement device, and wherein said at least one soil property comprises soil electrical conductivity. 
     
     
         15 . The agricultural planter according to  claim 10 , wherein said sensor is a soil moisture measurement device, and wherein said at least one soil property comprises soil moisture. 
     
     
         16 . The agricultural planter according to  claim 10 , wherein said sensor is a soil temperature measurement device, and wherein said at least one soil property comprises soil temperature. 
     
     
         17 . The agricultural planter according to  claim 10 , wherein said sensor comprises a soil moisture measurement device and a soil temperature measurement device for measuring soil moisture and soil temperature, respectively, and wherein said depth control mechanism automatically adjusts said soil penetration depth of said furrow opener during operation based on said measured soil moisture and said measured soil temperature. 
     
     
         18 . The agricultural planter according to  claim 10 , wherein said sensor comprises a sensor module assembly comprising an optical module for collecting soil reflectance data, a soil electrical conductivity measurement device for collecting soil electrical conductivity, a soil moisture measurement device for measuring soil moisture, and a soil temperature measurement device for measuring soil temperature. 
     
     
         19 . 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.   
     
     
         20 . The system according to  claim 19 , wherein said at least one soil contact member includes two metal soil contact blades protruding from the bottom side of said hardened wear plate. 
     
     
         21 . 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.   
     
     
         22 . 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.   
     
     
         23 . The system according to  claim 22 , wherein said at least one soil contact member includes two metal soil contact blades protruding from the bottom side of said hardened wear plate. 
     
     
         24 . 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.   
     
     
         25 . 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.   
     
     
         26 . The agricultural planter according to  claim 25 , 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.   
     
     
         27 . 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.   
     
     
         28 . The agricultural planter according to  claim 27 , 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. 
     
     
         29 . The agricultural planter according to  claim 27 , 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. 
     
     
         30 . The agricultural planter according to  claim 29 , wherein said sensor further includes a soil moisture measurement device for collecting soil moisture data. 
     
     
         31 . The agricultural planter according to  claim 30 , 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. 
     
     
         32 . The agricultural planter according to  claim 31 , 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.   
     
     
         33 . The agricultural planter according to  claim 27 , wherein said sensor comprises an optical measurement device for collecting soil reflectance data, and a soil moisture measurement device for collecting soil moisture data. 
     
     
         34 . The agricultural planter according to  claim 27 , 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. 
     
     
         35 . The agricultural planter according to  claim 27 , wherein said sensor includes a soil electrical conductivity measurement device for collecting soil electrical conductivity data. 
     
     
         36 . The agricultural planter according to  claim 27 , wherein said sensor includes a soil moisture measurement device for collecting soil moisture data. 
     
     
         37 . The agricultural planter according to  claim 27 , wherein said sensor includes an optical measurement device for collecting soil reflectance data. 
     
     
         38 . 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.   
     
     
         39 . The agricultural planter according to  claim 38 , 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. 
     
     
         40 . 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.   
     
     
         41 . The agricultural planter according to  claim 40 , 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. 
     
     
         42 . The agricultural planter according to  claim 40 , wherein said sensor comprises an optical measurement device for collecting soil reflectance data, and a soil EC measurement device for collecting soil EC data. 
     
     
         43 . The agricultural planter according to  claim 42 , wherein said sensor further comprises a soil moisture measurement device for collecting soil moisture data. 
     
     
         44 . The agricultural planter according to  claim 43 , 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. 
     
     
         45 . The agricultural planter according to  claim 40 , wherein said sensor comprises an optical measurement device for collecting soil reflectance data, and a soil moisture measurement device for collecting soil moisture data. 
     
     
         46 . The agricultural planter according to  claim 40 , 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. 
     
     
         47 . The agricultural planter according to  claim 40 , wherein said sensor comprises a soil EC measurement device for collecting soil EC data. 
     
     
         48 . The agricultural planter according to  claim 40 , wherein said sensor comprises a soil moisture measurement device for collecting soil moisture data. 
     
     
         49 . The agricultural planter according to  claim 40 , wherein said sensor comprises an optical measurement device for collecting soil reflectance data. 
     
     
         50 . 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.