Patent Publication Number: US-2020281107-A1

Title: Adjustable closing system for an agricultural implement

Description:
BACKGROUND 
     The disclosure relates generally to an adjustable closing system for an agricultural implement. 
     Generally, agricultural implements are towed behind a work vehicle, such as a tractor. The agricultural implements generally contain a particulate material, such as seeds, fertilizer, and/or other agricultural product, which is distributed on or in the ground using various methods. For example, certain implements form a furrow in the ground, deposit a seed in the furrow, and then close the furrow over the seed. In some instances, the agricultural implement may not properly form or close the furrow due to soil texture and other soil properties. Improper forming or closure of the furrow may diminish seed germination, extend emergence time, and reduce crop yield. 
     BRIEF DESCRIPTION 
     Certain embodiments commensurate in scope with the disclosed subject matter are summarized below. These embodiments are not intended to limit the scope of the disclosure, but rather these embodiments are intended only to provide a brief summary of certain disclosed embodiments. Indeed, the present disclosure may encompass a variety of forms that may be similar to or different from the embodiments set forth below. 
     In certain embodiments, a row unit of an agricultural implement includes an opening system configured to engage soil to form a furrow, sensors configured to detect a soil tightness, soil conditions, operational conditions, or a combination thereof, and a closing system configured to close the furrow. The closing system includes a first closing disc configured to engage the soil and close the furrow and a second closing disc configured to engage the soil and close the furrow. The row unit also includes a controller configured to receive feedback from the sensors and to control a position, an orientation, or both, of the first closing disc, the second closing disc, or both, in response to feedback from the sensors. 
    
    
     
       DRAWINGS 
       These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein: 
         FIG. 1  is a perspective view of an embodiment of an agricultural implement, in accordance with an aspect of the present disclosure; 
         FIG. 2  is a side view of an embodiment of a row unit of the agricultural implement in  FIG. 1 , in accordance with an aspect of the present disclosure; 
         FIG. 3  is a side view of an embodiment of an adjustable closing system, in accordance with an aspect of the present disclosure; 
         FIG. 4  is a rear view of an embodiment of an adjustable closing system, in accordance with an aspect of the present disclosure; 
         FIG. 5  is a rear view of an embodiment of an adjustable closing system, in accordance with an aspect of the present disclosure; 
         FIG. 6  is a rear view of an embodiment of an adjustable closing system, in accordance with an aspect of the present disclosure; and 
         FIG. 7  is a flow diagram of an embodiment of a process for controlling an adjustable closing system, in accordance with an aspect of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     One or more specific embodiments of the present disclosure will be described below. In an effort to provide a concise description of these embodiments, all features of an actual implementation may not be described in the specification. It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers&#39; specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure. 
     When introducing elements of various embodiments of the present disclosure, the articles “a,” “an,” “the,” and “said” are intended to mean that there are one or more of the elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements. Any examples of operating parameters and/or environmental conditions are not exclusive of other parameters/conditions of the disclosed embodiments. 
     Certain embodiments of the present disclosure include an adjustable closing system for an agricultural implement. Certain agricultural implements (e.g., harvesters, tillers, seeders, and planters) are towed by a work vehicle and are configured to open a furrow in a field, deposit a seed, and close the furrow. For example, certain agricultural implements include row units that form furrows along rows of the field, deposit seeds in the furrows, and close the furrows. However, certain furrow conditions may inhibit seed germination and emergence rates, such as inadequate coverage of the seed with moist soil, excessive contact of the seed with residue, excessive presence of air gaps in the furrow, inadequate seed-to-soil contact, and excessive soil compaction around the seed (e.g. insufficiently mellow soil which may inhibit seedling emergence rates). Additionally, soil tightness may be understood as a quality of the seedbed that affects the ability of the row unit to adequately close the furrow and properly cover the seed with moist and mellow soil (e.g., a quality of the seedbed that resists closure of the furrow). The agricultural implement described herein may facilitate germination of the seed and growth of the plant. More specifically, the agricultural implement may include an adjustable closing system capable of adjusting the position of one or more discs (e.g., closing discs). For example, the closing discs may be longitudinally offset relative to one another, laterally offset relative to one another, as well as oriented in other ways. By adjusting the position (e.g., the longitudinal offset and/or the lateral offset) and orientation (e.g., angle(s) relative to the soil) of the closing discs, the adjustable closing system is able to respond to different conditions, such as the soil tightness, to facilitate seed germination and emergence. 
     In some embodiments, the position and/or the orientation of the closing discs may be adjusted in response to feedback from one or more sensors. For example, the implement may include one or more sensors that detect soil tightness, one or more other soil conditions (e.g., moisture content, soil flow, soil compaction, soil structure, soil texture, depth of the furrow, etc.), position(s) of the closing disc(s) with respect to the soil, the furrow formed by an opening system, or a combination thereof. The sensors may also detect operation of the planter (e.g., operational conditions) such as operating speed of vehicle (e.g., tractor), vibration, temperature, rotational speed, rotational position, strain, etc. Such operational conditions may also include position(s), orientation(s), and/or pressure(s) applied to controllable components of a row unit of the planter. As a controller receives sensor feedback about the soil tightness, the other soil conditions, and/or the operational conditions of the agricultural equipment, the controller may instruct various actuators to adjust the position and/or the orientation of the discs. For example, the controller may adjust the position and/or the orientation based on the soil tightness as detected by the sensors. Additionally or alternatively, the controller may determine the soil tightness based on the feedback from the sensors (e.g., based on a depth of the discs and a pressured applied to the discs by an actuator) and adjust the position and/or the orientation based on the soil tightness. Such adjustments may facilitate covering the seeds with moist and mellow soil, thereby facilitating seed germination and emergence. 
     With the foregoing in mind, the present embodiments relating to adjustable closing systems may be utilized within any suitable agricultural system. For example,  FIG. 1  is a perspective view of an embodiment of an agricultural implement  10  (e.g., a planter). To facilitate discussion, the implement  10  and certain components of the implement  10  may be described with reference to a vertical axis or direction  20 , a longitudinal axis or direction  21 , and a lateral axis or direction  22 . The implement  10  may be towed behind a work vehicle (e.g., a tractor) in a direction  19  generally along the longitudinal axis  21 . The implement  10  includes a tongue assembly  12 , which is shown in the form of an A-frame hitch assembly. The tongue assembly  12  may include a hitch used to attach to an appropriate vehicle hitch via a ball, clevis, or other coupling. For example, a tongue of the implement  10  may be connected to a drawbar of the work vehicle, or a mast of the implement may be connected to a 3-point hitch of the work vehicle. The tongue assembly  12  is coupled to a tool bar  14  which supports multiple row units  16 . 
     In certain embodiments, each row unit  16  may include an opening system coupled to a chassis of the row unit  16  and configured to engage soil to form a furrow for seed deposition. The row unit  16  may also include a gauge wheel assembly movably coupled to the chassis. The gauge wheel assembly may include a gauge wheel configured to rotate across a soil surface to limit a penetration depth of the opening discs into the soil. Additionally, each row unit  16  may include an adjustable closing system that closes the furrow formed by the opening system (e.g., after seed deposition). As will be explained below, the agricultural implement  10  may include one or more sensors that detect soil tightness, other soil conditions, and/or operational conditions of agricultural equipment, and in response, adjust the position and/or the orientation of the one or more closing discs to facilitate closing of the furrow. 
       FIG. 2  is a side view of an exemplary row unit  16  that may be employed within the agricultural implement  10  shown in  FIG. 1 . As illustrated, the row unit  16  includes elements  18  of a parallel linkage assembly, also known as a four-bar linkage, configured to couple the row unit  16  to the tool bar  14 , while enabling vertical movement of the row unit  16 . In addition, a down force actuator  23  extends between a mounting bracket  24  and a lower portion of the parallel linkage  18  to establish a contact force between the row unit  16  and soil  25 . The down force actuator  23  is configured to apply a force to the row unit  16  in a downward direction (e.g., along the vertical axis  20 ), thereby driving a ground engaging tool into the soil  25 . As will be appreciated, a desired level of down force may vary based on soil tightness, soil type, the degree of tillage applied to the soil, soil moisture content, amount of residue cover, a speed of the agricultural implement, weight of the row unit  16 , and/or tool wear, among other factors. Because such factors may vary from one side of the implement  10  to the other, a different level of down force may be selected for each row unit  16 . 
     In certain embodiments, the down force actuator  23  may be coupled to a controller  88  configured to automatically regulate the pressure within the down force actuator  23  to maintain a desired contact force between the ground engaging tools and the soil. Because each row unit  16  includes an independent down force actuator  23 , the contact force may vary across the implement  10 , thereby establishing a substantially uniform seed deposition depth throughout the field. In some embodiments, the down force actuator  23  may retract to apply an upward force. For example, in some environments, the planter may work with light soils when the weight of the row unit  16  itself is excessive for the amount of downforce needed. 
     In the present embodiment, the parallel linkage elements  18  are pivotally coupled to a chassis  26  and a frame  28 . In some embodiments, the chassis  26  and the frame  28  may be one-piece or integral (e.g., cast as one-piece). The frame  28  may be configured to support various elements of the row unit  16  such as a metering system and a product storage container, for example. As illustrated, the chassis  26  supports an opening system  30 , an adjustable closing system  32 , and a residue manager system  34 . In the present configuration, the opening system  30  includes a gauge wheel assembly  36  having a gauge wheel  38  and a rotatable arm  40  which functions to movably couple the gauge wheel  38  to the chassis  26 . The gauge wheel  38  may be positioned a vertical distance D above an opening disc  42  of the opening system  30  to establish a desired furrow depth for seed deposition into the soil  25 . As the row unit  16  travels across a field, the opening disc  42  forms a furrow in the soil  25 , and seeds are deposited into the furrow. The down force actuator  23  is configured to adjust the penetration depth D of the opening disc  42  by varying a position of the gauge wheel  38  relative to the chassis  26 . While the opening system  30  is illustrated with a single opening disc  42 , it should be appreciated that alternative embodiments may include a pair of opening discs positioned on opposite sides of the chassis and adjacent to a corresponding pair of gauge wheels. In such configurations, the opening discs may be angled toward one another to establish a wider furrow within the soil. 
     Seeds may be deposited within the furrow via a seed tube extending between a metering system within the frame  28  and the soil  25 . The seed tube exit may be positioned aft of the opening system  30  and forward of the closing system  32  along the longitudinal axis such that seeds flow into the furrow. As illustrated, the closing system  32  includes a closing assembly  44  and a press wheel assembly  46 . The closing assembly  44  includes a closing disc  48  configured to fracture and generate a flow of soil into the furrow. The closing system  32  includes a bar  47  extending between the chassis  26  and the closing disc  48  (e.g., between the chassis  26  and a bar  49  coupled to the closing disc  48 ). A closing disc actuator  50  is coupled to the bar  47  of the closing system  32  and is configured to regulate a contact force between the closing disc  48  and the soil  25 . For example, a large contact force may be applied to effectively push tighter soil into the furrow, while a relatively small contact force may be applied to close a furrow with loose soil. In some embodiments, a large contact force may be applied so that the closing disc  48  penetrates the soil  25  and achieves a proper depth of engagement. While the view illustrates one closing disc  48 , it should be appreciated that the closing assembly  44  may include a pair of closing discs  48 . Additionally, certain embodiments may employ closing wheels instead of the illustrated closing disc  48 . In some embodiments, the closing disc  48  may be a cutting disc that actually cuts into the soil  25  to drive soil into the furrow. Accordingly, the actuator  50  may provide the force to drive the closing disc  48  into the soil  25  a distance  52 . In some embodiments, the closing system  32  may include additional actuators that enable the closing system  32  to adjust the orientation and/or position of the closing disc  48  (e.g., a geometry of the closing system  32 ) in response to detected soil tightness, soil conditions, and/or operational conditions of the agricultural implement  10  (e.g., of the row unit  16 ). Such operational conditions of the row unit  16  may include position(s), orientation(s), and/or pressure(s) applied to controllable components of the row unit  16 . 
     As illustrated, the closing system  32  includes an actuator  56  coupled to the bar  49  that enables the closing system  32  to adjust the position of the closing disc  48  relative to another disc(s) (e.g., closing disc) generally along the longitudinal axis  21 . As such, the closing system  32  enables adjustment of the closing disc  48  with respect to another closing disc and/or with respect to another portion of the row unit  16  based on a soil condition and/or an operational condition. The closing system  32  also includes an actuator  58  that enables adjustment of the closing disc  48  relative to another closing disc along the lateral axis  22 . That is, the actuator  58  may increase a width between the closing disc  48  and another closing disc(s) on an opposite side of the furrow. The closing system  32  may also include actuator(s) that adjust the camber, castor, and/or toe of the closing disc  48 . In certain embodiments, the actuator  56  may enable the closing system  32  to adjust the position of the closing disc  48  relative to another closing disc along the lateral axis  22 , and/or the actuator  58  may enable the closing system  32  to adjust the position of the closing disc  48  relative to another closing disc along the longitudinal axis  21 . The ability to adjust the geometry of the closing system  32  enables the one or more row units  16  to facilitate a desired seed to soil contact during planting operations by the agricultural implement  10 . 
     As illustrated, the press wheel assembly  46  includes a press wheel  72  positioned aft of the closing disc  48  that serves to pack soil deposited on top of the seeds by the closing disc  48 . In the present embodiment, the press wheel assembly  46  includes an arm  74  extending between the chassis  26  and the press wheel  72 . A press wheel actuator  76  is coupled to the arm  74  of the press wheel assembly  46 , and is configured to regulate a contact force between the press wheel  72  and the soil. For example, in dry conditions, it may be desirable to firmly pack soil directly over the seeds to seal in moisture. In damp conditions, it may be desirable to leave the soil over the seeds fairly loose to avoid compaction which may result in soil crusting. The process of excavating a furrow into the soil, depositing seeds within the furrow, closing the furrow and packing soil on top of the seeds establishes a row of planted seeds within a field. By employing multiple row units  16  distributed along the tool bar  14 , as shown in  FIG. 1 , multiple rows of seeds may be planted within the field. 
     Additionally, the row unit  16  includes the residue manager system  34  configured to prepare the soil  25  before seed deposition. As illustrated, the residue manager system  34  includes a residue manager  78  coupled to the chassis  26  by an arm  80 . The residue manager  78  includes points or fingers  82  configured to break up or move aside crop residue on the soil surface. In other words, the residue manager system  34 , may reduce and/or block deposition of residue in the seed furrow which may affect seed germination and emergence. A residue manager actuator  84  extends from a bracket  86  to the arm  80  of the residue manager system  34 , and is configured to regulate a contact force between the residue manager  78  and the soil. While a single residue manager  78  is shown in the present embodiment, it should be appreciated that alternative embodiments may include a pair of residue manages angled toward one another. 
     Each of the actuators discussed above (e.g.,  23 ,  50 ,  56 ,  58 ,  76 ,  84 ) may be controlled by a controller  88  of the agricultural implement and the row unit  16  to facilitate opening a furrow, closing the furrow, and then packing soil deposited over the furrow in a way that facilitates seed germination and growth. That is, the controller  88  coordinates operation of the actuators in response to detected soil tightness, soil conditions, and/or operating conditions of the agricultural implement  10 . 
     As illustrated, the controller  88  may include a processor  90 , a memory  91 , and a user interface  92 . The controller  88 , via the processor  90 , may receive one or more signals from one or more sensors  94 . For example, the processor  90  may be a microprocessor that executes software to control the various actuators on the row unit  16  in response to feedback from the sensors  94 . The processor  90  may include multiple microprocessors, one or more “general-purpose” microprocessors, one or more special-purpose microprocessors, and/or one or more application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or some combination thereof. For example, the processor  90  may include one or more reduced instruction set (RISC) processors. 
     The memory  91  may include a volatile memory, such as random access memory (RAM), and/or a nonvolatile memory, such as read-only memory (ROM). The memory  91  may store a variety of information and may be used for various purposes. For example, the memory  91  may store processor executable instructions, such as firmware or software, for the processor  90  to execute. The memory may include ROM, flash memory, a hard drive, or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. The memory may store data, instructions, and any other suitable data. 
     The user interface  92  may display values associated with the adjustable closing system  32  and the row unit  16  to an operator of the agricultural implement and/or may enable interaction between the operator and the adjustable closing system  32  and the row unit  16 . For example, the user interface  92  may display values (e.g., the soil tightness) detected by the sensors  94 , may display values (e.g., the soil tightness) determined by the controller  88  based on the feedback from the sensors  94 , may include certain options selectable by the operator for the controlling the closing system  32 , may include certain options selectable by the operator for the controlling the row unit  16 , or a combination thereof. Additionally, the user interface  92  may display values and/or may enable interaction with each row unit  16  of the agricultural implement. 
     As described above, the sensors  94  may detect soil tightness, other soil conditions, and/or operating conditions of the agricultural implement (e.g., the closing disc  48  and the row unit  16 ). For example, the sensors  94  may include soil tightness sensors configured to detect the soil tightness via ground penetrating RADAR, multispectral reflectivity of the soil, and/or other methods that may directly detect soil tightness. In certain embodiments, the sensors  94  may include soil condition sensors configured to detect other conditions of the soil and/or operational sensors configured to detect operation of the row unit  16  and/or the agricultural equipment. For example, the sensors  94  may include LIDAR, infrared sensors, optical cameras, accelerometers (e.g., to detect vibration), a gyroscope (e.g., to detect orientation: camber, castor, toe), position sensors (e.g., to detect placement of components relative to row unit frame/chassis), a disc position sensor (e.g., to detect a vertical and/or general position of the disc relative to the soil, relative to another disc, relative to the chassis  26  or the frame  28 , or a combination thereof), a disc rotational position sensor (e.g., to detect whether the disc rate of rotation is within expected limits to determine whether the disc is stuck, dragging, sliding, failing, not fully engaged with the ground), a torsion sensor (e.g., to detect rolling resistance to determine whether the disc is stuck, dragging, sliding, failing, not fully engaged with the ground), a draft sensor (e.g., to detect deflection due to forces on ground engaging components), or a combination thereof. 
     In certain embodiments, the controller  88  may determine the soil tightness, among other soil conditions/characteristics, based on the feedback from the sensors  94 . For example, the controller  88  may receive a signal from the sensor  94  indicative of the position of the closing disc  48  with respect to the soil  25  and/or with respect to the chassis  26  or other portions of the row unit  16  (e.g., the sensor  94  may be an infrared sensor or another type of sensor configured to detect the position of the closing disc  48  relative to the soil  25  and/or relative to the chassis  26  or other portions of the row unit  16 ). Additionally, the controller  88  may be configured to determine a pressure applied by an actuator (e.g., the actuator  50 ,  56 ,  58 , or a combination thereof) of the closing system  32  to the closing disc  48  and/or may receive a sensor signal indicative of the pressure applied by the actuator to the closing disc  48  (e.g., a sensor may be coupled to the actuator  50 ,  56 ,  58 , or a combination thereof and may be configured to output a sensor signal indicative of the pressure applied by the actuator  50 ,  56 ,  58 , or a combination thereof). In certain embodiments, sensor(s) may be disposed on or within the bar  47  and/or the bar  49  and may be configured to output sensor signals indicative of the position of the closing disc  48  with respect to the soil  25  and/or with respect to the chassis  26  or other portions of the row unit  16 . Based on the position of the closing disc  48  with respect to the soil  25 , the chassis  26 , the frame  28 , or a combination thereof, and based on the pressure applied to the closing disc  48 , the controller  88  may determine the tightness of the soil  25 . In some embodiments, the controller  88  may determine the tightness of the soil  25  based on feedback from ground penetrating RADAR, and other sensors configured to detect soil tightness. 
     By way of example, a position sensor may be coupled to the bar  47  and/or to the actuator  50  and may be configured to output the sensor signal indicative of the position of the closing disc  48  with respect to the soil  25  and/or with respect to the chassis  26  or other portions of the row unit  16 . Additionally, a sensor may be coupled to the actuator  50  and may be configured to output a sensor signal indicative of the pressure applied by the actuator  50  to the closing disc  48 . Based on the position of the closing disc  48  with respect to the soil  25  and/or with respect to the chassis  26  or other portions of the row unit  16  and based on the pressure applied by the actuator  50  to the closing disc  48 , the controller  88  may determine the soil tightness. For example, the soil tightness may be proportionally related to the position of the closing disc  48  and/or to the pressure applied to the closing disc  48 , and the controller  88  may refer to reference tables to determine a soil tightness that corresponds to the position of the closing disc  48  and/or the pressure applied to the closing disc  48 . 
     Based on the soil tightness (e.g., the soil tightness sensed by the sensors  94  and/or determined by the controller  88  based on the feedback from the sensors  94 ), the controller  88  may execute instructions stored in the memory  91  via the processor  90  to control the actuators of the row unit  16  to control the movement of soil into the furrow and/or soil compaction around the furrow. For example, if the soil tightness is relatively high, the controller  88  may adjust a relative position and/or geometry of the closing disc  48  via the actuator  50 , the actuator  56 , the actuator  58 , or a combination thereof, to increase penetration and/or breakup of the soil  25 . If the soil tightness is relatively low, the controller  88  may adjust a relative position and/or geometry of the closing disc  48  via the actuator  50 , the actuator  56 , the actuator  58 , or the combination thereof, to reduce drag on the row unit  16  causes by the closing system  32 . In certain embodiments, the controller  88  may control the press wheel actuator  76  to control the force of the press wheel  72  on the soil covering the furrow. In this way, the controller  88  may reduce soil compaction around the seed and increase oxygen flow to the seed. In some embodiments, the controller  88  may adjust a position of and a pressure applied to the gauge wheel assembly  36  and the opening disc  42  via the actuator  23  and/or a position of and a pressure applied to the residue manager  78  via the actuator  84  based on the soil tightness. 
     As the soil tightness changes, the sensors  94  may detect the changing soil tightness and/or the controller  88  may determine the changing soil tightness, and in response, the controller  88  may adjust one or more of the actuators of the row unit  16  (e.g., the actuators  23 ,  50 ,  56 ,  58 , and  76 ). Specifically, the controller  88  may adjust the position and/or the orientation of the closing disc  48  via the actuator  50 , the actuator  56 , the actuator  58 , or the combination thereof. The adjustments to the closing disc  48  may enable the closing system  32 , and the row unit  16  and the agricultural implement generally, to react to the changing soil tightness and facilitate closure of the furrow after deposition of the seed. As such, the adjustable closing system  32  may facilitate seed planting and germination. 
       FIG. 3  is a side view of the adjustable closing system  32 . As described above, the adjustable closing system  32  includes closing discs  48  that drive soil into the furrow, thereby covering the deposited seeds with soil. As illustrated, the adjustable closing system  32  includes two closing discs  48 . In certain embodiments, the closing system  32  may include more closing discs (e.g., three closing discs, four closing discs, etc.). The closing discs  48  may be coupled to the chassis of the row unit via the bars or linkages  49  that extend between the chassis and the closing discs  48 . In some embodiments, the closing discs  48  may be cutting discs that cut into the soil  25  to drive soil into the furrow formed by the opening system  30  (e.g., the closing discs  48  may have cutting surfaces configured to cut into the soil  25 ). In certain embodiments, the closing discs  48  may be press wheels (e.g., V-press wheels) that drive soil into the furrow by pressing down on the surface of the soil. 
     As described above, the adjustable closing system  32  and the row unit  16  generally may adjust the position of the closing discs  48  in response to the soil tightness to facilitate seed germination and emergence. For example, the controller  88  may actuate the actuators  50  to adjust a downward force on the closing discs  48  in a direction  100  and/or to adjust relative positions of the closing discs  48 . Additionally or alternatively, the controller  88  may actuate the actuators  56  to adjust the downward force on the closing discs  48  in a direction  102  and/or to adjust the relative positions of the closing discs  48 . The adjustment in force in the directions  100  and/or  102  may enable the closing discs  48  to penetrate a distance  52  into the soil  25  to drive soil into the furrow excavated by the opening system  30 . The actuators  50  and  56  may operate together or independently. Further, because each closing disc  48  is controlled with respective actuators  50  and/or  56 , the distance  52  that each closing disc  48  penetrates the soil  25  may be controlled independently. For example, in response to feedback from the sensors  94  (e.g., based on the soil tightness), the controller  88  may adjust how far each of the closing discs  48  penetrates into the soil  25  (e.g., the distance  52 ). That is, a first closing disc  48  may penetrate the soil  25  a greater amount than a second closing disc  48  to facilitate covering the furrow with soil. An increase in the downward force may also enable the closing discs  48  to cut farther into soil types with a higher soil tightness (e.g., clay, wet soil). 
     As illustrated, the closing discs  48  are offset from one another along the longitudinal axis  21  by a longitudinal distance  110 . In some embodiments, the actuators  50  and/or  56  may adjust the relative positions of the closing discs  48  along the longitudinal axis  21  (e.g., the distance  110 ) to control soil movement into the furrow. For example, in response to feedback from the sensors  94  (e.g., based on the soil tightness), the controller  88  may, via control signals output to the actuators  50  and/or  56 , move one or both closing discs  48  along the longitudinal axis  21  to adjust the distance  110 . As illustrated, contraction and/or extension of the bar  47  and/or of the bar  49  enables the closing discs  48  to move along the longitudinal axis  21 . In certain embodiments, the distance  110  may be between about four inches and about zero inches. In other embodiments, the distance  110  may be between about six inches and about zero inches, between about eight inches and about zero inches, between about eight inches and about two inches, between about six inches and about two inches, or other suitable distances. As such, the controller  88  is configured to adjust the distance  110  based on the feedback from the sensors  94 . 
     As illustrated, the closing discs  48  are coupled to the bars  49  via axles  114 . Additionally, the closing system  32  includes the sensors  94  coupled to the axles  114 . As described above, the sensors  94  may be configured to detect the position of the closing discs  48  relative to the soil  25 . For example, a respective sensor  94  coupled to the axle  114  may be configured to detect a generally vertical distance  120  between the axle  114  and the soil  25 . As such, the sensors  94  may be optical sensors, infrared sensors, RADAR, LIDAR, other sensors configured to detect the positions of the closing discs  48  relative to the soil  25  (e.g., the distance  120  between the axle  114  and the soil  25 ), or a combination thereof. Based on the distance  120  and the pressure applied to the closing discs  48  via the actuators  50  and/or  56 , the controller  88  may determine the soil tightness and may control the position and/or the orientation of the closing discs  48  based on the soil tightness. 
       FIG. 4  is a rear view of an embodiment of an adjustable closing system  32 . As described herein, the closing system  32  may enable independent movement of the closing discs  48  in response to the soil tightness detected by the sensors  94  and/or in response to the soil tightness determined by the controller  88  based on the feedback from the sensors  94 . For example, the controller  88  is configured to adjust an angle  130  and an angle  132  of the closing discs  48  with respect to the soil  25  via the actuators  56 . As the actuators  56  move the bars  49  along axis/directions  134  and  136 , the respective angles  130  and  132  adjust with respect to the soil  25 . In certain embodiments, the angles  130  and  132  may be adjusted between about ten degrees and about one hundred twenty degrees, between about thirty and about ninety degrees, between about fifty and about seventy degrees, etc. with respect to the soil  25 . Additionally or alternatively, the closing discs  48  may be actuated independent of each other to enable the closing system  32  to place the closing discs  48  at generally the same angle or different angles with respect to each other. By adjusting the angle of the closing discs  48  with respect to the soil  25 , may facilitate closure of a furrow  140  with soil in different planting conditions. 
       FIG. 5  is a rear view of an embodiment of an adjustable closing system  32 . As described herein, the closing system  32  may enable independent movement of the closing discs  48  in response to the soil tightness detected by the sensors  94  and/or in response to the soil tightness determined by the controller  88  based on the feedback from the sensors  94 . For example, the actuators of the closing system  32  (e.g., the actuators  56  and the other actuators described above) enable the closing discs  48  to be adjusted relative to one another along the longitudinal axis  21  (e.g., in the direction of travel), adjusted relative to one another along the lateral axis  22  (e.g., in a direction orthogonal or substantially orthogonal to the direction of travel), as well as adjusted relative to one another via an angular displacement of the closing discs  48  relative to the soil  25 .  FIG. 5  illustrates an embodiment of the closing system  32  that enables displacement of the closing discs  48  relative to the furrow  140  and to each other along the lateral axis  22 . As illustrated, a distance  141  between the closing discs  48  (e.g., a lateral distance) may be adjusted via the actuators  56 . The distance  141  may be between about six inches and about zero inches, between about four inches and about zero inches, between about six inches and about two inches, between about six inches and about four inches, between about two inches and about one inch, or other suitable distances. 
     In operation, the controller  88  receives feedback from one or more sensors  94  that detect the soil tightness, and/or the controller  88  determines the soil tightness based on the feedback from the sensors. Based on the soil tightness, the controller  88  controls operation of the actuators of the closing system (e.g., the actuators  56  and/or the other actuators described above) to adjust the distance  141  between the closing discs  48 . For example, to adjust the position of the closing discs  48  in directions  142  and/or  144 , the controller  88  actuates actuators  56  coupled to the bars  49 . As the actuators  56  move the bars  49  in the directions  142  and/or  144 , the lateral position of the closing discs  48  relative to each other and to the furrow  140  may change (e.g., the distance  141  may change). Additionally or alternatively, the closing discs  48  may be actuated independent of each other to enable the closing system  32  to place the closing discs  48  at different positions relative to the furrow  140 . For example, one of the closing discs  48  may be closer to the furrow  140  than the other closing disc  48 . By adjusting the position of the closing discs  48  relative to the furrow  140  and relative to one another (e.g., the distance  141 ), the controller  88  is able to facilitate closure of the furrow  140  based on the soil tightness. 
       FIG. 6  is a rear view of an embodiment of an adjustable closing system  32 . As described herein, the closing system  32  may enable independent movement of the closing discs  48  in response to the soil tightness detected by the sensors  94  and/or in response to the soil tightness determined by the controller  88  based on the feedback from the sensors  94 . For example, as illustrated, the closing system  32  includes actuators  150  that enable rotation of the closing discs  48  with respect to one another and with respect to the furrow  140 . The actuators  150  are coupled to the bars  49 , and the controller  88  is configured to actuate the actuators  150  to rotate the bars  49  in the directions  152  and/or  154 , thereby rotating the closing discs  48 . As such, the actuators  150  may rotate the bars  49  in the directions  152  and/or  154  to rotate the closing discs  48  in the directions  152  and/or  154 . For example, the actuators  150  may rotate the closing discs  48  between 90 degrees in either direction (e.g., +/−90 degrees). Additionally or alternatively, the closing discs  48  may be actuated independent of each other to enable the closing system  32  to place the closing discs  48  at symmetric or asymmetric angles relative to the furrow  140 . The ability to rotate the closing discs  48  may facilitate closure of the furrow  140  based on the soil tightness. 
       FIG. 7  is a flow diagram of an embodiment of a process  160  for controlling the adjustable closing system. For example, the process  160 , or portions thereof, may be performed by the controller of the adjustable closing system and of the row unit. The process begins at block  162 , where operating parameter inputs are received. The operating parameter inputs may include a general type of soil, a speed of the row unit and/or of the agricultural implement, weather conditions, certain soil conditions, or a combination thereof. The operating parameter inputs may be received via the user interface of the controller of the adjustable closing system and/or may be stored in the memory of the controller. 
     At block  164 , the agricultural implement is towed through the field. As the agricultural implement is towed, the row units of the agricultural implement engage the soil of the field. For example, the opening discs of the row units engage the soil to open the furrows in the field, the row units deposit the seeds into the furrows, and the adjustable closing system, via the closing discs and/or the press wheel, push the soil into the furrows to close the furrows and/or to compact the soil. 
     At block  166 , the sensors of the adjustable closing system and the row unit sense the soil tightness, the soil conditions, the operational conditions, or a combination thereof. For example, as described herein, the sensors may include soil tightness sensors configured to detect the soil tightness via ground penetrating RADAR, multispectral reflectivity of the soil, and/or other methods that may directly detect soil tightness. In certain embodiments, the sensors may include soil condition sensors configured to detect other conditions of the soil and/or operational sensors configured to detect operation of the row unit and/or the agricultural equipment. For example, the sensors may include LIDAR, infrared sensors, optical cameras, accelerometers (e.g., to detect vibration), a gyroscope (e.g., to detect orientation: camber, castor, toe), position sensors (e.g., to detect placement of components relative to row unit frame/chassis), a disc position sensor (e.g., to detect a vertical and/or general position of the disc relative to the soil and/or relative to another disc), a disc rotational position sensor (e.g., to detect whether the disc rate of rotation is within expected limits to determine whether the disc is stuck, dragging, sliding, failing, not fully engaged with the ground), a torsion sensor (e.g., to detect rolling resistance to determine whether the disc is stuck, dragging, sliding, failing, not fully engaged with the ground), a draft sensor (e.g., to detect deflection due to forces on ground engaging components), or a combination thereof. 
     At block  168 , the controller of the adjustable closing system and of the row unit receives the feedback from the sensors indicative of the soil tightness (e.g., receive the feedback from the soil tightness sensors indicative of the soil tightness) and/or determines the soil tightness based on the feedback from the sensors (e.g., may determine the soil tightness, among other soil conditions/characteristics, based on the feedback from the soil condition sensors and/or from the operational sensors). For example, the controller may receive a signal from the sensor indicative of the position of the closing disc with respect to the soil and/or with respect to portion(s) of the row unit (e.g., the sensor may be an infrared sensor or another type of sensor configured to detect the position of the closing disc relative to the soil). Additionally, the controller may be configured to determine a pressure applied by an actuator of the closing system to the closing disc and/or may receive a sensor signal indicative of the pressure applied by the actuator to the closing disc. Based on the position of the closing disc with respect to the soil and/or with respect to the portion(s) of the row unit and based on the pressure applied to the closing disc, the controller may determine the tightness of the soil. 
     At block  170 , based on the soil tightness (e.g., the soil tightness sensed by the sensors and/or determined by the controller based on the feedback from the sensors), the controller controls a position and/or an orientation of one or both closing discs. For example, the controller may output signals to the actuators coupled to the closing discs (e.g., via bars) to adjust the position and/or the orientation of the closing discs. In response, the actuators may adjust the position (e.g., the longitudinal position and/or the lateral position) and/or the orientation (e.g., the angle with respect to the soil and/or the furrow) of one or both closing discs. Additionally or alternatively, at block  172 , the controller may, via the user interface, notify the operator of the agricultural implement of the soil tightness. After completing block  170  and/or block  172 , the process  160  may return to block  166  to sense the soil tightness, the soil conditions, the operational conditions, or a combination thereof 
     Accordingly, the adjustable closing system and the row unit including the adjustable closing system described herein may improve operation of an agricultural implement via adjustment of the closing system based on a tightness of soil engaged by the row unit. For example, the row unit may include sensors that detect the soil tightness and/or other conditions (e.g., soil conditions and/or operational conditions). The sensors may output signals to a controller of the row unit and of the adjustable closing system. The controller may receive the signals indicative of the soil tightness from the sensors and/or may determine the soil tightness based on the feedback from the sensors. Based on the soil tightness, the controller may control the adjustable closing system to adjust a position and/or an orientation of one or both closing discs of the closing system. For example, the controller may control a longitudinal position of the closing discs relative to one another, a lateral position of the closing discs relative to one another, an angle of the closing discs relative to the soil and/or relative to a furrow formed by the row unit, or a combination thereof. The adjustments to the closing system may improve performance of the closing system. For example, the adjustments may enable the closing system to better fill the furrow with soil, cover a seed within the furrow with soil, reduce drag on the row unit, and other benefits associated with operation of the agricultural implement. The improved seed coverage may improve seed germination and crop production. 
     The techniques presented and claimed herein are referenced and applied to material objects and concrete examples of a practical nature that demonstrably improve the present technical field and, as such, are not abstract, intangible or purely theoretical. Further, if any claims appended to the end of this specification contain one or more elements designated as “means for [perform]ing [a function] . . . ” or “step for [perform]ing [a function] . . . ”, it is intended that such elements are to be interpreted under 35 U.S.C. 112(f). However, for any claims containing elements designated in any other manner, it is intended that such elements are not to be interpreted under 35 U.S.C.  112 (f). 
     While only certain features of the disclosure have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the disclosure.