Patent Description:
There is a wide variety of different types of agricultural machines that apply material to an agricultural field. Some such agricultural machines include sprayers, tillage machines with side dressing bars, air seeders, chemical application machines, and planters that have row units.

For example, <CIT> discloses a system for dispensing multiple low rate agricultural products. The system includes an agricultural product metering system, a number of agricultural product tubes, and an agricultural product metering system. The agricultural product metering system is operably connected to sources of low rate agricultural products. The agricultural product tubes are operatively connected to the agricultural product metering system. The agricultural product metering system is configured to dispense liquid low rate agricultural products at a low rate.

Furthermore, as disclosed in <CIT>, systems, methods and apparatus for monitoring soil properties and applying fertilizer during a planting operation are known, where various sensors are disposed in ground engaging components for monitoring soil properties. The ground engaging components may have structure for opening a side trench in the sidewalls of the seed trench and may include liquid application conduits for injecting liquid into the sidewalls of the resulting side trenches.

Another example is known from <CIT>, where a planter system for planting seeds and dispensing a fluid includes a seeder assembly including a seed meter configured to dispense a group of seeds through a seed tube, a nozzle assembly configured to dispense the fluid in response to receiving a control signal, and a sensor configured to transmit detection signals upon detection of the first and last seeds passing through the seed tube. The planter system further includes a control system communicatively coupled to the sensor to receive the detection signals from the sensor and identify a trigger time based on the detection time of the first seed, the detection time of the last seed, or a time between the detection times. The control system transmits the control signal to the nozzle assembly based on a number of seeds in the.

As one other example, a row unit is often mounted to a planter with a plurality of other row units. The planter is often towed by a tractor over soil where seed is planted in the soil, using the row units. The row units on the planter follow the ground profile by using a combination of a down force assembly that imparts a down force to the row unit to push disk openers into the ground and gauge wheels to set depth of penetration of the disk openers.

Row units can also be used to apply material (e.g., pesticides, herbicides, or fertilizer) to the field (e.g., to the soil, to a seed, etc.) over which they are traveling. In some scenarios, each row unit has a valve that is coupled between a source of material to be applied, and an application assembly. As the valve is actuated, the material passes through the valve, from the source to the application assembly, and is applied to the field.

Many current systems apply the material in a substantially continuous way. For instance, where the application machine is applying a liquid fertilizer, it actuates the valve to apply a substantially continuous strip of the liquid fertilizer. The same is true of materials that provide other liquid substances, or granular substances, as examples.

Locations of seeds in a field can be identified. A material is applied to the field by an agricultural machine, based upon the seed locations. The placement of the material is detected and the agricultural machine is controlled.

As such, a method of controlling a planting work machine according to claim <NUM>, wherein the method comprising: identifying a reference position on an agricultural surface; applying material based on the identified reference position;
sensing a characteristic of the material; generating a material sensor signal indicative of the characteristic; identifying a location of the applied material based on the material sensor signal; generating a processing system output signal based on the location of the applied material and based on the reference position; identifying an action based on the processing system output signal; and generating a control signal to perform the identified action.

Applying material may comprise actuating an actuator to control a valve to apply the material and wherein sensing a characteristic of the material comprises: sensing a pressure of material applied by the valve; and generating, as the material sensor signal, a pressure sensor signal indicative of the pressure of the material and indicative of application of the material. Sensing a characteristic of the material may further comprise sensing flow of material through the valve and wherein generating a material sensor signal comprises generating, as the material sensor signal, a flow sensor signal indicative of the flow of the material.

Sensing a characteristic of the material may also comprise sensing, as the characteristic of the material, an optical characteristic of the material applied by the material application system and wherein generating a material sensor signal comprises generating, as the material sensor signal, an optical sensor signal indicative of the optical characteristic of the material.

Sensing an optical characteristic may comprise detecting a material additive in the applied material.

Sensing an optical characteristic may further comprise emitting, with a radiation emitter, an electromagnetic radiation beam; and sensing, as the characteristic of the material, that the material breaks the electromagnetic radiation beam emitted by the radiation emitter, wherein generating the material sensor signal comprises generating, as the material sensor signal, a beam break sensor signal indicative of the material breaking the electromagnetic radiation beam.

Sensing an optical characteristic may further comprise emitting, with a light curtain radiation emitter, a light curtain of electromagnetic radiation; detecting, with a radiation detector, electromagnetic radiation; and sensing, as the characteristic of the material, that the material breaks the light curtain of electromagnetic radiation, wherein generating a material sensor signal comprises generating, as the material sensor signal, a light curtain break sensor signal indicative of the material breaking the light curtain of electromagnetic radiation.

Sensing an optical characteristic may further comprise sensing, as the characteristic of the material, an image of the agricultural surface where the material is applied and wherein generating the material sensor signal comprises generating, as the material sensor signal, an image signal indicative of the image of the agricultural surface.

Sensing a characteristic of the material may comprise sensing, as the characteristic of the material, a temperature characteristic of the material applied and wherein generating the material sensor signal comprises generating, as the material sensor signal, a temperature sensor signal indicative of the temperature characteristic of the material.

Sensing a temperature characteristic may comprises sensing an infrared (IR) characteristic with an IR sensor.

Sensing a characteristic of the material may also comprise sensing, as the characteristic of the material, an electrical property of the material applied and wherein generating a material sensor signal comprises generating, as the material sensor signal, an electrical property sensor signal indicative of the electrical property of the material.

Sensing an electrical property of the material may comprise sensing, as the electrical property of the material, an electrical conductivity of the material applied and wherein generating an electrical property sensor signal comprises generating, as the electrical property sensor signal, an electrical conductivity sensor signal indicative of the electrical conductivity of the material. Sensing an electrical property may further comprise sensing, as the characteristic of the material, an electrical capacitance of the material and wherein generating the electrical property sensor signal comprises generating, as the electrical property sensor signal, an electrical capacitance sensor signal indicative of the electrical capacitance of the material. Sensing a characteristic of the material may further comprise sensing, as the characteristic of the material, a spectroscopic property of the material and wherein generating a material sensor signal comprises generating, as the material sensor signal, a spectroscopic property sensor signal indicative of the spectroscopic property of the material.

Identifying a reference position may comprise sensing a seed in one of a seed delivery system and a seed metering system; generating a seed sensor signal indicative of the sensed seed; and identifying, as the reference position, a seed location of seed on the agricultural surface based on the seed sensor signal.

The claimed subject matter is not limited to implementations that solve any or all disadvantages noted in the background.

As discussed above, many current systems apply material to a field in a relatively continuous way. This can result in wasted material. For instance, some material that is applied at certain locations between seeds or plants in a field may be unnecessary. This can result in lower productivity and lower efficiency. This problem can be exacerbated in instances where the material is applied at a relatively high rate, such as in the case of high rate fertilizer application. The present description thus proceeds with respect to a system that identifies a reference location, e.g., a seed location, and controllably dispenses or applies material, based upon the reference location (and/or position) in a field. The present description also proceeds with respect to a system that detects a location where the material was applied. The system can then generate an action signal, such as a control signal, based on the location where the material was applied.

The system can identify the reference location by sensing seeds, as they are planted in the soil, and then calculating a time when an application valve or actuator, e.g., a pump, should be actuated to apply the material, based upon the location of the valve or actuator relative to the location of the seed. Similarly, a prior seed map can be obtained indicating where seeds will be planted (e.g., seed locations) and the system controllably dispenses or applies material based on those a priori locations. The seeds can then be planted later. Further, the system can be used to apply the material and generate a material map of the locations where it was applied. A seed map can be generated based on the material map, and seeds can be planted based on that seed map. Other things can be considered as well, such as the responsiveness of the valve or actuator, the material properties of the material being applied, etc..

The present system can detect the location where the material was applied, such as the location of the material relative to the reference location or the location where the material was applied in a global or local coordinate system. The location where the material was applied can then be used to generate an action signal, such as a control system.

Also, the present description proceeds with respect to the examples being deployed on a row unit of a planter. They could just as easily be deployed on a sprayer, an air seeder, a tillage machine with a side-dress bar, or other piece of agricultural equipment that is used to apply a material.

<FIG> is a partial pictorial, partial schematic top view of one example of an architectural system <NUM> that includes agricultural planting machine <NUM>, towing vehicle <NUM>, that is operated by operator <NUM>, and material application control system <NUM>, which can be on one or more individual parts of machine <NUM>, centrally located on machine <NUM>, on towing vehicle <NUM>, or disbursed on machine <NUM> and towing vehicle <NUM>. Operator <NUM> can illustratively interact with operator interface mechanisms <NUM> to manipulate and control vehicle <NUM>, system <NUM>, and some or all portions of machine <NUM>.

Machine <NUM> is a row crop planting machine that illustratively includes a toolbar <NUM> that is part of a frame <NUM>. <FIG> also shows that a plurality of planting row units <NUM> are mounted to the toolbar <NUM>. Machine <NUM> can be towed behind towing vehicle <NUM>, such as a tractor. <FIG> shows that material can be stored in a tank <NUM> and pumped through a supply line <NUM> so the material can be dispensed in or near the rows being planted. In one example, a set of devices (e.g., actuators) <NUM> is provided to perform this operation. For instance, actuators <NUM> can be individual pumps that service individual row units <NUM> and that pump material from tank <NUM> through supply line <NUM> so it can be dispensed on the field. In such an example, material application control system <NUM> controls the pumps <NUM>.

In another example, actuators <NUM> are valves and one or more pumps <NUM> pump the material from tank <NUM> to valves <NUM> through supply line <NUM>. In such an example, material application control system <NUM> controls valves <NUM> by generating valve or actuator control signals, e.g., on a per-seed basis, as described below. The control signal for each valve or actuator can, in one example, be a pulse width modulated control signal. The flow rate through the corresponding valve <NUM> can be based on the duty cycle of the control signal (which controls the amount of time the valve is open and closed). The flow rate through the valve can be based on multiple duty cycles of multiple valves or based on other criteria. The control signal can be a different type of control signal as well, instead of a pulse width modulated control signal. Further, the material can be applied in varying rates on a per-seed or per-plant basis. For example, fertilizer may be applied at one rate when it is being applied at a location spaced from a seed location and at a second, higher, rate when it is being applied closer to the seed location. These are examples only.

<FIG> is a side view of one example of a row unit <NUM>, with actuator <NUM> and system <NUM> shown as well. Actuator <NUM> is shown in five possible locations labeled as 109A, 109B, 109C, 109D and 109E. Row unit <NUM> illustratively includes a chemical tank <NUM> and a seed storage tank <NUM>. It also illustratively includes one or more disc openers <NUM>, a set of gauge wheels <NUM>, and a set of closing wheels <NUM>. Seeds from tank <NUM> are fed into a seed meter <NUM>, e.g., by gravity or from a centralized commodity distribution system (e.g., exploiting pneumatic commodity distribution to each row unit). The seed meter <NUM> rotates in the direction indicated by arrow <NUM> and controls the rate at which seeds are dropped into a seed tube <NUM> or other seed delivery system, such as a brush belt or flighted belt (shown in <FIG>, respectively), from seed storage tank <NUM>. The seeds can be sensed by a seed sensor <NUM>.

In the example shown in <FIG>, liquid material is passed, e.g., pumped or otherwise forced, through supply line <NUM> to an inlet end of actuator <NUM>. Actuator <NUM> is controlled by control system <NUM> to allow the liquid to pass from the inlet end of actuator <NUM> to an outlet end.

As liquid passes through actuator <NUM>, it travels through an application assembly <NUM> from a proximal end (which is attached to an outlet end of actuator <NUM>) through a conduit <NUM> to a distal tip (or application tip) <NUM> (two different examples of which are shown as 119A and 119B), where the liquid is discharged into a trench, or proximate a trench or furrow <NUM>, opened by disc opener <NUM> (as is described in more detail below).

<FIG> also shows one or more material sensor(s) <NUM> that may be placed at any of a variety of different locations to detect material applied through application assembly <NUM>. Material sensor(s) <NUM> can take a wide variety of different forms, some of which are discussed below. The material sensor(s) <NUM> detect the material so the relationship between where the material is applied and where it should be applied can be identified and actions can be taken based on the relationship.

Some parts of row unit <NUM> will now be discussed in more detail. First, it will be noted that there are different types of seed meters <NUM>, and the one that is shown is shown for the sake of example only and is described in greater detail below. However, in one example, each row unit <NUM> need not have its own seed meter. Instead, metering or other singulation or seed dividing techniques can be performed at a central location, for groups of row units <NUM>. The metering systems can include finger pick-up discs and/or vacuum meters (e.g., having rotatable discs, rotatable concave or bowl-shaped devices), among others. The seed delivery system can be a gravity drop system (such as seed tube <NUM> shown in <FIG>) in which seeds are dropped through the seed tube <NUM> and fall (via gravitational force) through the seed tube and out the outlet end <NUM> into the seed trench <NUM>. Other types of seed delivery systems may be or may include assistive systems, in that they do not simply rely on gravity to move the seed from the metering system into the ground. Instead, such assistive systems actively assist the seeds in moving from the meter to a lower opening, where they exit or are deposited into the ground or trench. These can be systems that physically capture the seed and move it from the meter to the outlet end of the seed delivery system or they can be pneumatic systems that pump air through the seed tube to assist movement of the seed. The air velocity can be controlled to control the speed at which the seed moves through the delivery system. Some examples of assistive systems are described in greater detail below with respect to <FIG> and <FIG>.

A downforce actuator <NUM> is mounted on a coupling assembly <NUM> that couples row unit <NUM> to toolbar <NUM>. Actuator <NUM> can be a hydraulic actuator, a pneumatic actuator, a spring-based mechanical actuator or a wide variety of other actuators. In the example shown in <FIG>, a rod <NUM> is coupled to a parallel linkage <NUM> and is used to exert an additional downforce (in the direction indicated by arrow <NUM>) on row unit <NUM>. The total downforce (which includes the force indicated by arrow <NUM> exerted by actuator <NUM>, plus the force due to gravity acting on row unit <NUM>, and indicated by arrow <NUM>) is offset by upwardly directed forces acting on closing wheels <NUM> (from ground <NUM> and indicated by arrow <NUM>) and disc opener <NUM> (again from ground <NUM> and indicated by arrow <NUM>). The remaining force (the sum of the force vectors indicated by arrows <NUM> and <NUM>, minus the force indicated by arrows <NUM> and <NUM>) and the force on any other ground engaging component on the row unit (not shown), is the differential force indicated by arrow <NUM>. The differential force may also be referred to herein as the downforce margin. The force indicated by arrow <NUM> acts on the gauge wheels <NUM>. This load can be sensed by a gauge wheel load sensor, which may be located anywhere on row unit <NUM> where it can sense that load. The gauge wheel load sensor can also be placed where it may not sense the load directly, but a characteristic indicative of that load. For example, the gauge wheel load sensor can be disposed near a set of gauge wheel control arms (or gauge wheel arm) <NUM> that movably mount gauge wheels <NUM> to shank <NUM> and control an offset between gauge wheels <NUM> and the discs in double disc opener <NUM>, to control planting depth. Arms (or gauge wheel arms) <NUM> illustratively abut against a mechanical stop (or arm contact member-or wedge) <NUM>. The position of mechanical stop <NUM> relative to shank <NUM> can be set by a planting depth actuator assembly <NUM>. Control arms <NUM> illustratively pivot around pivot point <NUM> so that, as planting depth actuator assembly <NUM> actuates to change the position of mechanical stop <NUM>, the relative position of gauge wheels <NUM>, relative to the double disc opener <NUM>, changes, to change the depth at which seeds are planted.

In operation, row unit <NUM> travels generally in the direction indicated by arrow <NUM>. The double disc opener <NUM> opens a furrow <NUM> in the soil <NUM>, and the depth of the furrow <NUM> is set by planting depth actuator assembly <NUM>, which, itself, controls the offset between the lowest parts of gauge wheels <NUM> and disc opener <NUM>. Seeds are dropped through seed tube <NUM>, into the furrow <NUM> and closing wheels <NUM> close the furrow <NUM>, e.g., push soil back into the furrow <NUM>.

As the seeds are dropped through seed tube <NUM>, the seeds can be sensed by seed sensor <NUM>. Some examples of seed sensor <NUM> may include an optical or reflective sensor, which includes a radiation transmitter component and a receiver component. The transmitter component emits electro-magnetic radiation and the receiver component then detects the radiation and generates a signal indicative of the presence or absence of a seed adjacent the sensors. In another example, row unit <NUM> may be provided with a seed firmer that is positioned to travel through the furrow <NUM>, after seeds are placed in furrow <NUM>, to firm the seeds in place. A seed sensor can be placed on the seed firmer and generate a sensor signal indicative of a seed. Some additional examples of seed sensors are described in greater detail below.

The present description proceeds with respect to the seed sensor being located to sense a seed passing it in seed tube <NUM>, but this is for the sake of example only. Material application control system <NUM> illustratively receives a signal from seed sensor <NUM>, indicating that a seed is passing sensor <NUM> in seed tube <NUM>. Material application control system <NUM> then determines when to actuate actuator <NUM> so that material being applied through application assembly <NUM> (and out distal tip 119A or 119B of application assembly <NUM>) will be applied at a desired location relative to the seed in trench or furrow <NUM>. One example of how to determine when to actuate actuator <NUM> will now be described.

Material application control system <NUM> illustratively is programmed with, or detects a distance, e.g., a longitudinal distance, that the distal tip 119A or 119B is from the exit end <NUM> of seed tube <NUM>. System <NUM> also illustratively senses, or is provided with (e.g., by another component, such as a GPS unit or a tractor, etc.), the ground speed of row unit <NUM>. As the row units <NUM> on an implement being towed by a prime mover (e.g., a tractor) may move faster or slower than the tractor during turns, particularly as the width of the implement increases, the material application control system <NUM> may sense or be provided the ground speed of each row unit <NUM> of the implement. By way of example, the material application control system <NUM> may sense or be provided information when the implement is turning right indicating that the rightmost row unit <NUM> is travelling slower, i.e., has a lower ground speed, than the leftmost row unit <NUM>. Further, the material application control system <NUM> detects, is provided, or is programmed with, system data indicating the responsiveness of actuator <NUM> under certain conditions (such as under certain temperature conditions, certain humidity conditions, certain elevations, when spraying a certain type of fluid, etc.) and system <NUM> also detects, is provided, or programmed with one or more properties of the material being applied through actuator <NUM> (as this may affect the speed at which actuator <NUM> responds, the time it takes for the material to travel through application assembly <NUM> to the distal tip 119A or 119B and be applied to furrow <NUM>, etc.). Further, material application control system <NUM> illustratively detects (or is provided with a sensor signal indicative of) the forward speed of row unit <NUM> in the direction generally indicated by arrow <NUM>.

With this type of information, once system <NUM> receives a seed sensor signal indicating that a seed is passing sensor <NUM> in seed tube <NUM>, system <NUM> determines the amount of time it will take for the seed to drop through the outlet end of seed tube <NUM> and into furrow <NUM> to reside at its final seed location and position in furrow <NUM>. System <NUM> then determines when tip 119A or 119B will be in a desired location relative to that final seed location and system <NUM> generates a signal to control actuation of valve <NUM> to apply the material at the desired location. By way of example, it may be that some material is to be applied directly on the seed. In that case, system <NUM> times the actuation of actuator <NUM> so that the applied material will be applied at the seed location. In another example, it may be desirable to apply some material at the seed location and also a predetermined distance on either side of the seed location. In that case, system <NUM> generates the signal to control actuator <NUM> so that the material is applied in the desired fashion. In other examples, it may be that the material is to be applied at a location between seeds in furrow <NUM>. By way of example, relatively high nitrogen fertilizer may be most desirably applied between seeds, instead of directly on the seeds. In that case, system <NUM> has illustratively been programmed with the desired location of the applied material, relative to seed location, so that it can determine when to actuate actuator <NUM> in order to apply the material between seeds. Further, as discussed above, actuator <NUM> can be actuated to dispense material at a varying rate. Actuator <NUM> can be actuated to dispense more material on the seed location and less at locations spaced from the seed location, or vice versa, or according to other patterns.

It will be noted that a wide variety of different configurations are contemplated herein. For instance, in one example, <FIG> shows that actuator <NUM> may be placed closer to the distal tip 119A or 119B (such as indicated by actuator 109D and 109E). In this way, there is less uncertainty as to how long it will take the material to travel from the actuator 109D and 109E to the distal tip 119A or 119B. The valve may be disposed at different locations on seed tube <NUM> as indicated by actuator 109C or 109D. In such a scenario, again, actuator 109C or 109D is closer to the distal tip 119B and the material may be applied before and/or after the seed drops into furrow <NUM>. For instance, when seed sensor <NUM> detects a seed, system <NUM> may be able to actuate valve 109C or 109D to apply material to furrow <NUM>, before the seed exits the exit end <NUM> of seed tube <NUM>. However, by the time the seed drops through distal end <NUM> of seed tube <NUM>, the final seed location may be directly on the applied material. In yet another example, system <NUM> can control actuator 109C or 109D so that it applies material, but then stops applying it before the seed exits distal end <NUM>. In that case, the material may be applied at a location behind the seed in furrow <NUM>, relative to the direction indicated by arrow <NUM>. This actuation timing enables the material to be applied between seeds, on seeds, or elsewhere. Similarly, the actuator <NUM> may be placed at other locations, such as actuator 109B, as well. Also, multiple actuators <NUM> with multiple application assemblies <NUM> can be used to dispense multiple materials or more materials than can be dispensed using a single actuator <NUM> and dispensing assembly <NUM>. All of these and other configurations are contemplated herein. <FIG> is a side perspective view of an applicator unit <NUM>. Some items are similar to those shown in <FIG> and they are similarly numbered. Briefly, in operation, applicator unit <NUM> attaches to a side-dress bar that is towed behind a towing vehicle <NUM>, so unit <NUM> travels between rows (if the rows are already planted). However, instead of planting seeds, it simply applies material at a location between rows of seeds (or, if the seeds are not yet planted, between locations where the rows will be, after planting). When traveling in the direction indicated by arrow <NUM>, disc opener <NUM> (in this example, it is a single disc opener) opens furrow <NUM> in the ground <NUM>, at a depth set by gauge wheel <NUM>. When actuator <NUM> (two locations are shown at <NUM> and <NUM>) is actuated, material is applied in the furrow <NUM> and closing wheels <NUM> then close the furrow <NUM>.

As unit <NUM> moves, material application control system <NUM> controls actuator <NUM> to dispense material. Dispensing material can be done relative to seed or plant locations, if they are sensed or are already known or have been estimated. Dispensing material can also be done before the seed or plant locations are known. In this latter scenario, the locations where the material is applied can be stored so that seeds can be planted later, relative to the locations of the material that has been already dispensed.

Material sensor(s) <NUM> can sense the applied material so a determination can be made as to whether the material was applied to the correct spot. Action signals can be generated as well. Some examples of material sensor(s) <NUM> are described elsewhere.

<FIG> shows that actuator <NUM> can be mounted to one of a plurality of different positions on unit <NUM>. Two of the positions are shown at <NUM> and <NUM>. These are examples and the actuator <NUM> can be located elsewhere as well. Similarly, multiple actuators can be disposed on unit <NUM> to dispense multiple different materials or to dispense it in a more rapid or more voluminous way than is done with only one actuator <NUM>.

<FIG> shows another example of a row unit <NUM>' which is similar, in some ways, to the row unit <NUM> shown in <FIG>, and similar items are similarly numbered. However, instead of the seed delivery system being a seed tube <NUM>, which relies on gravity to move the seed to the furrow <NUM>, the seed delivery system shown in <FIG> is an assistive seed delivery system <NUM>.

Assistive seed delivery system <NUM> also illustratively has a seed sensor <NUM> disposed therein. Assistive seed delivery system <NUM> captures the seeds as they leave seed meter <NUM> and moves the seeds in the direction indicated by arrow <NUM> toward furrow <NUM>. System <NUM> has an outlet end <NUM> where the seeds exit assistive system <NUM>, into furrow <NUM>, where the seeds again reach their final resting location.

In such a system, material application control system <NUM> considers the speed at which delivery system <NUM> moves the seed from seed sensor <NUM> to the exit end <NUM>. System <NUM> also illustratively considers the speed at which the seed moves from the exit end <NUM> into furrow <NUM>. For instance, in one example the seed simply drops from exit end <NUM> into furrow <NUM> under the force of gravity. In another example, however, the seed can be ejected from delivery system <NUM> at a greater or lesser speed than that which would be reached under the force of gravity. Similarly, it may be that the seed drops straight downward into furrow <NUM> from the outlet end <NUM>. In another example, however, it may be that the seed is propelled slightly rearwardly from the outlet end <NUM>, to accommodate for the forward motion of the row unit <NUM>', so that the travel path of the seed is more vertical and so the seed rolls less once it reaches the furrow. Further, the seed can be ejected rearwardly and trapped against the ground by a trailing member (such as a pinch wheel) which functions to stop any rearward movement of the seed, after ejection, and to force the seed into firm engagement with the ground. Again, <FIG> also shows that valve <NUM> can be placed at any of a wide variety of different locations, some of which are illustrated by values 109A, 109C, 109D and 109E. There can also be more than one seed sensor <NUM>, seed sensors of different types, seed sensors deployed at different locations, etc..

<FIG> also shows that row unit <NUM>' can have a row cleaner <NUM>. Row cleaner <NUM> can take many different forms and is shown as a set of cleaning wheels that remove residue from surface <NUM> ahead of opener <NUM>. Further, <FIG> shows material sensor(s) <NUM>. In one example, sensors <NUM> can include a sensor <NUM> (such as a camera, spectroscopy sensor, temperature sensor, electrical property sensor, beam break sensor, or other sensor) that senses the applied material as or after it exits the distal tip 119A or 119B of the application assembly <NUM>. In another example, sensor(s) <NUM> can be pressure sensor(s) or flow sensors mounted to sense the pressure or flow of the material being applied. The pressure sensors on flow sensors can sense a pressure or flow of material as it is being applied (e.g., existing actuator <NUM> or a corresponding nozzle), a pressure drop across or flow through actuator <NUM>, pressure pulses in material application assembly <NUM>, or another pressure sensor or flow sensor. Other examples of sensors <NUM> are described in more detail elsewhere herein.

<FIG> shows one example of a rotatable mechanism that can be used as part of the seed metering system (or seed meter) <NUM>. The rotatable mechanism includes a rotatable disc, or concave element, <NUM>. Rotatable element <NUM> has a cover (not shown) and is rotatably mounted relative to the frame of the row unit <NUM> or <NUM>'. Rotatable element <NUM> is driven by a motor (not shown) and has a plurality of projections or tabs <NUM> that are closely proximate corresponding apertures <NUM>. A seed pool <NUM> is disposed generally in a lower portion of an enclosure formed by rotating mechanism <NUM> and its corresponding cover. Rotatable element <NUM> is rotatably driven by its motor (such as an electric motor, a pneumatic motor, a hydraulic motor, etc.) for rotation generally in the direction indicated by arrow <NUM>, about a hub. A pressure differential is introduced into the interior of the metering mechanism so that the pressure differential influences seeds from seed pool <NUM> to be drawn to apertures <NUM>. For instance, a vacuum can be applied to draw the seeds from seed pool <NUM> so that they come to rest in apertures <NUM>, where the vacuum holds them in place. Alternatively, a positive pressure can be introduced into the interior of the metering mechanism to create a pressure differential across apertures <NUM> to perform the same function.

Once a seed comes to rest in (or proximate) an aperture <NUM>, the vacuum or positive pressure differential acts to hold the seed within the aperture <NUM> such that the seed is carried upwardly generally in the direction indicated by arrow <NUM>, from seed pool <NUM>, to a seed discharge area <NUM>. It may happen that multiple seeds are residing in an individual seed cell. In that case, a set of brushes or other members <NUM> that are located closely adjacent the rotating seed cells tend to remove the multiple seeds so that only a single seed is carried by each individual cell. Additionally, a seed sensor <NUM> can also illustratively be mounted adjacent to rotating element <NUM>. Seed sensor <NUM> generates a signal indicative of seed presence and this may be used by system <NUM>, as will be discussed in greater detail below.

Once the seeds reach the seed discharge area <NUM>, the vacuum or other pressure differential is illustratively removed, and a positive seed removal wheel or knock-out wheel <NUM>, can act to remove the seed from the seed cell. Wheel <NUM> illustratively has a set of projections <NUM> that protrude at least partially into apertures <NUM> to actively dislodge the seed from those apertures. When the seed is dislodged (such as seed <NUM>), it is illustratively moved by the seed tube <NUM>, seed delivery system <NUM> (some examples of which are shown above in <FIG> and below in <FIG> and <FIG>) to the furrow <NUM> in the ground.

<FIG> shows an example of a seed metering system and a seed delivery system, in which the rotating element <NUM> is positioned so that its seed discharge area <NUM> is above, and closely proximate, seed delivery system <NUM>. In the example shown in <FIG>, seed delivery system <NUM> includes a continuous transport mechanism such as a belt <NUM> with a brush that is formed of distally extending bristles <NUM> attached to belt <NUM> that act as a receiver for the seeds. Belt <NUM> is mounted about pulleys <NUM> and <NUM>. One of pulleys <NUM> and <NUM> is illustratively a drive pulley while the other is illustratively an idler pulley. The drive pulley is illustratively rotatably driven by a conveyance motor, which can be an electric motor, a pneumatic motor, a hydraulic motor, etc. Belt <NUM> is driven generally in the direction indicated by arrow <NUM>.

Therefore, when seeds are moved by rotating element <NUM> to the seed discharge area <NUM>, where they are discharged from the seed cells in rotating element <NUM>, the seeds are illustratively positioned within the bristles <NUM> by the projections <NUM> that push the seed into the bristles <NUM>. Seed delivery system <NUM> illustratively includes walls that form an enclosure around the bristles <NUM>, so that, as the bristles <NUM> move in the direction indicated by arrow <NUM>, the seeds are carried along with the bristles from the seed discharge area <NUM> of the metering mechanism, to an outlet end or a discharge area <NUM> either at ground level, or below ground level within the trench or furrow <NUM> that is generated by the furrow opener <NUM> on the row unit <NUM>. <FIG> shows seeds <NUM> in furrow <NUM>, seed <NUM> moving from outlet end <NUM> to furrow <NUM>, and additional seeds in bristles <NUM>.

Additionally, a seed sensor <NUM> is also illustratively coupled to seed delivery system <NUM>. As the seeds are moved within bristles <NUM>, sensor <NUM> can detect the presence or absence of a seed. It should also be noted that while the present description will proceed as having sensors <NUM>, and <NUM>, it is expressly contemplated that, in another example, only one sensor is used. Or additional sensors can also be used. Similarly, the seed sensor <NUM> shown in <FIG> can be disposed at a different location, such as that shown at 122A. Having the seed sensor closer to where the seed is ejected from the system can reduce error in identifying the final seed location. Again, there can be multiple seed sensors, or different kinds of seed sensors, and the seed sensor(s) can be located at many different locations.

<FIG> is similar to <FIG>, except that seed delivery system <NUM> does not include a belt with distally extending bristles. Instead, it includes a flighted belt (a continuous transport mechanism) in which a set of paddles <NUM> form individual chambers (or receivers <NUM>), into which the seeds are dropped, from the seed discharge area <NUM> of the metering mechanism <NUM>. The flighted belt moves the seeds from the seed discharge area <NUM> to the exit end <NUM> of the flighted belt, within the trench or furrow <NUM>.

There are a wide variety of other types of delivery systems as well, that include a transport mechanism and a receiver that receives a seed. For instance, they include dual belt delivery systems in which opposing belts receive, hold, and move seeds to the furrow, a rotatable wheel that has sprockets, which catch seeds from the metering system and move them to the furrow, multiple transport wheels that operate to transport the seed to the furrow, and an auger, among others. The present description will proceed with respect to an endless member (such as a brush belt, a flighted belt) and/or a seed tube, but many other delivery systems are contemplated herein as well.

Before continuing with the description of applying material relative to seed location and detecting material placement, a brief description of some examples of seed sensors <NUM>, 122A and <NUM> will first be provided. Sensors <NUM>, 122A and <NUM> are illustratively coupled to seed metering system <NUM> and seed delivery system <NUM>, <NUM>. Sensors <NUM>, 122A and <NUM> sense an operating characteristic of seed metering system <NUM> and seed delivery systems <NUM>, <NUM>. In one example, sensors <NUM>, 122A and <NUM> are seed sensors that are each mounted at a sensor location to sense a seed within seed tube <NUM>, seed metering system <NUM>, and delivery system <NUM>, respectively, as the seed passes the respective sensor location. In one example, sensors <NUM>, 122A, and <NUM> are optical or reflective sensors and thus include a transmitter component and a receiver component. The transmitter component emits electromagnetic radiation into seed tube <NUM>, seed metering system <NUM>, and/or delivery system <NUM>. In the case of a reflective sensor, the receiver component then detects the reflected radiation and generates a signal indicative of the presence or absence of a seed adjacent to sensor <NUM>, 122A, and <NUM> based on the reflected radiation. With other sensors, radiation such as light, is transmitted through the seed tube <NUM>, seed metering system <NUM>, or the delivery system <NUM>. When the light beam is interrupted by a seed, the sensor signal varies, to indicate a seed. Thus, each sensor <NUM>, 122A, and <NUM> generates a seed sensor signal that pulses or otherwise varies, and the pulses or variations are indicative of the presence of a seed passing the sensor location proximate the sensor.

For example, in regards to sensor <NUM>, bristles <NUM> pass sensor <NUM> and are colored to absorb a majority of the radiation emitted from the transmitter. As a result, absent a seed, reflected radiation received by the receiver is relatively low. Alternatively, when a seed passes the sensor location where sensor <NUM> is mounted, more of the emitted light is reflected off the seed and back to the receiver, indicating the presence of a seed. The differences in the reflected radiation allow for a determination to be made as to whether a seed is, in fact, present. Additionally, in other examples, sensors <NUM>, 122A, and <NUM> can include a camera and image processing logic that allow visual detection as to whether a seed is present within seed metering system <NUM>, seed tube <NUM>, and/or seed delivery system <NUM>, at the sensor location proximate the sensor. They can include a wide variety of other sensors (such as RADAR or LIDAR sensors) as well.

For instance, where a seed sensor is placed on a seed firmer, it may be mechanical or other type of sensor that senses contact with the seed as the sensor passes over the seed. Also, while the speed of the seed in the delivery system (or as it is ejected) can be identified by using a sensor that detects the speed of the delivery system, in some examples, the speed and/or other characteristics of movement of the seed can be identified using seed sensors. For instance, one or more seed sensors can be located to sense the speed of movement of the seed, its trajectory or path, its instantaneous acceleration, its presence, etc. This can be helpful in scenarios in which the seed delivery system changes speed.

<FIG> is a block diagram of one example of agricultural system <NUM> (shown in <FIG>), and items that are similar to those shown in <FIG> are similarly numbered in <FIG>. It will be noted that some of the items in <FIG> can be deployed on the towing vehicle <NUM>. Some of the items can be deployed on planting machine <NUM>. Some of the items in <FIG> can be deployed on remote computing systems that are in communication with system <NUM>. The items in <FIG> can be all located in one place, or they can be distributed. <FIG> shows that agricultural system <NUM> can include one or more processors or servers <NUM>, data store <NUM>, one or more of the seed sensors <NUM>, 122A and <NUM>, position sensor <NUM>, operator interface mechanisms <NUM>, material sensors <NUM>, reference position identifier system <NUM>, sensor signal processing system <NUM>, machine learning system <NUM>, controllable subsystems <NUM>, communication system <NUM>, action identification system <NUM>, control signal generation system <NUM>, and other items <NUM>.

Material sensors <NUM> can include a wide variety of different types of sensors. <FIG> shoes that, in one example, material sensors <NUM> can include one or more pressure sensors <NUM>. Sensors <NUM> can include one or more flow sensors <NUM> or optical sensors <NUM>. Optical sensors <NUM> can include beam break sensors <NUM>, light curtain sensors <NUM>, one or more cameras <NUM>, or other items <NUM>. Sensors <NUM> can also include one or more temperature sensors <NUM>, electrical property sensors <NUM> (which, themselves, can include conductivity sensor <NUM>, capacitance sensor <NUM>, and other sensors <NUM>), spectroscopy sensor <NUM>, and other sensors <NUM>. Reference position identifier system <NUM> can include seed location identifier <NUM>, seed location estimator <NUM>, and other items <NUM>. Sensor signal processing system <NUM> can include pressure/flow processor <NUM>, optical processor <NUM> (which can, itself, include beam/light curtain processor <NUM>, computer vision processor <NUM>, and other items <NUM>), temperature processor <NUM>, electrical property processor <NUM>, spectroscopy processor <NUM>, and/or other items <NUM>.

Controllable subsystems <NUM> can include actuators <NUM>, pumps <NUM>, material application control system <NUM>, seed metering system <NUM>, seed delivery system <NUM>, <NUM>, propulsion/steering subsystems <NUM>, and other items <NUM>. Control signal generation system <NUM> can include seed/material placement controller <NUM>, subsystem controller <NUM>, operator interface controller <NUM>, communication system controller <NUM>, and other items <NUM>. Before describing the overall operation of agricultural system <NUM> in more detail, a brief description of some of the items in agricultural system <NUM> and their operation will first be described.

Seed sensors <NUM>, 122A, and <NUM> have been described above. Position sensor <NUM> can be a global navigation satellite system (GNSS) receiver or another sensor that provides a location or position of agricultural system <NUM> within a global or local coordinate system. For instance, sensor <NUM> can be a cellular triangulation sensing system, a dead reckoning system, or another type of position sensor.

Operator interface mechanisms <NUM> can include such things as levers, a steering wheel, pedals, joysticks, buttons, knobs, or linkages. Mechanisms <NUM> can include output mechanism, such as user interface display mechanisms and input mechanisms, such as buttons, icons, or links that can be actuated using a point and click device or touch gestures (where the operator interface display is a touch sensitive display). Mechanisms <NUM> can include a speaker and microphone (where speech recognition and/or speech synthesis are provided), and other audio, visual, and/or haptic mechanisms.

As discussed above, material sensors <NUM> sense a location of the applied material. In one example, the location can be sensed relative to a location of the seed, or in other ways. Pressure sensor <NUM> can be a pressure sensor that is located on a valve or other actuator <NUM> to sense when material is applied through the valve or actuator <NUM>. The pressure sensors may sense a pressure drop across the valve or actuator <NUM>, the pressure of material exiting the valve or actuator <NUM>, the pressure of material in the application assembly <NUM>, or another pressure sensor.

Flow sensor <NUM> can be a flow sensor that senses the flow of material through an application assembly <NUM>. For instance, flow sensor <NUM> can be disposed on a valve or other actuator <NUM> to sense flow of material through the valve or actuator <NUM>. Flow sensor <NUM> can be disposed to sense flow of material through the conduit forming a portion of application assembly <NUM>, or flow sensor <NUM> can be disposed to sense flow of material exiting the distal tip <NUM> of application assembly <NUM>. Flow sensor <NUM> can be implemented in other ways as well. Optical sensor <NUM> can sense the application of material, so that the location of the applied material can be identified, in one of a variety of different ways using optical techniques. Beam break sensor <NUM> illustratively provides a transmitter and a receiver or detector. The transmitter transmits electromagnetic radiation to the receiver or detector. When the transmission is interrupted by something passing between the transmitter and receiver, then beam break sensor <NUM> provides a signal indicating this. Therefore, beam break sensor <NUM> can be configured to detect material exiting the outlet end <NUM> of application assembly <NUM> by directing a beam from the transmitter to the receiver that will be broken by material exiting the distal tip <NUM>. Similarly, beam break sensor <NUM> can be configured within the conduit of application assembly <NUM> so that dust or other obscurants do not generate inadvertent signals (which may be more likely in an example where beam break sensor <NUM> is deployed external to application assembly <NUM>). Beam break sensor <NUM> can also be deployed in other locations to detect application of material.

Light curtain sensor <NUM> can be configured to generate a light curtain of electromagnetic radiation. When an object passes through the light curtain, light curtain sensor <NUM> generates a signal indicative of the object passing through the light curtain. Therefore, the light curtain sensor <NUM> can be arranged to deploy the light curtain in an area to detect material being applied.

Camera <NUM> can be any of a wide variety of different types of cameras. Camera <NUM> can be a visible light camera, an infrared camera, a mono camera, a stereo camera, or another type of camera. Camera <NUM> can capture an image that, when processed, indicates the presence of the applied material. The image can thus be an image of the furrow after the material is applied, an image of the outlet end <NUM> of the application assembly <NUM>, or another image that can be processed to identify applied material. Also, an additive maybe added to the material to make optical identification of the material easier. For instance, a certain color additive may be combined with the material either before it is applied, or during the application process, so that the color of the applied material (with the additive) provides a significant contrast with the agricultural surface to which it is applied.

Temperature sensors <NUM> can detect the material based upon sensed temperature. For instance, the material can be heated or cooled so that its temperature differs from the surrounding environment, after it is applied. Also, the temperature of the material may be sufficiently different from the surrounding environment so that heating or cooling is not needed. The temperature sensor <NUM> can then sense the temperature in an area where the material is applied to identify the location of the applied material. The temperature sensor <NUM> may be an infrared sensor, or another type of temperature sensor.

Electrical property sensor <NUM> senses an electrical property that can be used to identify the location of the applied material. For example, the conductivity or capacitance of a substance may vary based upon whether the material is present or absent from that substance. Conductivity sensor <NUM> may thus be configured to generate a conductivity sensor signal indicative of a sensed conductivity of the soil proximate where the material has been added. The conductivity sensor signal can be processed to identify whether the material is present. Capacitance sensors <NUM> can be configured to generate a capacitance sensor signal indicative of the capacitance measured in the area proximate where the material is added. The capacitance sensor signal can be processed to identify the pressure of the material that is added. Spectroscopy sensor <NUM> illustratively analyzes the wavelengths of the region of interest (the region of the agricultural surface where material is applied). The material applied illustratively has different frequencies and amplitudes of wavelength than the soil. The wavelengths are sensed by spectroscopy sensor <NUM> and the applied material can be distinguished from the soil based on characteristics of the sensed wavelengths.

Reference position identifier system <NUM> identifies a reference position so that the material application control system <NUM> can control actuators <NUM> to apply the material, where desired, given the reference position. The reference position may, for example, be the seed locations. Seed location identifier <NUM> identifies the location of seed in the furrow. The location of seeds can be identified using the signals from seed sensors <NUM>, 122A, <NUM>, or in other ways. Seed location estimator <NUM> generates an estimate of the location of the seed. For instance, a seed map can be provided indicating where the planting machine is to plant seeds. That map can be used by the planter to release seeds at the mapped locations. However, the seed map contains estimated seed locations, instead of actual seed locations. Thus, the seed location estimator <NUM> can obtain estimated seed locations from a seed map, or based on other criteria. Sensor signal processing system <NUM> receives the sensor signal from one or more of the material sensors <NUM> and processes the signals to identify where the applied material is located relative to the reference position generated by reference position identifier system <NUM>. For instance, where the reference position is the seed location, and where the applied material is fertilizer that is to be applied on the seed location, then sensor signal processing system <NUM> identifies the applied material and whether the applied material has been applied at the seed location, based upon the received sensor signals. Similarly, where the material is to be applied between the reference positions, then sensor signal processing system <NUM> identifies the applied material and determines whether it is between the reference locations.

Sensor signal processing system <NUM> can include pressure/flow processor <NUM>. Processor <NUM> receives a sensor signal from pressure sensor <NUM> and/or flow sensor <NUM>, and identifies the location where the material is applied, based upon the pressure signal from sensor <NUM> or the flow signal from sensor <NUM>. For instance, where pressure sensor <NUM> generates a pressure signal indicative of a pressure pulse (which itself may be indicative of material being applied by material application system <NUM>), this information can be provided to processor <NUM>. The pressure signal will indicate not only the pressure variation, but the time for which the pressure varied (e.g., the length of the pressure pulse). Seed location identifier <NUM> may generate a signal indicating when a seed sensor sensed a seed. Based upon the time it takes the applied material to reach its final location on the ground, the time it takes the seed to reach its final location on the ground and the speed of machine <NUM>, processor <NUM> can determine the position of the applied material relative to the position of the seed. Furthermore, the pressure signal can be correlated to the position signal from position sensor <NUM> so that a map can be generated identifying where the material has been applied.

The pressure signal can also be integrated over time to obtain an indication of the volume (or amount) of material that was dispensed as well. In this way, the geospatial location of the applied material and the seed can be identified and the amount of applied material can also be identified. This can be used to generate a map, adjust system settings, make recommendations to the operator as to control adjustments, and in other ways, which are described below. Optical processor <NUM> processes the optical sensor signal from one or more of sensors <NUM>. Beam break sensor <NUM> and light curtain sensor <NUM> generate a signal indicating that material has passed through an optical beam or light curtain (respectively). The precise time at which the beam or light curtain was blocked can be compared to the time when the seed sensor <NUM>, 122A and <NUM> detected the seed and it can also be correlated to the position signal from position sensor <NUM>. The duration with which the beam or light curtain was blocked can be used to estimate the volume (or amount) of material dispensed. Based on the correlation between when the material is sensed to when the seed is sensed, and based upon the time it takes for the material and seed to reach the final locations, the location of the material that is applied to the field can be compared to the location of the seed in the furrow. An action can be identified and control signals can be generated to perform the identified action.

Camera <NUM> captures images of the material as it is being placed or after it has been placed on the agricultural surface. A signal indicative of the captured images is provided to computer vision processor <NUM> which processes the images to identify the presence of the material and its location on the agricultural surface. Computer vision processor <NUM> can also process the image to identify seeds in the image so that the location of the applied material, relative to the location of the seeds, can also be determined. Similarly, the surface area of the detected material can be used to identify a volume or amount of material. Computer vision processor <NUM> can use a variety of different mechanisms for extracting data from the images. For instance, red green blue (RGB) color analysis can be used. Similarly, edge detection can be used to extract data from the images. Neural networks and labeling networks or other classifiers can be used to identify data in the images as well.

Temperature processor <NUM> receives a temperature signal from temperature sensors <NUM>. As discussed above, temperature sensor <NUM> can be used to identify the location and amount of the applied material using a non-contact sensor, such as an infrared beam sensor, or infrared scanning sensor. The infrared images show differences in temperature. The material may natural be a different temperature than the soil or surrounding area, or the material may be heated or cooled. In one example, for instance, a liquid material is heated as it passes through the pump and material application system <NUM>. A non-contact infrared temperature sensor <NUM> is used to detect the temperature in the area of interest (e.g., on the agricultural surface where the material is applied) and a sensor signal generated by temperature sensor <NUM> is provided to temperature processor <NUM>. Processor <NUM> identifies the warmer area in the image and thus identifies that area as being a location that contains the applied material. The time and location can be correlated to the material identified in the image, as discussed above, and the information can be used to generate control signals, used for mapping, or used in other ways. The electrical property sensors <NUM> generate a signal indicative of the sensed electrical property (e.g., electrical conductivity, electrical capacitance, etc.). The electrical properties of the material being applied may be different from that of the surrounding soil. Therefore, a measurement of local electrical conductance or electrical capacitance can indicate the location of the applied material. The area in which the measured electrical property indicates applied material can be used to identify the volume of material applied as well. Electrical property processor <NUM> thus receives the electrical property signal from one or more sensors <NUM> and correlates the location of the added material with the reference position (e.g., the seed location) can be used to generate maps, used to generate control signals, or can be used in other ways. Spectroscopy sensor <NUM> can generate a spectroscopic image of the agricultural surface. The applied material will illustratively have different wavelength frequencies and amplitudes than the surrounding soil. Spectroscopy processor <NUM> analyzes the spectroscopic image or spectroscopy sensor signal and processes the signal to identify the frequencies and amplitudes at the various wavelengths to identify the added material. The area over which the material is detected can be used to generate an indication of volume (or another indication of amount), and the location of the material can be correlated to the reference position (e.g., seed location). The information can be used for mapping, to generate action signals, or in other ways.

The time it takes for the seed to reach its final position may depend on the speed of the seed delivery system, the speed of the seed metering system, the rate at which the seed falls or moves from the seed delivery system to the ground, the ground speed of the planting machines and other criteria. The time it takes for the material to reach its final position may depend on the speed at which the material leaves the tip <NUM>, the properties (e.g., density, viscosity, droplet size, etc.) of the material, the ground speed of the planting machine, and other criteria. The criteria can be sensed or predetermined and used by sensor signal processing system <NUM> to identify the location of the applied material, the location of the seed or other reference location, the correlation between the location of the applied material and the location of the seed, and other items.

Based upon the information provided by sensor signal processing system <NUM>, action identification system <NUM> then identifies actions that are to be taken. For instance, if the information from sensor signal processing system <NUM> indicates that the material is being added at a desired location, then an action may be to send that information to a mapping system for generation of maps, to send the information to a data store, or to send the information to other systems. The information may be sent to a remote computing system over a network, or in other ways. Also, if the information from sensor signal processing system <NUM> indicates that the material being added is misplaced relative to where desired, then the action identified by action identification system <NUM> may be to generate an alert for the operator <NUM> using operator interface mechanisms <NUM>. Similarly, action identification system <NUM> may identify an action to generate a recommendation to operator <NUM> to make adjustments to settings, or to adjust other mechanisms. The action may be to automatically control or make adjustments to control signals to automatically adjust the agricultural system <NUM> or the material application control system <NUM> so that the relative position of the material being applied, relative to the reference position, can be changed to more closely match what is desired.

Action identification system <NUM> generates an output indicative of the identified action and provides that output to control signal generation system <NUM>. Seed/material placement controller <NUM> can then generate control signals to control seed metering system <NUM>, seed delivery system <NUM>, <NUM>, and/or propulsion/steering system <NUM> to control the position of the material being applied, relative to the position of the seed in the furrow. Controller <NUM> can also generate control signals to control actuator <NUM>, pump <NUM>, and/or material application control system <NUM> to control the location of the material being added relative the reference position. Similarly, controller <NUM> can control both the position of the seed and the position of the applied material relative to one another, based upon the output from action identification system <NUM>.

Subsystem controller <NUM> can generate control signals to control any of the other controllable subsystems <NUM> as well. For instance, subsystem controller <NUM> may generate control signals to increase the engine speed of the propulsion system, to modify the heading of the machine, by controlling steering subsystem <NUM>, or to control other subsystems.

Operator interface controller <NUM> can generate control signals to control operator interface mechanism <NUM>. For example, the operator interface mechanisms <NUM> can be controlled to generate an alert for operator <NUM>, to show representative images indicating where the added material is being applied relative to the reference position, or to recommend actions to take to improve the placement or modify the volume of the material being applied. Operator interface controller <NUM> can generate control signals to control operator interface mechanisms <NUM> in other ways as well.

Communication system controller <NUM> can generate control signals to control communication system <NUM>. For instance, communication system controller <NUM> can generate control signals to control communication system <NUM> to send the information regarding the placement and volume of applied material, the reference position, and other things, to a remote computing system. The remote computing system can be used for map generation, or for other things. <FIG> is a flow diagram illustrating one example of the operation of agricultural system <NUM> in applying material to the agricultural surface relative to a reference position, sensing the material placement, and also generating actions based upon the sensed material placement.

It is first assumed that agricultural system <NUM> has a material sensor <NUM> deployed for detecting or sensing the applied material. Having material sensors deployed for detecting the applied material is indicated by block <NUM> in the flow diagram of <FIG>. Reference position identifier system <NUM> then obtains a reference position that can be correlated to the position of the applied material. Obtaining the reference position is indicated by block <NUM> in the flow diagram of <FIG>. In one example, reference position identifier system <NUM> uses seed sensors <NUM>, 122A, <NUM> to sense the seed location, on-the-fly, during the planting operation. Performing on-the-fly seed location sensing to obtain the reference position is indicated by block <NUM> in the flow diagram of <FIG>. In another example, seed location identifier <NUM> can obtain, as the reference position, the seed location from a map or other data generated during a prior planting operation. By way of example, assume that the seeds were planted, and the material is then being applied during a subsequent operation. Obtaining the reference position from a prior planting operation is indicated by block <NUM> in the flow diagram of <FIG>. Seed location estimator <NUM> can also generate, as the reference position, an estimated seed location. By way of example, a seed planting map, that has desired seed locations and that is to be used during planting, may be accessed by seed location estimator <NUM>. The locations of the seeds on the seed planting map can be obtained as the estimated seed locations, where the seeds will reside after they are planted. Obtaining the reference position from a map used for a future planting operation is indicated by block <NUM> in the flow diagram of <FIG>. Reference position identifier system <NUM> can obtain the reference position in other ways as well as indicated by block <NUM> in the flow diagram of <FIG>.

Material application control system <NUM> then generates control signals to apply material to the agricultural surface (e.g., to the field). Generating control signals to apply material to the field is indicated by block <NUM> in the flow diagram of <FIG>. System <NUM> can control actuators <NUM> and/or pumps <NUM> to apply material, based upon the reference position. In one example, the material being added may be liquid or granular material, as indicated by block <NUM>. The material can be fertilizer <NUM>, herbicide <NUM>, pesticide <NUM>, or other material <NUM>.

Material sensors <NUM> then detect material application, as indicated by block <NUM>. Detection can be based on an input from a single type of sensor or from a fused combination of sensors. The material sensors <NUM> can detect application of the material during application (such as by using pressure sensors <NUM>, flow sensors <NUM>, optical sensors <NUM>, etc.). Detecting material application during the application of the material is indicated by block <NUM> in the flow diagram of <FIG>. The material sensors <NUM> can also sense the applied material once it is on the ground, (such as by using optical sensor <NUM>, temperature sensor <NUM>, electrical property sensor <NUM>, spectroscopy sensor <NUM>, or other sensor) as indicated by block <NUM>. The material application can be detected or sensed in other ways as well, as indicated by block <NUM>.

The material sensors <NUM> can include pressure sensor <NUM> or flow sensor <NUM>, beam break sensor <NUM> or light curtain sensor <NUM>, computer vision sensor <NUM>, temperature sensor <NUM>, electrical property sensors <NUM>, spectroscopy sensors <NUM> or other sensors <NUM>. Also, additives can be added to the material so that they can be more easily detected by any of the material sensors <NUM>, or other sensors.

Sensor signal processing system <NUM> then determines the location of the applied material based upon the sensor signals from one or more material sensors <NUM>. The determination as to the location of the applied material can also be made based on other sensor signals, such as a signal from position sensor <NUM>, from seed sensors <NUM>, 122A, <NUM>, from speed sensors that sense the speed of seed metering system <NUM> and/or seed delivery system <NUM>, the speed of the planter based upon the speed of propulsion system <NUM>, and/or other sensor signals. Determining the location of the applied material is indicated by block <NUM> in the flow diagram of <FIG>.

In one example, the location of the applied material is identified relative to the reference position output by reference position identifier system <NUM>. Identifying the position of the applied material relative to the reference position is indicated by block <NUM> in the flow diagram of <FIG>. In yet another example, the sensor signal processing system <NUM> can determine the quantity (e.g., volume) of material that was applied based upon the sensor signals. Determining the quantity of material applied is indicated by block <NUM> in the flow diagram of <FIG>. Determining the location of the applied material can be done in other ways as well, as indicated by block <NUM>.

Once the location of the applied material has been determined by sensor signal processing system <NUM>, action identification system <NUM> identifies one or more actions to take based upon the location of the applied material. Identifying the actions is indicated by block <NUM> in the flow diagram of <FIG>. The actions, as previously mentioned, can be a wide variety of different types of actions. The seed/material placement controller <NUM> can generate control signals to move the seed and/or material placement, as indicated by block <NUM>. The identified action can be to control any of the controllable subsystems <NUM> as well. Controlling the controllable subsystems is indicated by block <NUM> in the flow diagram of <FIG>. The action can be to control one or more operator interface mechanisms <NUM>, as indicated by block <NUM> in the flow diagram of <FIG>. The identified action can be to control communication system <NUM> to communicate the information to other systems, such as a mapping system, or another system. Identifying the action as an action to control a communication system <NUM> is indicated by block <NUM> in the flow diagram of <FIG>. Identifying actions based upon the location of the applied material can be done in other ways as well, as indicated by block <NUM>.

Once the action is identified, control signal generation system <NUM> generates control signals to perform the identified action, as indicated by block <NUM>. Processing continues, until the material application process operation is complete, as indicated by block <NUM>.

It can thus be seen that the present description describes a system in which not only is material applied based upon a reference position, but the location of the material, relative to the reference position, is identified and actions are identified based upon that location. The location of the applied material can be identified using a wide variety of different types of sensors.

<FIG> is a block diagram of the agricultural system, shown in <FIG>, except that it communicates with elements in a remote server architecture <NUM><NUM>. In an example, remote server architecture <NUM> can provide computation, software, data access, and storage services that do not require end-user knowledge of the physical location or configuration of the system that delivers the services. In various examples, remote servers can deliver the services over a wide area network, such as the internet, using appropriate protocols. For instance, remote servers can deliver applications over a wide area network and they can be accessed through a web browser or any other computing component. Software or components shown in <FIG> as well as the corresponding data, can be stored on servers at a remote location. The computing resources in a remote server environment can be consolidated at a remote data center location or they can be dispersed. Remote server infrastructures can deliver services through shared data centers, even though they appear as a single point of access for the user. Thus, the components and functions described herein can be provided from a remote server at a remote location using a remote server architecture. Alternatively, they can be provided from a conventional server, or they can be installed on client devices directly, or in other ways.

In the example shown in <FIG>, some items are similar to those shown in <FIG> and <FIG> and they are similarly numbered. <FIG> specifically shows that sensor signal processing system <NUM> and data store <NUM> can be located at a remote server location <NUM>. Therefore, the remainder of system <NUM> accesses those systems through remote server location <NUM>.

<FIG> also depicts another example of a remote server architecture. <FIG> shows that it is also contemplated that some elements of <FIG> and <FIG> can be disposed at remote server location <NUM> while others are not. By way of example, data store <NUM> can be disposed at a location separate from location <NUM>, and accessed through the remote server at location <NUM>. Regardless of where portions of system <NUM> are located, they can be accessed directly by other items in system <NUM>, through a network (either a wide area network or a local area network). Portions of system <NUM> can be hosted at a remote site by a service, or they can be provided as a service, or accessed by a connection service that resides in a remote location. Also, the data can be stored in substantially any location and intermittently accessed by, or forwarded to, interested parties. For instance, physical carriers can be used instead of, or in addition to, electromagnetic wave carriers. In such an example, where cell coverage is poor or nonexistent, another mobile machine (such as a fuel truck) can have an automated information collection system. As the planter comes close to the fuel truck for fueling, the system automatically collects the information from the planter using any type of ad-hoc wireless connection. The collected information can then be forwarded to the main network as the fuel truck reaches a location where there is cellular coverage (or other wireless coverage). For instance, the fuel truck may enter a covered location when traveling to fuel other machines or when at a main fuel storage location. All of these architectures are contemplated herein. Further, the information can be stored on the planter until the planter enters a covered location. The planter, itself, can then send the information to the main network.

It will also be noted that the elements of <FIG> and <FIG>, or portions of them, can be disposed on a wide variety of different devices. Some of those devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices, such as palm top computers, cell phones, smart phones, multimedia players, personal digital assistants, etc..

<FIG> is a simplified block diagram of one illustrative example of a handheld or mobile computing device that can be used as a user's or client's hand held device <NUM>, in which the present system (or parts of it) can be deployed. For instance, a mobile device can be deployed in the operator compartment of towing vehicle <NUM> for use in generating, processing, or displaying the application data. <FIG> are examples of handheld or mobile devices.

<FIG> provides a general block diagram of the components of a client device <NUM> that can run some components shown in <FIG> and <FIG>, that interacts with them, or both. In the device <NUM>, a communications link <NUM> is provided that allows the handheld device to communicate with other computing devices and in some examples provides a channel for receiving information automatically, such as by scanning. Examples of communications link <NUM> include allowing communication though one or more communication protocols, such as wireless services used to provide cellular access to a network, as well as protocols that provide local wireless connections to networks.

In other examples, applications can be received on a removable Secure Digital (SD) card that is connected to an interface <NUM>. Interface <NUM> and communication links <NUM> communicate with a processor <NUM> (which can also embody processors from previous FIGS. ) along a bus <NUM> that is also connected to memory <NUM> and input/output (I/O) components <NUM>, as well as clock <NUM> and location system <NUM>.

I/O components <NUM>, in one example, are provided to facilitate input and output operations. I/O components <NUM> for various examples of the device <NUM> can include input components such as buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors and output components such as a display device, a speaker, and or a printer port. Other I/O components <NUM> can be used as well.

Clock <NUM> can also, illustratively, provide timing functions for processor <NUM>.

System <NUM> can also include, for example, mapping software or navigation software that generates desired maps, navigation routes and other geographic functions. Memory <NUM> stores operating system <NUM>, network settings <NUM>, applications <NUM>, application configuration settings <NUM>, data store <NUM>, communication drivers <NUM>, and communication configuration settings <NUM>. Memory <NUM> can include all types of tangible volatile and nonvolatile computer-readable memory devices. Memory <NUM> can also include computer storage media (described below). Memory <NUM> stores computer readable instructions that, when executed by processor <NUM>, cause the processor to perform computer-implemented steps or functions according to the instructions. Processor <NUM> can be activated by other components to facilitate their functionality as well.

<FIG> shows one example in which device <NUM> (from <FIG>) is a tablet computer <NUM>. In <FIG>, computer <NUM> is shown with user interface display screen <NUM>. Screen <NUM> can be a touch screen or a pen-enabled interface that receives inputs from a pen or stylus. Inputs can also be received from an on-screen virtual keyboard. Of course, computer <NUM> might also be attached to a keyboard or other user input device through a suitable attachment mechanism, such as a wireless link or USB port, for instance. Computer <NUM> can also illustratively receive voice inputs as well.

<FIG> is one example of a computing environment in which elements of <FIG> and <FIG>, or parts of it, (for example) can be deployed. With reference to <FIG>, an example system for implementing some embodiments includes a computing device in the form of a computer <NUM> programmed to operate as described above. Components of computer <NUM> may include, but are not limited to, a processing unit <NUM> (which can comprise processors from previous Figures), a system memory <NUM>, and a system bus <NUM> that couples various system components including the system memory to the processing unit <NUM>. The system bus <NUM> may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. Memory and programs described with respect to <FIG> and <FIG> can be deployed in corresponding portions of <FIG>.

Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium, which can be used to store the desired information and which can be accessed by computer <NUM>.

The computer <NUM> is operated in a networked environment using logical connections (such as a controller area network - CAN, local area network - LAN, or wide area network WAN) to one or more remote computers, such as a remote computer <NUM>.

It should also be noted that the different examples described herein can be combined in different ways. That is, parts of one or more examples can be combined with parts of one or more other examples. All of this is contemplated herein.

Claim 1:
A method of controlling a planting machine (<NUM>) of an agricultural system (<NUM>) in applying material to an agricultural surface relative to a reference position, wherein the agricultural system (<NUM>) comprises
one or more processors (<NUM>);
a reference position identifier system (<NUM>) to identify a reference position by using the signals from one or more seed sensors (<NUM>, 122A and <NUM>);
a controllable subsystem (<NUM>);
material sensors (<NUM>) deployed for detecting or sensing the applied material;
a position sensor (<NUM>) that provides a location of agricultural system (<NUM>);
a sensor signal processing system (<NUM>);
an action identification system (<NUM>); and
a control signal generation system (<NUM>);
the method comprising:
identifying a reference position on an agricultural surface (<NUM>);
applying material based on the identified reference position;
sensing a characteristic of the material;
generating a material sensor signal indicative of the characteristic;
identifying a location of the applied material based on the material sensor signal;
generating a processing system output signal based on the location of the applied material and based on the reference position;
identifying an action based on the processing system output signal; and
generating a control signal to perform the identified action.