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WO2025032379A1 - Système de détection souterrain pour détecter différents paramètres de sol - Google Patents

Système de détection souterrain pour détecter différents paramètres de sol Download PDF

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Publication number
WO2025032379A1
WO2025032379A1 PCT/IB2024/053906 IB2024053906W WO2025032379A1 WO 2025032379 A1 WO2025032379 A1 WO 2025032379A1 IB 2024053906 W IB2024053906 W IB 2024053906W WO 2025032379 A1 WO2025032379 A1 WO 2025032379A1
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WO
WIPO (PCT)
Prior art keywords
sensor device
soil
sensor
base station
signals
Prior art date
Application number
PCT/IB2024/053906
Other languages
English (en)
Inventor
Dale M. Koch
Original Assignee
Precision Planting Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Precision Planting Llc filed Critical Precision Planting Llc
Publication of WO2025032379A1 publication Critical patent/WO2025032379A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B47/00—Soil-working with electric potential applied between tools and soil
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C21/00—Methods of fertilising, sowing or planting
    • A01C21/007—Determining fertilization requirements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/24—Earth materials
    • G01N33/245—Earth materials for agricultural purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/0004—Gaseous mixtures, e.g. polluted air
    • G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
    • G01N33/0073—Control unit therefor
    • G01N33/0075—Control unit therefor for multiple spatially distributed sensors, e.g. for environmental monitoring
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/0098—Plants or trees
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/24—Earth materials
    • G01N33/246—Earth materials for water content

Definitions

  • Various embodiments of the present disclosure generally relate to below ground sensor systems including a sensor device and optionally a base station for communicating sensed soil parameters in agricultural fields.
  • Sensors can be used in an agricultural field for measuring soil conditions. Sensors are not typically placed in soil below ground due to limited ability to communicate and also due to being damaged by heavy machinery and implements that perform operations in the agricultural field during different seasons.
  • a sensor system comprising a base station positioned on a ground surface of soil of an agricultural field, partially in the soil, or below ground surface of the soil.
  • the base station includes a first transceiver that is configured to transmit electromagnetic (EM) signals to an above ground entity and a second transceiver that is configured to transmit EM signals downwards through the soil and a below ground sensor device is positioned at a depth in the soil below a tillage depth.
  • the sensor device generates an electromagnetic field through soil to transmit EM signals to the base station and to receive the EM signals from the base station for bidirectional communications between the sensor device and the base station.
  • a further aspect of the disclosure includes the base station being positioned in the agricultural field after planting of seeds and removed after harvesting of crops in the field. [0006] A further aspect of the disclosure includes the base station having a rugged low profile design with a width being greater than a height to survive being driven over by a tractor or implement.
  • a further aspect of the disclosure includes the sensor device being positioned at a depth 6- 60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • a further aspect of the disclosure includes a geographical tag for a position of the sensor device in the agricultural field being recorded upon implanting the sensor device in the ground.
  • a further aspect of the disclosure includes the base station being configured to receive the EM signals from the sensor device, to analyze the EM signals, and to determine an optimized position of the base station to maximize received signal strength of the EM signals from the buried sensor device.
  • a further aspect of the disclosure includes the sensor device that is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation,
  • a further aspect of the disclosure includes the sensor device that is configured to sense soil parameters including one or more of Nitrogen concentration, Phosphorus concentration, Potassium concentration, or Sulfur concentration.
  • a further aspect of the disclosure includes the sensor device that is permanently positioned in the soil with a battery life of several years.
  • a further aspect of the disclosure includes the sensor device that is configured to transmit EM signals having sensed data of the sensor device to the base station.
  • a further aspect of the disclosure includes the base station that is configured to transmit the sensed data to the above ground entity including a cellular network, a vehicle, a machine, or an implement.
  • a further aspect of the disclosure includes the sensor device that comprises an electrical conductivity sensor to sense electrical conductivity of soil with the electrical conductivity corresponding to a soil dielectric constant.
  • a sensor device for sensing soil properties throughout a region of an agricultural field.
  • the sensor device comprises sensing circuitry to sense soil properties in the agricultural field and to generate sensed data and radio frequency (RF) circuitry coupled to the sensing circuitry.
  • the RF circuitry is configured to transmit RF signals having the sensed data to a nearby base station and receive RF signals from the base station for bi-directional communications between the sensor device and the base station, wherein the sensor device is positioned at a depth in the soil below a tillage depth.
  • a further aspect of the disclosure includes the sensor device having a rugged design to increase structural integrity to survive tillage and other agricultural operations.
  • a further aspect of the disclosure includes the sensor device that is positioned at a depth 6- 60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • a further aspect of the disclosure includes a geographical tag for a position of the sensor device in the agricultural field that is recorded upon implanting the sensor device in the ground.
  • a further aspect of the disclosure includes the RF circuitry that is configured to transmit the RF signals to the base station in order to analyze the RF signals, and to determine an optimized position of the base station with respect to the sensor device to maximize received signal strength of the RF signals from the buried sensor device.
  • a further aspect of the disclosure includes the sensor device that is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation,
  • a further aspect of the disclosure includes the sensor device that is configured to sense soil parameters including one or more of Nitrogen concentration, Phosphorus concentration, Potassium concentration, or Sulfur concentration. [0023] A further aspect of the disclosure includes the sensor device that is permanently positioned in the soil with a battery life of several years.
  • a sensor system comprising an antenna positioned above a ground surface of soil of an agricultural field, wherein the antenna includes a transceiver that is configured to transmit electromagnetic (EM) signals to an above ground entity; a connector coupled to the antenna; and a below ground sensor device coupled to the connector and positioned at a depth in the soil below a tillage depth.
  • the sensor device is configured to generate sensed data for a region of soil, to send the sensed data to the antenna using a communication channel of the connector and to receive signals from the antenna for bi-directional communications between the sensor device and the antenna.
  • a further aspect of the disclosure includes the antenna having a rugged design to survive being driven over by a tractor or implement.
  • a further aspect of the disclosure includes the sensor device that is positioned at a depth of 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • a further aspect of the disclosure includes the sensor device that is positioned at a depth of 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • a further aspect of the disclosure includes a geographical tag for a position of the sensor device in the agricultural field that is recorded upon implanting the sensor device in the ground.
  • a further aspect of the disclosure includes the connector having a rugged design to survive being driven over by a tractor or implement.
  • a further aspect of the disclosure includes the sensor device that is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation,
  • a further aspect of the disclosure includes the sensor device that is permanently positioned in the soil with a battery life of several years.
  • a further aspect of the disclosure includes the antenna that is configured to transmit the sensed data to the above ground entity including a cellular network, a vehicle, a machine, an implement, or a wireless device.
  • a further aspect of the disclosure includes the sensor device that is configured to receive signals from the antenna for bi-directional communications between the sensor device and the antenna.
  • a sensor system for sensing soil properties of an agricultural field comprising an antenna positioned above a ground surface of soil of the agricultural field, wherein the antenna includes a transceiver that is configured to transmit electromagnetic (EM) signals to an above ground entity; a connector coupled to the antenna; and a below ground sensor device coupled to the connector and positioned at a depth in the soil below a tillage depth, wherein the sensor device is configured to generate sensed data for a surrounding region of soil, to send the sensed data to the antenna using a communication channel of the connector and to receive electric charge for charging the sensor device via the antenna and connector.
  • EM electromagnetic
  • a further aspect of the disclosure includes the antenna that has a rugged design to survive being driven over by a tractor or implement.
  • a further aspect of the disclosure includes the sensor device that is positioned at a depth of 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • a further aspect of the disclosure includes the sensor device that is positioned at a depth of 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • a further aspect of the disclosure includes the connector that has a rugged design to survive being driven over by a tractor or implement.
  • a further aspect of the disclosure includes the sensor device that is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • a further aspect of the disclosure includes the sensor device that is permanently positioned in
  • a sensor device comprising at least one sensor to sense data for soil properties for a surrounding soil region of an agricultural field; and controller circuitry coupled to the at least one sensor.
  • the controller circuitry is configured to send the sensed data to an above ground antenna using a communication channel of a connector.
  • the sensor device is positioned at a depth in the soil below a tillage depth.
  • a further aspect of the disclosure includes the sensor device that is configured to receive electric charge via the antenna for charging the sensor device.
  • a further aspect of the disclosure includes the sensor device that is positioned at a depth of 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • a sensor system comprising a device positioned above a ground surface of soil of an agricultural field, wherein the device includes a charge port to receive an electrical charge and a fluid port to receive a fluid fill; a connector coupled to the device; and a below ground sensor device coupled to the connector and positioned at a depth in the soil, wherein the sensor device is configured to generate sensed data for a surrounding region of soil, to send the sensed data to a communication channel of the connector and to receive the electrical charge from the charge port to charge the sensor device.
  • a further aspect of the disclosure includes the sensor device that is positioned at the depth in the soil below a tillage depth.
  • a further aspect of the disclosure includes the connector that includes the communication channel to transfer communications from the sensor device to the device and also from the device to the sensor device.
  • a further aspect of the disclosure includes the connector that includes a charging channel to transfer electrical charge from the charge port to the sensor device.
  • a further aspect of the disclosure includes the connector that includes a fluid channel to transfer fluid from the fluid port to the sensor device with the fluid being used by a sensor of the sensor device during sensor measurements.
  • a further aspect of the disclosure includes the device having a rugged design to survive being driven over by a tractor or implement.
  • a further aspect of the disclosure includes the sensor device that is positioned at a depth of 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • a further aspect of the disclosure includes the connector having a rugged design to survive being driven over by a tractor or implement.
  • a further aspect of the disclosure includes the sensor device that is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation,
  • a further aspect of the disclosure includes the sensor device that is permanently positioned in the soil and is rechargeable via the charge port.
  • a further aspect of the disclosure includes the device that further comprises an above ground antenna coupled to the connector, wherein the antenna is configured to transmit the sensed data from the sensor device to an above ground entity including a cellular network, a vehicle, a machine, an implement, or a wireless device.
  • a further aspect of the disclosure includes the sensor device that is configured to receive the electrical charge from the charge port to charge the sensor device.
  • a rechargeable sensor device for sensing soil properties in an agricultural field comprising: at least one sensor to sense data for soil properties for a surrounding soil region of the agricultural field; a refillable container to store a fluid or a reagent for sensor measurements and to receive a fill from an above ground port; and charging circuitry that is configured to receive electrical charge from an above ground charge port, wherein the rechargeable sensor device is positioned at a depth in the soil below a tillage depth.
  • a further aspect of the disclosure includes the rechargeable sensor device further comprising: a controller circuitry that is configured to transfer communications including sensed data from the sensor device to an above ground antenna using a communication channel of a connector.
  • a further aspect of the disclosure includes the charging circuitry that is configured to receive electrical charge from the charge port using a charging channel of the connector.
  • a further aspect of the disclosure includes the refillable container that is configured to receive a fluid fill from the above ground port using a fluid channel of the connector.
  • a further aspect of the disclosure includes the sensor device that is positioned at a depth of 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • a further aspect of the disclosure includes the sensor device that is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation,
  • a further aspect of the disclosure includes the sensor device that is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation,
  • a further aspect of the disclosure includes the sensor device that is permanently positioned in the soil and is rechargeable via the charge port.
  • a sensor system comprising a below ground sensor device positioned within a tillage depth during tillage in soil of an agricultural field, the sensor device including RF circuitry to transmit RF signals to an above ground entity; and an anchoring device to anchor the sensor device below ground and to prevent the sensor device from being moved out of the soil.
  • a further aspect of the disclosure includes the anchoring device that includes a first end of a tether attached to the sensor device.
  • a further aspect of the disclosure includes the anchoring device that includes an anchor that is attached to a second end of the tether.
  • a further aspect of the disclosure includes the anchor that includes a horizontal member that is transverse with respect to the tether.
  • a further aspect of the disclosure includes the sensor device that has a rugged design to survive being driven over by a tractor or implement.
  • a further aspect of the disclosure includes the RF circuitry of the sensor device that is configured to receive RF signals from the above ground entity for bi-directional communications between the sensor device and the above ground entity.
  • a further aspect of the disclosure includes the sensor device that is positioned at a depth of 6-60 inches below the ground surface.
  • a further aspect of the disclosure includes a geographical tag for a position of the sensor device in the agricultural field that is recorded upon implanting the sensor device in the soil.
  • a further aspect of the disclosure includes the sensor device that is configured to sense soil parameters including one or more of soil density, Nitrogen concentration, Phosphorus concentration, Potassium concentration, Sulfur concentration, moisture, temperature, or electrical conductivity.
  • a further aspect of the disclosure includes the sensor device that has a rugged design to survive being positioned within the tillage depth during tillage.
  • a further aspect of the disclosure includes a base station positioned on a ground surface of soil of an agricultural field, partially in the soil, or below ground surface of the soil, wherein the base station includes RF circuitry that is configured to transmit RF signals to the sensor device and to receive RF signals from the sensor device.
  • a sensor system comprising a below ground sensor device positioned within a tillage depth during tillage in soil of an agricultural field, the sensor device including RF circuitry to transmit RF signals to an above ground wireless device; and an anchoring device to anchor the sensor device below ground and to prevent the sensor device from being moved out of the soil.
  • a further aspect of the disclosure includes the anchoring device that includes a first end of a lanyard attached to the sensor device. [0077] A further aspect of the disclosure includes the anchoring device includes an anchor that is attached to a second end of the lanyard.
  • a further aspect of the disclosure includes the anchor that includes a horizontal member.
  • a further aspect of the disclosure includes the anchor that is transverse with respect to the lanyard.
  • a further aspect of the disclosure includes the sensor device that has a rugged design to survive being driven over by a tractor or implement.
  • a further aspect of the disclosure includes the RF circuitry of the sensor device that is configured to receive RF signals from the wireless device for bi-directional communications between the sensor device and the wireless device.
  • a further aspect of the disclosure includes the sensor device that is positioned at a depth of 6-60 inches below the ground surface.
  • a further aspect of the disclosure includes the sensor device that is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation,
  • a sensor device comprising at least one sensor of the sensor device to determine and monitor depth below ground for the sensor device; and RF circuitry to transmit data from the sensor device to a wireless device, wherein the sensor device is positioned at a depth within a tillage layer in soil of an agricultural field.
  • a further aspect of the disclosure includes the at least one sensor that includes two sensors that are configured to triangulate to determine depth below ground of the sensor device.
  • a further aspect of the disclosure includes the at least one sensor that includes multiple sensors that are positioned around the sensor device with each of the multiple sensors being directed towards a soil surface.
  • a further aspect of the disclosure includes the at least one sensor that comprises at least one depth monitoring sensor.
  • a further aspect of the disclosure includes the at least one depth monitoring sensor that comprises a sonar sensor or a ground penetrating radar sensor.
  • a further aspect of the disclosure includes the at least one sensor comprises at least one soil sensor to measure soil properties of a surrounding region of soil.
  • a further aspect of the disclosure includes the sensor device that has a rugged design to survive being driven over by a tractor or implement.
  • a further aspect of the disclosure includes the RF circuitry of the sensor device that is configured to receive RF signals from the wireless device for bi-directional communications between the sensor device and the wireless device.
  • a further aspect of the disclosure includes the sensor device that is positioned at a depth of 6-60 inches below the ground surface.
  • a further aspect of the disclosure includes a geographical tag for a position of the sensor device in the agricultural field that is recorded upon implanting the sensor device in the ground.
  • a further aspect of the disclosure includes the at least one sensor that is configured to soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation
  • a computer implemented method comprising using at least one sensor of a sensor device to determine a first depth below ground in soil of the sensor device; detecting with a sensor of the sensor device a change of depth of the sensor device; and using the at least one sensor of the sensor device to determine a second depth below ground in soil for the sensor device in response to detecting the change of depth of the sensor device, wherein the sensor device is positioned at a depth within a tillage layer in soil of an agricultural field.
  • a further aspect of the disclosure includes the at least one sensor that includes two sensors that are configured to triangulate to determine the first depth or the second depth of the sensor device. [0097] A further aspect of the disclosure includes the at least one sensor that includes multiple sensors that are positioned around the sensor device with each of the multiple sensors being directed towards a soil surface.
  • a further aspect of the disclosure includes the at least one sensor that comprises at least one depth monitoring sensor.
  • a further aspect of the disclosure includes reporting with RF circuitry of the sensor device the second depth to a wireless device.
  • a further aspect of the disclosure includes measuring, with the at least one sensor, soil properties of a surrounding region of soil.
  • a further aspect of the disclosure includes the sensor device that has a rugged design to survive being driven over by a tractor or implement.
  • a further aspect of the disclosure includes the sensor device that is positioned at a depth of 6-60 inches below the ground surface.
  • a further aspect of the disclosure includes the at least one sensor that is configured to soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation
  • FIG. 1 shows an example of a system for performing agricultural operations (e.g., planting operations, tillage operations, irrigation operations, fluid operations, sensing soil parameters, etc.) of agricultural fields including operations of an implement having row units in accordance with one embodiment.
  • agricultural operations e.g., planting operations, tillage operations, irrigation operations, fluid operations, sensing soil parameters, etc.
  • FIG. 2 schematically illustrates one embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • FIG. 3 schematically illustrates another embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • FIG. 4 schematically illustrates another embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • FIG. 5 schematically illustrates one embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • FIG. 6 schematically illustrates one embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • FIG. 7 schematically illustrates one embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • FIG. 8 schematically illustrates another embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • FIG. 9 schematically illustrates another embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • FIG. 10 schematically illustrates one embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • FIG. 11 illustrates a flow diagram of one embodiment for a computer-implemented method of determining and monitoring depth of a sensor device in soil below a ground surface.
  • FIG. 12 illustrates a block diagram of a sensor device in accordance with one embodiment.
  • FIG.13 illustrates a block diagram of a base station in accordance with one embodiment.
  • FIG. 14A shows an example of a block diagram of a self-propelled implement 140 (e.g., sprayer, spreader, irrigation implement, planter, tillage implement, etc.) in accordance with one embodiment.
  • a self-propelled implement 140 e.g., sprayer, spreader, irrigation implement, planter, tillage implement, etc.
  • FIG. 14B shows an example of a block diagram of a system 1450 that includes a machine 102 (e.g., tractor, combine harvester, etc.) and an implement 1440 (e.g., planter, cultivator, plough, sprayer, spreader, irrigation implement, etc.) in accordance with one embodiment.
  • a machine 102 e.g., tractor, combine harvester, etc.
  • an implement 1440 e.g., planter, cultivator, plough, sprayer, spreader, irrigation implement, etc.
  • FIG. 1 shows an example of a system for performing agricultural operations (e.g., planting operations, tillage operations, irrigation operations, fluid operations, sensing soil parameters, etc.) of agricultural fields including operations of an implement having row units in accordance with one embodiment.
  • the system 100-1 may be implemented as a cloud-based system with servers, data processing devices, computers, etc.
  • aspects, features, and functionality of the system 100-1 can be implemented in below ground sensor devices and base stations, servers, planters, planter monitors, combines, implements, laptops, tablets, computer terminals, client devices, user devices (e.g., device 190-1), handheld computers, personal digital assistants, cellular telephones, cameras, smart phones, mobile phones, computing devices, or a combination of any of these or other data processing devices.
  • the system includes a network computer or an embedded processing device within another device (e.g., display device) or within a machine (e.g., planter, combine), or other types of data processing systems having fewer components or perhaps more components than that shown in Figure 1.
  • the system 100-1 (e.g., cloud-based system) and agricultural operations can control and monitor field operations using an implement, machine, or sensor system.
  • the system 100-1 includes machines 140-1, 142-1, 144-1 and implements 141-1, 143-1, 145-1 coupled to a respective machine.
  • the implements (or machines) can include row units for agricultural operations of rows of crops within associated fields (e.g., fields 103-1, 105-1, 107-1, 109-1).
  • the system 100-1 includes buried or below ground sensor systems 170-173 to sense soil parameters and communicate with the network 180-1, machines, implements, or other sensor systems.
  • the buried or below ground sensor systems 170-173 include belowground sensor devices and optionally near ground level base stations as described below in conjunction with FIGs. 2-10.
  • the system 100-1 includes an agricultural analysis system 122-1 that includes a weather store 150-1 with current and historical weather data, weather predictions module 152-1 with weather predictions for different regions, and at least one processing system 132-1 for executing instructions for controlling and monitoring different operations (e.g., planting, fertilizing).
  • the storage medium 136-1 may store instructions, software, software programs, etc. for execution by the processing system and for performing operations of the agricultural analysis system 122-1.
  • storage medium 136-1 may contain a planting prescription (e.g., planting prescription that relates georeferenced positions in the field to planting parameters (e.g., soil type, downforce, speed, seed orientation, etc.).
  • An image database 160-1 stores captured images of plants or crops at different growth stages and seed at different positions and orientation in a seed passageway during planting.
  • a data analytics module 130-1 may perform analytics on agricultural data (e.g., images, weather, field, soil parameters, yield, etc.) to generate crop predictions 162-1 relating to agricultural operations.
  • a field information database 134-1 stores agricultural data (e.g., crop growth stage, soil types, soil characteristics, moisture holding capacity, etc.) for the fields that are being monitored by the system 100-1.
  • An agricultural practices information database 135-1 stores farm practices information (e.g., as-applied planting information (e.g., seed orientation), as-applied spraying information, as-applied fertilization information, planting population, applied nutrients (e.g., nitrogen), yield levels, proprietary indices (e.g., ratio of seed population to a soil parameter), etc.) for the fields that are being monitored by the system 100-1.
  • An implement can obtain seed orientation data and provide this data to the system 100- 1.
  • a cost/price database 138-1 stores input cost information (e.g., cost of seed, cost of nutrients (e.g., nitrogen)) and commodity price information (e.g., revenue from crop).
  • the system 100-1 shown in FIG. 1 may include a network interface 118-1 for communicating with other systems or devices such as buried or below ground sensor systems, drone devices, user devices, and machines (e.g., planters, combines) via a network 180-1 (e.g., Internet, wide area network, WiMax, satellite, cellular, IP network, etc.).
  • the network interface include one or more types of transceivers for communicating via the network 180-1.
  • the processing system 132-1 may include one or more microprocessors, processors, a system on a chip (integrated circuit), or one or more microcontrollers.
  • the processing system includes processing logic for executing software instructions of methods describe herein and software programs.
  • the system 100-1 includes the storage medium 136-1 for storing data and programs for execution by the processing system.
  • the storage medium 136-1 can store, for example, software components such as a software application for controlling and monitoring planting operations or any other software application for providing viewing and replay functionality for diagnostics and troubleshooting.
  • the storage medium 136-1 can be any known form of a machine readable non-transitory storage medium, such as semiconductor memory (e.g., flash; SRAM; DRAM; etc.) or non-volatile memory, such as hard disks or solid-state drive.
  • semiconductor memory e.g., flash; SRAM; DRAM; etc.
  • non-volatile memory such as hard disks or solid-state drive.
  • machine-accessible non-transitory medium e.g., machine-accessible non-transitory medium
  • machine-accessible non-transitory medium should be taken to include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) that store the one or more sets of instructions.
  • machine- accessible non-transitory medium shall also be taken to include any medium that is capable of storing, encoding or carrying a set of instructions for execution by the machine and that cause the machine to perform any one or more of the methodologies of the present disclosure.
  • the term “machine-accessible non-transitory medium” shall accordingly be taken to include, but not be limited to, solid-state memories, optical and magnetic media, and carrier wave signals.
  • FIG. 2 schematically illustrates one embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • the sensor system 200 includes a base station 210 and a sensor device
  • the base station may include an anchor that is positioned in ground while the base station is positioned above ground. Alternatively, the base station may be positioned partially or completely underground.
  • the base station can include multiple transceivers with a first transceiver to send electromagnetic (EM) signals 211 (or RF signals) to an above ground entity (e.g., cellular tower, network 180-1, a machine or tractor, an implement, a drone, a wireless device, etc.) and a second transceiver to send EM signals 212 (or RF signals) through the soil 250 to the sensor device 220.
  • EM electromagnetic
  • Electromagnetic waves vary in their wavelengths, frequencies, and energy levels. The full range of electromagnetic waves makes up the electromagnetic spectrum.
  • the base station 210 can be positioned in a field after planting and removed after harvesting of the crops in the field.
  • the base station 210 has a rugged low profile design to survive harvesting operations of the crops with a combine or other harvesting machine.
  • the base stations as described herein can be formed of plastic, metal, or a combination of a plastic and metal with plastic being used near an antenna of the base station.
  • the sensor device 220 is positioned at a depth (e.g., 8-24 inches, 8-30 inches) below the ground surface, below roots of the plants P-1, P-2, P-3, and P-4, and below a tillage depth 240 to survive shallow or deep tillage.
  • a geo tag for a position of the sensor device 220 is recorded upon implanting the sensor device in the soil.
  • the sensor device 220 includes sensing circuitry with one or more sensors and a transceiver to send EM signals 221 through the soil to the base station 210.
  • the base station 210 includes functionality to receive the EM signals 221, analyze the EM signals
  • the sensor device 220 can have a multi-year battery life and sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics).
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics.
  • Strip tillage can be performed after harvesting crops with the low density regions each having a width of 6 to 12 inches with a row spacing (e.g., 24 inches, 30 inches) that depends on a type of crop to be planted in a planting season in the planting regions.
  • the strip tillage is performed at a deeper depth after the harvest season.
  • a shallow tillage is performed to cultivate a work layer at a shallow depth (e.g., 2 to 4 inches).
  • a subsequent operation e.g., spray, side dress, planting
  • a sprayer or implement will ideally be driven in parallel to the low density regions or planting regions.
  • FIG. 3 schematically illustrates another embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • the sensor system 300 includes a base station 310 and a sensor device
  • the base station has a flat disc shape with a low aspect ratio to improve its structural integrity and ability to survive being ran over by a tractor or implement.
  • the base station can include multiple transceivers with a first transceiver to send electromagnetic (EM) signals 311 (or RF signals) to an above ground entity (e.g., cellular tower, network 180-1, a machine or tractor, an implement, a drone, a wireless device, etc.) and a second transceiver to send EM signals 312 (or RF signals) through the soil 350 to the sensor device 320.
  • EM electromagnetic
  • the sensor device 320 is positioned at a depth (e.g., 8-24 inches, 8-30 inches) below the ground surface, below roots of the plants P-1, P-2, P-3, and P-4, and below tillage depth 340 to survive shallow or deep tillage.
  • the sensor device 320 includes sensing circuitry with one or more sensor devices and a transceiver to send EM signals 321 through the soil to the base station 310.
  • the base station 310 includes functionality to receive the EM signals 321, analyze the EM signals
  • FIG. 4 schematically illustrates another embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • the sensor system 400 includes a base station 410 and a sensor device 420.
  • the base station has a triangular shape to improve its structural integrity and ability to survive being ran over by a tractor or implement due to the triangular shape being able to absorb compressive stress from a tractor or implement.
  • the base station 410 may be positioned slightly (e.g., 0.25 to 0.5”) below a surface of the soil 450.
  • the base station can include multiple transceivers with a first transceiver to send electromagnetic (EM) signals 411 to an above ground entity (e.g., cellular tower, network 180-1, a machine or tractor, an implement, a drone, etc.) and a second transceiver to send EM signals 412 through the soil 450 to the sensor device 420.
  • EM electromagnetic
  • the sensor device 420 is positioned at a depth (e.g., 8-24 inches, 8-30 inches) below the ground surface, below roots of the plants P-1, P-2, P-3, and P-4, and below tillage depth 440 to survive shallow or deep tillage.
  • the sensor device 420 includes sensing circuitry with one or more sensor devices and a transceiver to send EM signals 421 (or RF signals) through the soil to the base station 410.
  • the base station 420 includes functionality to receive the EM signals 421 (or RF signals), analyze the EM signals 421, and determine an optimized position of the base station 410 to maximize received signal strength of the EM signals from the buried sensor device 420.
  • FIG. 5 schematically illustrates one embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • the sensor system 500 includes an antenna 510, a connector 515 (e.g., a whip, a cable), and a sensor device 520 (e.g., a rechargeable sensor device).
  • the antenna 510 is physically connected to the sensor device 520 with the connector that can provide a communication channel (e.g., electrical connection) between the antenna 510 and the sensor device 520.
  • the antenna 510 sends electromagnetic (EM) signals 511 (or RF signals) to an above ground entity (e.g., cellular tower, network 180-1, a machine or tractor, an implement, a drone, a wireless device, etc.) and can receive EM signals (or RF signals) from the above ground entity.
  • the antenna has a rugged design to be resilient to damage from a heavy implement.
  • the antenna 510 includes functionality of a base station.
  • the sensor device 520 is positioned at a depth (e.g., 8-24 inches, 8-30 inches) below the ground surface, below roots of the plants P-1, P-2, P-3, and P-4, and below tillage depth 540 to survive shallow or deep tillage.
  • the sensor device 520 includes sensing circuitry with one or more sensors to generate sensed data for nearby regions of soil 550.
  • a controller circuitry of the sensor device can send the sensed data to the antenna 510 using the communication channel of the connector.
  • the sensor device 520 can have a multi-year battery life or be rechargeable from a port of the antenna 510.
  • the sensor device 520 senses soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics).
  • the rechargeable sensor device is permanently positioned in the soil and is configured to indicate charging condition to the antenna with the charging condition to be transmitted to the above ground entity.
  • the charging condition indicates a charge status of the rechargeable sensor device.
  • the antenna 510 is an above ground indicator (e.g., spherical terminating end) or can be replaced with an above ground indicator to provide a visible location for the below ground sensor device 520.
  • FIG. 6 schematically illustrates one embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • the sensor system 600 includes a device 610 having an antenna 610a, a charge port 610b, and a fluid port 610c, and an underground sensor device 620.
  • the device 610 is physically connected to the sensor device 620 with a connector 615 that can provide a communication channel with electrical connections between the antenna and the sensor device 620 and also provide an air or analytic fluid pathway between the device 610 and the sensor device 620.
  • the antenna of the device 610 sends electromagnetic (EM) signals 611 (or RF signals) to an above ground entity (e.g., cellular tower, network 180-1, a machine or tractor, an implement, a drone, a wireless device, etc.) and can receive EM signals (or RF signals) from the above ground entity.
  • the above ground device 610 has a rugged design to be resilient to being ran over by a heavy implement.
  • the sensor device 620 is positioned at a depth (e.g., 8-30 inches, 8-36 inches) in soil 650 below the ground surface, below roots of the plants P-1 , P-2, P-3, and P-4, and below tillage depth 640 to survive shallow or deep tillage.
  • the sensor device 620 includes sensing circuitry with one or more sensor devices.
  • a transceiver generates the EM signals 611 that are transmitted by the antenna 610a.
  • the sensor device 620 can have a multi-year battery life or be rechargeable from the charge port 610b of the device 610.
  • the fluid port 610c of the device 610 may also provide fluid access to refill an analytical fluid into the sensor device in order to measure different soil parameters at or near the depth of the sensor device 620.
  • the sensor device 620 senses soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics).
  • FIG. 7 schematically illustrates one embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • the sensor system 700 includes an underground sensor device 720, a tether 722, and an anchor 724.
  • the tether and anchor in combination form an anchoring device 725.
  • the sensor device 720 is physically anchored in the soil 750 by the tether 722 and anchor 724.
  • the sensor device 720 having a transceiver sends electromagnetic (EM) signals (or RF signals) to an above ground entity (e.g., cellular tower, network 180-1, a machine or tractor, an implement, a drone, a wireless device, etc.) and can receive EM signals (or RF signals) from the above ground entity.
  • EM electromagnetic
  • the sensor device 720 has a rugged design to be resilient to damage from a heavy implement.
  • the sensor device 720 is positioned at a depth (e.g., 2-4 inches, 4-12 inches) below the ground surface, near roots of the plants P-1, P-2, P-3, and P-4, and within a tillage layer 740 to survive being hit by a tillage implement during tillage and maintain its approximate depth in the soil.
  • the sensor device 720 can have a multi-year battery life.
  • the sensor device 720 senses soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics).
  • FIG. 8 schematically illustrates another embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • the sensor system 800 includes an underground sensor device 820, a lanyard 822, and an anchor 824.
  • the sensor device 820 is physically anchored in the soil 850 by the lanyard 822 and anchor 824.
  • the anchor is vertically aligned or tilted slightly with respect to a vertically aligned lanyard 822.
  • the sensor device 820 sends electromagnetic (EM) signals to an above ground entity (e.g., cellular tower, network 180-1, a machine or tractor, an implement, a drone, etc.) and can receive EM signals from the above ground entity.
  • the sensor device 820 has a rugged design to be resilient to damage from a heavy implement such as a tillage implement.
  • the sensor device 820 is positioned at a depth (e.g., 2-4 inches, 4-12 inches) below the ground surface, near roots of the plants P-1, P-2, P-3, and P-4, and within a tillage layer 840 to survive being hit by a tillage implement and maintain its approximate depth in the soil due to the lanyard and anchor.
  • the sensor device 820 can have a multi-year battery life.
  • the sensor device 820 senses soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics).
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics.
  • FIG. 9 schematically illustrates another embodiment of a buried or below ground sensor system to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • the sensor system 900 includes an underground sensor device 920, a lanyard 922, and an anchor 924.
  • the sensor device 920 is physically anchored in the soil 950 by the lanyard 922 and anchor 924.
  • the sensor device 920 sends electromagnetic (EM) signals to an above ground entity (e.g., cellular tower, network 180-1, a machine or tractor, an implement, a drone, etc.) and can receive EM signals from the above ground entity.
  • the sensor device 920 has a rugged design to be resilient to damage from a heavy implement.
  • the sensor device 920 is positioned at a depth (e.g., 2-4 inches, 4-12 inches) below the ground surface, near roots of the plants P-1, P-2, P-3, and P-4, and within a tillage layer 940 during tillage to survive being hit by a tillage implement and maintain its approximate depth in the soil due to the lanyard and anchor.
  • the sensor device 920 can have a multi-year battery life.
  • the sensor device 920 senses soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics).
  • FIG. 10 schematically illustrates one embodiment of a buried or below ground sensor system 1000 to sense soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics) throughout a soil region of interest.
  • soil parameters e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics
  • an underground sensor device 1020 includes multiple sensors 1021 and 1023 that generate EM signals 1022 and 1024 (or RF signals), respectively, for depth monitoring.
  • the sensor device 1020 is not physically anchored in the soil 1050 and can move if hit by an implement or possibly move from a change in temperature in the soil or other environmental changing conditions.
  • the sensors 1021 and 1023 can triangulate to determine a current depth of the sensor device 1020.
  • Wireless Triangulation is a method that measures a distance and angle from two or more known points as a cross reference to pinpoint a location and depth of the sensor device. Knowing the angle between the two sensors and the distances measured by sensors 1021 and 1023 provide an angle and its two adjacent sides of a triangle. Trigonometry then provides the distance from the vertex of the angle to the third line of the triangle, winch is the ground surface.
  • These wireless access points can vary in type from Cell Towers to Wireless Routers, or any wireless device.
  • Time of Arrival measures the amount of time it takes for a signal to travel from Point A to Point B.
  • a sensor device By measuring the TO A from multiple reference points, a sensor device’s current location can be backwards calculated through trilateration (a form of triangulation).
  • Another method of wirelessly triangulating a location uses angles more than speed or distance, and is known as Angle of Arrival (AO A). This measures the angle that the signal comes from the source to determine where those lines intersect from multiple sources (formally called multilateration).
  • AO A Angle of Arrival
  • Another method of triangulation is RSSL or Received Signal Strength Indicator that measures the perceived signal strength detected from a known wireless reference point. The location is calculated by comparing the received signal strength from multiple reference points, and determining the location with the strongest signal.
  • the sensor device 1020 includes sensors spaced all around the device 1020 in order to have at least some sensors pointed at a surface of the soil.
  • the sensor device 1020 due to being positioned at a shallow depth in the soil can directly send electromagnetic (EM) signals to an above ground entity (e.g., cellular tower, network 180-1, a machine or tractor, an implement, a drone, a wireless device, etc.) and can receive EM signals from the above ground entity.
  • the sensor device 1020 has a rugged design to be resilient to damage from a heavy implement.
  • the sensor device 1020 is positioned at a depth (e.g., 2-4 inches, 4-12 inches) below the ground surface, below roots of the plants P-1, P-2, P-3, and P-4, and within a tillage layer 1040 to survive being hit by a tillage implement and potentially change its approximate depth in the soil.
  • the sensor device 1020 monitors its depth and can report the depth change to a user or the system 100-1 in case depth changes for the sensor device.
  • the sensor device 1020 can have a multi-year battery life.
  • the sensor device 1020 senses soil parameters (e.g., soil densities, Nitrogen, Phosphorus, Potassium, Sulfur concentration, moisture, temperature, electrical conductivity, or other soil characteristics).
  • FIG. 11 illustrates a flow diagram of one embodiment for a computer-implemented method of determining and monitoring depth of a sensor device in soil below a ground surface.
  • the method 1100 is performed by processing logic that may comprise hardware (circuitry, dedicated logic, a processor, etc.), software (such as is run on a general purpose computer system or a dedicated machine or a device), or a combination of both.
  • the method 1100 is performed by processing logic (e.g., processing logic 126, processing logic 1263) of a processing system or sensor.
  • the computer- implemented method uses at least one depth monitoring sensor of a sensor device to determine a first depth below ground in soil of the sensor device.
  • the computer-implemented method determines with a sensor (e.g., motion sensor, depth monitoring sensor) of the sensor device whether a change of depth of the sensor device occurs. If so, at operation 1106, the computer-implemented method uses the at least one depth monitoring sensor of the sensor device to determine a second depth below ground in soil for the sensor device in response to detecting the change of depth of the sensor device. If no change in depth, then the method returns to operation 1104.
  • the sensor device can be positioned at a depth within a tillage layer during tillage in soil of an agricultural field.
  • the computer implement method includes reporting the second depth to a wireless device (e.g., base station, wireless device of a user, etc.).
  • the at least one depth monitoring sensor includes two sensors that are configured to triangulate to determine the first depth or the second depth of the sensor device.
  • the at least one depth monitoring sensor includes multiple sensors that are positioned around the sensor device with each of the multiple sensors being directed towards a soil surface.
  • the computer implement method further comprises measuring, with at least one soil sensor, soil properties of a surrounding region of soil.
  • Fig. 12 illustrates a block diagram of a sensor device in accordance with one embodiment.
  • the sensor device 1200 includes a power source 1210 (e.g., battery source, rechargeable cell with charging circuitry, etc.) that provides power (e.g., DC power supply) to a controller circuit 1220 via a connection 1274 (e.g., communication link, signal line, electrical connection, etc.), provides power to RF circuitry 1270 via a connection 1276 (e.g., communication link, signal line, electrical connection, etc.), and provides power to sensing circuitry 1240 via a connection 1246 (e.g., communication link, signal line, electrical connection, etc.).
  • a power source 1210 e.g., battery source, rechargeable cell with charging circuitry, etc.
  • power e.g., DC power supply
  • RF circuitry 1270 e.g., communication link, signal line, electrical connection, etc.
  • connection 1246 e.g., communication link, signal line, electrical connection, etc.
  • the controller circuit 1220 includes memory 1261 or is coupled to memory that stores instructions which are executed by processing logic 1263 (e.g., one or more processing units) of the controller circuit 1220 for controlling operations of the sensor device.
  • the controller circuit 1220 is coupled to the sensing circuitry 1240 via a connection 1222.
  • the processing logic can store software programs and sensed data in the memory, and send the sensed data to a connector (e.g., connector 515, connector 615) via connection 1284 for being transmitted by an antenna (e.g., antenna 510, antenna 610a).
  • the processing logic can execute instructions for forming and monitoring a wireless network with a base station, other wireless device, or above ground entity as discussed herein.
  • the RF circuitry 1270 may include a transceiver or separate transmitter 1275 and receiver 1277 functionality for sending and receiving bi-directional communications via antenna(s) 1278 with the base station(s), other wireless devices, or above ground entities.
  • the RF circuitry 1270 communicates bi-directionally with the controller circuit 1220 via a connection 1272 (e.g., electrical connection).
  • TheRF circuitry 1270 includes at least one ofLANRF circuitry, WAN RF circuitry, and cellular RF circuitry.
  • the sensing circuitry 1240 includes various types of sensing circuitry and sensor(s) including soil sensor(s) and circuitry 1242, depth monitoring sensor(s) and circuitry 1243, motion sensor(s) and circuitry 1244 to determine movement of the sensor device, GPR sensor(s) and circuitry 1245, Sonar sensors and circuitry 1247, and sensor(s) and circuitry n, etc.
  • a refillable container 1290 (e.g., cartridge, chamber) stores air, fluid, or a reagent that can be in fluid communication 1286 with a sensor or used by a sensor of the sensing circuitry for determining soil parameters.
  • the refillable container 1290 can be in fluid communication 1296 with a connector (e.g., connector 515, connector 615) and an above ground port to receive a fill of a fluid or a reagent.
  • the reagent can be any chemical composition that is used in a chemical analysis to test a sample material for the presence of a chemical in the sample material. Examples of reagents include, but are not limited to, reagents to test for one or more of nitrogen, phosphorous, potassium, boron, magnesium, calcium, zinc, manganese, copper, sulfur, sodium, organic matter, pH, and plant nutrients.
  • a sensor may comprise a ground-penetration radar subsurface inspection system such as any of the following commercially available systems: (1) the StructureScanTM Mini HR available from GSSI in Nashua, New Hampshire; (2) the 3d- Radar GeoScopeTM Mk IV coupled to a 3d-Radar VX-Series and/or DX-Series multi-channel antenna, all available from 3d-Radar AS in Trondheim, Norway; or (3) the MALA Imaging Radar Array System available from MALA Geoscience in Mala, Sweden.
  • the commercially available system may be mounted to the planter or other implement, or may be embedded in a sensor device that is positioned in soil.
  • FIG.13 illustrates a block diagram of a base station in accordance with one embodiment.
  • the base station 1300 (or wireless device) includes a power source 1310 (e.g., battery source, rechargeable cell, etc.) that provides power (e.g., DC power supply) to a controller circuit 1320 via a connection 1374 (e.g., communication link, signal line, electrical connection, etc.), provides power to RF circuitry 1370 via a connection 1376 (e.g., communication link, signal line, electrical connection, etc.), and provides power to sensing circuitry 1340 via a connection 1346 (e.g., communication link, signal line, electrical connection, etc.).
  • a power source 1310 e.g., battery source, rechargeable cell, etc.
  • a connection 1374 e.g., communication link, signal line, electrical connection, etc.
  • RF circuitry 1370 e.g., communication link, signal line, electrical connection, etc.
  • connection 1346 e.g., communication link, signal
  • the controller circuit 1320 includes memory 1361 or is coupled to memory that stores instructions which are executed by processing logic 1363 (e.g., one or more processing units) of the controller circuit 1320 for controlling operations of the base station for forming and monitoring a wireless network with a sensor device as discussed herein.
  • the controller circuit 1320 is coupled to the sensing circuitry 1340 via a connection 1322.
  • the RF circuitry 1370 e.g., communication circuitry
  • antenna 1378-1 transmits communications to and receives communications from a below ground sensor device and antenna 1378-2 transmits communications to and receives communications from an above ground entity.
  • the RF circuitry 1370 communicates bi-directionally with the controller circuit 1320 via a connection 1372 (e.g., electrical connection).
  • the RF circuitry 1370 includes at least one of LAN RF circuitry, WAN RF circuitry, and cellular RF circuitry.
  • the sensing circuitry 1340 includes various types of sensing circuitry and sensor(s) including soil sensor(s) and circuitry 1342, depth monitoring sensor(s) and circuitry 1343, motion sensor(s) and circuitry 1344 to determine movement of the base station, GPR sensor(s) and circuitry 1345, Sonar sensors and circuitry 1347, and sensor(s) and circuitry n, etc.
  • FIG. 14A shows an example of a block diagram of a self-propelled implement 140 (e.g., sprayer, spreader, irrigation implement, planter, tillage implement, etc.) in accordance with one embodiment.
  • the implement 140 includes a processing system 1400, memory 105, and a network interface 115 for communicating with other systems or devices.
  • the network interface 115 can include at least one of a GPS transceiver, a WLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other interfaces from communications with other devices and systems.
  • the network interface 115 may be integrated with the implement network 150 or separate from the implement network 150 as illustrated in FIG. 14A.
  • the I/O ports 129 e.g., diagnostic/on board diagnostic (OBD) port
  • OBD diagnostic/on board diagnostic
  • the self-propelled implement 140 performs operations for fluid applications of a field.
  • Data associated with the fluid applications can be displayed on at least one of the display devices 125 and 130.
  • the processing system 1400 may include one or more microprocessors, processors, a system on a chip (integrated circuit), or one or more microcontrollers.
  • the processing system includes processing logic 126 for executing software instructions of one or more programs and a communication unit 128 (e.g., transmitter, transceiver) for transmitting and receiving communications from the network interface 115 or implement network 150.
  • the communication unit 128 may be integrated with the processing system or separate from the processing system.
  • Processing logic 126 including one or more processors may process the communications received from the communication unit 128 including agricultural data (e.g., planting data, GPS data, fluid application data, flow rates, sensed data from a sensor device, etc.).
  • the system 1400 includes memory 105 for storing data and programs for execution (software 106) by the processing system.
  • the memory 105 can store, for example, software components such as application software for analysis of applications for performing agricultural operations, or any other software application or module, images (e.g., captured images of crops, images of a spray pattern for rows of crops), alerts, maps, etc.
  • the memory 105 can be any known form of a machine readable non- transitory storage medium, such as semiconductor memory (e.g., flash; SRAM; DRAM; etc.) or non-volatile memory, such as hard disks or solid-state drive.
  • the system can also include an audio input/output subsystem (not shown) which may include a microphone and a speaker for, for example, receiving and sending voice commands or for user authentication or authorization (e.g., biometrics).
  • the processing system 1400 communicates bi-directionally with memory 105, implement network 150, network interface 115, display device 130, display device 125, and I/O ports 129 via communication links 131-136, respectively.
  • Display devices 125 and 130 can provide visual user interfaces for a user or operator.
  • the display devices may include display controllers.
  • the display device 125 is a portable tablet device or computing device with a touchscreen that displays data (e.g., planting application data, liquid or fluid application data, captured images, localized view map layer, high definition field maps of as-applied liquid or fluid application data, as-planted or as-harvested data or other agricultural variables or parameters, yield maps, alerts, etc.) and data generated by an agricultural data analysis software application and receives input from the user or operator for an exploded view of a region of a field, monitoring and controlling field operations.
  • data e.g., planting application data, liquid or fluid application data, captured images, localized view map layer, high definition field maps of as-applied liquid or fluid application data, as-planted or as-harvested data or other agricultural variables or parameters, yield maps, alerts, etc.
  • the operations may include configuration of the machine or implement, reporting of data, control of the machine or implement including sensors and controllers, and storage of the data generated.
  • the display device 1230 may be a display (e.g., display provided by an original equipment manufacturer (OEM)) that displays images and data for a localized view map layer, as-applied liquid or fluid application data, as-planted or as-harvested data, yield data, controlling an implement (e.g., planter, tractor, combine, sprayer, etc.), steering the implement, and monitoring the implement (e.g., planter, combine, sprayer, etc.).
  • a cab control module 1270-1 may include an additional control module for enabling or disabling certain components or devices of the implement.
  • the implement 140 (e.g., planter, cultivator, plough, sprayer, spreader, irrigation, implement, etc.) includes an implement network 150 having multiple networks.
  • the implement network 150 having multiple networks e.g., Ethernet network, Power over Ethernet (PoE) network, a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.
  • PoE Power over Ethernet
  • CAN controller area network
  • ISOBUS ISOBUS
  • the implement network 150 includes nozzles 50, lights 60, and vision guidance system 70 having cameras and processors.
  • Sensors 152 e.g., speed sensors, seed sensors for detecting passage of seed, downforce sensors, actuator valves, OEM sensors, flow sensors, etc.
  • controllers 154 e.g., drive system, GPS receiver
  • processing system 1400 control and monitoring operations of the implement.
  • the OEM sensors may be moisture sensors or flow sensors, speed sensors for the implement, fluid application sensors for a sprayer, or vacuum, lift, lower sensors for an implement.
  • the controllers may include processors in communication with a plurality of sensors.
  • the processors are configured to process data (e.g., fluid application data) and transmit processed data to the processing system 1400.
  • the controllers and sensors may be used for monitoring motors and drives on the implement.
  • FIG. 14B shows an example of a block diagram of a system 1450 that includes a machine 102 (e.g., tractor, combine harvester, etc.) and an implement 1440 (e.g., planter, cultivator, plough, sprayer, spreader, irrigation implement, etc.) in accordance with one embodiment.
  • the machine 102 includes a processing system 1400, memory 105, machine network 110 that includes multiple networks (e.g., an Ethernet network, a network with a switched power line coupled with a communications channel (e.g., Power over Ethernet (PoE) network), a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.), and a network interface 115 for communicating with other systems or devices including the implement 1440.
  • networks e.g., an Ethernet network, a network with a switched power line coupled with a communications channel (e.g., Power over Ethernet (PoE) network), a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.
  • the machine network 110 includes sensors 112 (e.g., speed sensors), controllers 111 (e.g., GPS receiver, radar unit) for controlling and monitoring operations of the machine or implement.
  • the network interface 115 can include at least one of a GPS transceiver, a WLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other interfaces from communications with other devices and systems including the implement 1440.
  • the network interface 115 may be integrated with the machine network 110 or separate from the machine network 110 as illustrated in Figure 14B.
  • the I/O ports 129 e.g., diagnostic/on board diagnostic (OBD) port
  • OBD diagnostic/on board diagnostic
  • the machine is a self-propelled machine that performs operations of a tractor that is coupled to and tows an implement for planting or fluid applications of a field.
  • Data associated with the planting or fluid applications can be displayed on at least one of the display devices 125 and 130.
  • the processing system 1400-1 may include one or more microprocessors, processors, a system on a chip (integrated circuit), or one or more microcontrollers.
  • the processing system includes processing logic 126 for executing software instructions of one or more programs and a communication unit 128 (e.g., transmitter, transceiver) for transmitting and receiving communications from the machine via machine network 110 or network interface 115 or implement via implement network 150 or network interface 160.
  • the communication unit 128 may be integrated with the processing system or separate from the processing system.
  • the communication unit 128 is in data communication with the machine network 110 and implement network 150 via a diagnostic/OBD port of the I/O ports 129 or via network devices 113a and 113b.
  • a communication module 113 includes network devices 113a and 113b.
  • the communication module 113 may be integrated with the communication unit 128 or a separate component.
  • Processing logic 126 including one or more processors may process the communications received from the communication unit 128 including agricultural data (e.g., planting data, GPS data, liquid application data, flow rates, etc.).
  • the system includes memory 105 for storing data and programs for execution (software 106) by the processing system.
  • the memory 105 can store, for example, software components such as application software for analysis of agricultural applications for performing agricultural operations of the present disclosure, or any other software application or module, images (e.g., captured images of crops), alerts, maps, etc.
  • the memory 105 can be any known form of a machine readable non-transitory storage medium, such as semiconductor memory (e.g., flash; SRAM; DRAM; etc.) or non-volatile memory, such as hard disks or solid-state drive.
  • the system can also include an audio input/ output subsystem (not shown) which may include a microphone and a speaker for, for example, receiving and sending voice commands or for user authentication or authorization (e.g., biometrics).
  • the processing system 1400-1 communicates bi-directionally with memory 105, machine network 110, network interface 115, display device 130, display device 125, and I/O ports 129 via communication links 130-136, respectively.
  • Display devices 125 and 130 can provide visual user interfaces for a user or operator.
  • the display devices may include display controllers.
  • the display device 125 is a portable tablet device or computing device with a touchscreen that displays data (e.g., planting application data, liquid or fluid application data, captured images, localized view map layer, high definition field maps of as-applied liquid or fluid application data, as-planted or as-harvested data or other agricultural variables or parameters, yield maps, alerts, etc.) and data generated by an agricultural data analysis software application and receives input from the user or operator for an exploded view of a region of a field, monitoring and controlling field operations.
  • data e.g., planting application data, liquid or fluid application data, captured images, localized view map layer, high definition field maps of as-applied liquid or fluid application data, as-planted or as-harvested data or other agricultural variables or parameters, yield maps, alerts, etc.
  • the operations may include configuration of the machine or implement, reporting of data, control of the machine or implement including sensors and controllers, and storage of the data generated.
  • the display device may be a display (e.g., display provided by an original equipment manufacturer (OEM)) that displays images and data for a localized view map layer, as-applied liquid or fluid application data, as-planted or as-harvested data, yield data, controlling a machine (e.g., planter, tractor, combine, sprayer, etc.), steering the machine, and monitoring the machine or an implement (e.g., planter, combine, sprayer, etc.) that is connected to the machine with sensors and controllers located on the machine or implement.
  • OEM original equipment manufacturer
  • a cab control module 1270 may include an additional control module for enabling or disabling certain components or devices of the machine or implement. For example, if the user or operator is not able to control the machine or implement using one or more of the display devices, then the cab control module may include switches to shut down or turn off components or devices of the machine or implement.
  • the implement 1440 (e.g., planter, cultivator, plough, sprayer, spreader, irrigation, tillage implement, etc.) includes an implement network 150 having multiple networks, a processing system 162 having processing logic 164, a network interface 160, and optional input/output ports 166 for communicating with other systems or devices including the machine 102.
  • the implement network 150 having multiple networks may include a pump 156 for pumping liquid or fluid from a storage tank(s) 190 to row units of the implement, communication modules (e.g., 180, 181) for receiving communications from controllers and sensors and transmitting these communications to the machine network.
  • the communication modules include first and second network devices with network ports.
  • a first network device with a port (e.g., CAN port) of communication module (CM) 180 receives a communication with data from controllers and sensors, this communication is translated or converted from a first protocol into a second protocol for a second network device (e.g., network device with a switched power line coupled with a communications channel , Ethernet), and the second protocol with data is transmitted from a second network port (e.g., Ethernet port) of CM 180 to a second network port of a second network device 113b of the machine network 110.
  • a first network device 113a having first network ports (e.g., 1-4 CAN ports) transmits and receives communications from first network ports of the implement.
  • the implement network 150 includes nozzles 50, lights 60, vision guidance system 70 having cameras and processors, and autosteer controller 901 for various embodiments.
  • the autosteer controller 901 may also be part of the machine network 110 instead of being located on the implement network 150 or in addition to being located on the implement network 150.
  • Sensors 152 e.g., speed sensors, seed sensors for detecting passage of seed, downforce sensors, actuator valves, OEM sensors, flow sensors, etc.
  • controllers 154 e.g., drive system for seed meter, GPS receiver
  • processing system 162 control and monitoring operations of the implement.
  • the OEM sensors may be moisture sensors or flow sensors for a combine, speed sensors for the machine, seed force sensors for a planter, liquid application sensors for a sprayer, or vacuum, lift, lower sensors for an implement.
  • the controllers may include processors in communication with a plurality of seed sensors.
  • the processors are configured to process data (e.g., liquid application data, seed sensor data) and transmit processed data to the processing system 162 or 1400-1.
  • the controllers and sensors may be used for monitoring motors and drives on a planter including a variable rate drive system for changing plant populations.
  • the controllers and sensors may also provide swath control to shut off individual rows or sections of the planter.
  • the sensors and controllers may sense changes in an electric motor that controls each row of a planter individually. These sensors and controllers may sense seed delivery speeds in a seed tube for each row of a planter.
  • the network interface 160 can be a GPS transceiver, a WLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other interfaces from communications with other devices and systems including the machine 102.
  • the network interface 160 may be integrated with the implement network 150 or separate from the implement network 150 as illustrated in FIG. 14B.
  • the processing system 162 communicates bi-directionally with the implement network 150, network interface 160, and I/O ports 166 via communication links 141-143, respectively.
  • the implement communicates with the machine via wired and possibly also wireless bi-directional communications 104.
  • the implement network 150 may communicate directly with the machine network 110 or via the network interfaces 115 and 160.
  • the implement may also by physically coupled to the machine for agricultural operations (e.g., planting, harvesting, spraying, etc.).
  • the memory 105 may be a machine-accessible non-transitory medium on which is stored one or more sets of instructions (e.g., software 106) embodying any one or more of the methodologies or functions described herein.
  • the software 106 may also reside, completely or at least partially, within the memory 105 and/or within the processing system 1400-1 during execution thereof by the system 1450, the memory and the processing system also constituting machine-accessible storage media.
  • the software 1206 may further be transmitted or received over a network via the network interface 115.
  • buried or below ground for sensors 220, 320, 420, 520, 620, 720, 820, 920, and 1020 means that the sensor (other than any antenna attached to the sensor) is entirely in the soil with no portion of the sensor (other than any antenna) protruding out of the soil.
  • Example 1 - in an aspect of the disclosure there is provided a sensor system comprising a base station positioned on a ground surface of soil of an agricultural field, partially in the soil, or below ground surface of the soil.
  • the base station includes a first transceiver that is configured to transmit electromagnetic (EM) signals to an above ground entity and a second transceiver that is configured to transmit EM signals downwards through the soil and a below ground sensor device is positioned at a depth in the soil below a tillage depth.
  • the sensor device to generate an electromagnetic field through soil to transmit EM signals to the base station and to receive the EM signals from the base station for bi-directional communications between the sensor device and the base station.
  • Example 2 the sensor system of Example 1, wherein the base station is positioned in the agricultural field after planting of seeds and removed after harvesting of crops in the field.
  • Example 3 the sensor system of Example 1, wherein the base station has a rugged low profile design with a width being greater than a height to survive being driven over by a tractor or implement.
  • Example 4 the sensor system of Example 1, wherein the sensor device is positioned at a depth 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • Example 5 the sensor system of Example 1, wherein a geographical tag for a position of the sensor device in the agricultural field is recorded upon implanting the sensor device in the ground.
  • Example 6 the sensor system of Example 1, wherein the base station is configured to receive the EM signals from the sensor device, to analyze the EM signals, and to determine an optimized position of the base station to maximize received signal strength of the EM signals from the buried sensor device.
  • Example 7 the sensor system of Example 1, wherein the sensor device is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature, respiration, CO2
  • Example 8 the sensor system of claim 1, wherein the sensor device is configured to sense soil parameters including one or more of Nitrogen concentration, Phosphorus concentration, Potassium concentration, or Sulfur concentration.
  • Example 9 the sensor system of Example 1, wherein the sensor device is permanently positioned in the soil with a battery life of several years.
  • Example 10 the sensor system of Example 1, wherein the sensor device is configured to transmit EM signals having sensed data of the sensor device to the base station.
  • Example 11 the sensor system of Example 10, wherein the base station is configured to transmit the sensed data to the above ground entity including a cellular network, a vehicle, a machine, or an implement.
  • Example 12 the sensor system of Example 1, wherein the sensor device comprises an electrical conductivity sensor to sense electrical conductivity of soil with the electrical conductivity corresponding to a soil dielectric constant.
  • Example 13 - in another aspect of the disclosure there is provided a sensor device for sensing soil properties throughout a region of an agricultural field.
  • the sensor device comprises sensing circuitry to sense soil properties in the agricultural field and to generate sensed data and radio frequency (RF) circuitry coupled to the sensing circuitry.
  • the RF circuitry is configured to transmit RF signals having the sensed data to a nearby base station and receive RF signals from the base station for bi-directional communications between the sensor device and the base station, wherein the sensor device is positioned at a depth in the soil below a tillage depth.
  • RF radio frequency
  • Example 14 the sensor device of Example 13, wherein the sensor device has a rugged design to increase structural integrity to survive tillage and other agricultural operations.
  • Example 15 the sensor device of Example 13, wherein the sensor device is positioned at a depth 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • Example 16 the sensor device of Example 13, wherein a geographical tag for a position of the sensor device in the agricultural field is recorded upon implanting the sensor device in the ground.
  • Example 17 the sensor device of Example 13, wherein the RF circuitry is configured to transmit the RF signals to the base station in order to analyze the RF signals, and to determine an optimized position of the base station with respect to the sensor device to maximize received signal strength of the RF signals from the buried sensor device.
  • Example 18 the sensor device of Example 13, wherein the sensor device is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature, respiration, CO2
  • Example 19 the sensor device of Example 13, wherein the sensor device is configured to sense soil parameters including one or more of Nitrogen concentration, Phosphorus concentration, Potassium concentration, or Sulfur concentration.
  • Example 20 the sensor device of Example 13, wherein the sensor device is permanently positioned in the soil with a battery life of several years.
  • Example 21 - a sensor system comprising an antenna positioned above a ground surface of soil of an agricultural field, wherein the antenna includes a transceiver that is configured to transmit electromagnetic (EM) signals to an above ground entity; a connector coupled to the antenna; and a below ground sensor device coupled to the connector and positioned at a depth in the soil below a tillage depth.
  • the sensor device is configured to generate sensed data for a region of soil, to send the sensed data to the antenna using a communication channel of the connector and to receive signals from the antenna for bi-directional communications between the sensor device and the antenna.
  • EM electromagnetic
  • Example 22 the sensor system of Example 21, wherein the antenna has a rugged design to survive being driven over by a tractor or implement.
  • Example 23 the sensor system of Example 21, wherein the sensor device is positioned at a depth of 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • Example 24 the sensor system of Example 21, wherein the sensor device is positioned at a depth of 22-26 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • Example 25 the sensor system of Example 21, wherein a geographical tag for a position of the sensor device in the agricultural field is recorded upon implanting the sensor device in the ground.
  • Example 26 the sensor system of any of Examples 21-25, wherein the connector has a rugged design to survive being driven over by a tractor or implement.
  • Example 27 the sensor system of any of Examples 21-26, wherein the sensor device is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature,
  • Example 28 the sensor system of any of Examples 21-27, wherein the sensor device is permanently positioned in the soil with a battery life of several years.
  • Example 29 the sensor system of any of Examples 21-28, wherein the antenna is configured to transmit the sensed data to the above ground entity including a cellular network, a vehicle, a machine, an implement, or a wireless device.
  • the antenna is configured to transmit the sensed data to the above ground entity including a cellular network, a vehicle, a machine, an implement, or a wireless device.
  • Example 30 the sensor system of any of Examples 21-29, wherein the sensor device is configured to receive signals from the antenna for bi-directional communications between the sensor device and the antenna.
  • Example 31 - a sensor system for sensing soil properties of an agricultural field comprising an antenna positioned above a ground surface of soil of the agricultural field, wherein the antenna includes a transceiver that is configured to transmit electromagnetic (EM) signals to an above ground entity; a connector coupled to the antenna; and a below ground sensor device coupled to the connector and positioned at a depth in the soil below a tillage depth, wherein the sensor device is configured to generate sensed data for a surrounding region of soil, to send the sensed data to the antenna using a communication channel of the connector and to receive electric charge for charging the sensor device via the antenna and connector.
  • EM electromagnetic
  • Example 32 the sensor system of Example 31, wherein the antenna has a rugged design to survive being driven over by a tractor or implement.
  • Example 33 the sensor system of any of Examples 31-32, wherein the sensor device is positioned at a depth of 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • Example 34 the sensor system of any of Examples 31-32, wherein the sensor device is positioned at a depth of 22-26 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • Example 35 the sensor system of any of Examples 31-34, wherein the connector has a rugged design to survive being driven over by a tractor or implement.
  • Example 36 the sensor system of any of Examples 31-35, wherein the sensor device is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature,
  • Example 37 the sensor system of any of Examples 31-36, wherein the sensor device is permanently positioned in the soil and is configured to indicate charging condition to the antenna with the charging condition to be transmitted to the above ground entity.
  • Example 38 - a sensor device comprising at least one sensor to sense data for soil properties for a surrounding soil region of an agricultural field; and controller circuitry coupled to the at least one sensor.
  • the controller circuitry is configured to send the sensed data to an above ground antenna using a communication channel of a connector.
  • the sensor device is positioned at a depth in the soil below a tillage depth.
  • Example 39 the sensor system of Example 38, wherein the sensor device is configured to receive electric charge via the antenna for charging the sensor device.
  • Example 40 the sensor system of any of Examples 38-39, wherein the sensor device is positioned at a depth of 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • Example 41 - a sensor system comprising a device positioned above a ground surface of soil of an agricultural field, wherein the device includes a charge port to receive an electrical charge and a fluid port to receive a fluid fill; a connector coupled to the device; and a below ground sensor device coupled to the connector and positioned at a depth in the soil, wherein the sensor device is configured to generate sensed data for a surrounding region of soil, to send the sensed data to a communication channel of the connector and to receive the electrical charge from the charge port to charge the sensor device.
  • Example 42 the sensor system of Example 41, wherein the sensor device is positioned at the depth in the soil below a tillage depth.
  • Example 43 the sensor system of any of Examples 41-42, wherein the connector includes the communication channel to transfer communications from the sensor device to the device and also from the device to the sensor device.
  • Example 44 the sensor system of any of Examples 41-43, wherein the connector includes a charging channel to transfer electrical charge from the charge port to the sensor device.
  • Example 45 the sensor system of any of Examples 41-44, wherein the connector includes a fluid channel to transfer fluid from the fluid port to the sensor device with the fluid being used by a sensor of the sensor device during sensor measurements.
  • Example 46 the sensor system of any of Examples 41-45, wherein the device has a rugged design to survive being driven over by a tractor or implement.
  • Example 47 the sensor system of any of Examples 41-46, wherein the sensor device is positioned at a depth of 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • Example 48 the sensor system of any of Examples 41-47, wherein the connector has a rugged design to survive being driven over by a tractor or implement.
  • Example 49 the sensor system of any of Examples 41-48, wherein the sensor device is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • Example 50 the sensor system of any of Examples 41-48, where
  • Example 51 the sensor system of any of Examples 41-50, wherein the device further comprises an above ground antenna coupled to the connector, wherein the antenna is configured to transmit the sensed data from the sensor device to an above ground entity including a cellular network, a vehicle, a machine, an implement, or a wireless device.
  • an above ground antenna coupled to the connector, wherein the antenna is configured to transmit the sensed data from the sensor device to an above ground entity including a cellular network, a vehicle, a machine, an implement, or a wireless device.
  • Example 52 the sensor system of any of Examples 41-51, wherein the sensor device is configured to receive the electrical charge from the charge port to charge the sensor device.
  • Example 53 - a rechargeable sensor device for sensing soil properties in an agricultural field comprising: at least one sensor to sense data for soil properties for a surrounding soil region of the agricultural field; a refillable container to store a fluid or a reagent for sensor measurements and to receive a fill from an above ground port; and charging circuitry that is configured to receive electrical charge from an above ground charge port, wherein the rechargeable sensor device is positioned at a depth in the soil below a tillage depth.
  • Example 54 the rechargeable sensor device of Example 53, further comprising: a controller circuitry that is configured to transfer communications including sensed data from the sensor device to an above ground antenna using a communication channel of a connector.
  • Example 55 the rechargeable sensor device of any of Examples 53-54, wherein the charging circuitry is configured to receive electrical charge from the charge port using a charging channel of the connector.
  • Example 56 the rechargeable sensor device of any of Examples 53-55, wherein the refillable container is configured to receive a fluid fill from the above ground port using a fluid channel of the connector.
  • Example 57 the rechargeable sensor device of any of Examples 53-56, wherein the sensor device is positioned at a depth of 6-60 inches below the ground surface to survive a shallow tillage or a deep tillage.
  • Example 58 the rechargeable sensor device of any of Examples 53-57, wherein the sensor device is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture
  • Example 59 the rechargeable sensor device of any of Examples 53-58, wherein the sensor device is configured to sense soil parameters including one or more of Nitrogen concentration, Phosphorus concentration, Potassium concentration, or Sulfur concentration.
  • Example 60 the rechargeable sensor device of any of Examples 53-59, wherein the sensor device is permanently positioned in the soil and is rechargeable via the charge port.
  • Example 61 - a sensor system comprising a below ground sensor device positioned within a tillage depth during tillage in soil of an agricultural field, the sensor device including RF circuitry to transmit RF signals to an above ground entity; and an anchoring device to anchor the sensor device below ground and to prevent the sensor device from being moved out of the soil.
  • Example 62 the sensor system of Example 62, wherein the anchoring device includes a first end of a tether attached to the sensor device.
  • Example 63 the sensor system of any of Examples 61-62, wherein the anchoring device includes an anchor that is attached to a second end of the tether.
  • Example 64 the sensor system of any of Examples 61-63, wherein the anchor includes a horizontal member that is transverse with respect to the tether.
  • Example 65 the sensor system of any of Examples 61-64, wherein the sensor device has a rugged design to survive being driven over by a tractor or implement.
  • Example 66 the sensor system of any of Examples 61-65, wherein the RF circuitry of the sensor device is configured to receive RF signals from the above ground entity for bi-directional communications between the sensor device and the above ground entity.
  • Example 67 the sensor system of any of Examples 61-66, wherein the sensor device is positioned at a depth of 6-60 inches below the ground surface.
  • Example 68 the sensor system of any of Examples 61-67, wherein a geographical tag for a position of the sensor device in the agricultural field is recorded upon implanting the sensor device in the soil.
  • Example 69 the sensor system of any of Examples 61-68, wherein the sensor device is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture,
  • Example 70 the sensor system of any of Examples 61-69, wherein the sensor device has a rugged design to survive being positioned within the tillage depth during tillage.
  • Example 71 the sensor system of any of Examples 61-70, further comprising a base station positioned on a ground surface of soil of an agricultural field, partially in the soil, or below ground surface of the soil, wherein the base station includes RF circuitry that is configured to transmit RF signals to the sensor device and to receive RF signals from the sensor device.
  • Example 72 - a sensor system comprising a below ground sensor device positioned within a tillage depth during tillage in soil of an agricultural field, the sensor device including RF circuitry to transmit RF signals to an above ground wireless device; and an anchoring device to anchor the sensor device below ground and to prevent the sensor device from being moved out of the soil.
  • Example 73 the sensor system of Example 72, wherein the anchoring device includes a first end of a lanyard attached to the sensor device.
  • Example 74 the sensor system of any of Examples 72-73, wherein the anchoring device includes an anchor that is attached to a second end of the lanyard.
  • Example 75 the sensor system of any of Examples 72-74, wherein the anchor includes a horizontal member.
  • Example 76 the sensor system of any of Examples 72-75, wherein the anchor is transverse with respect to the lanyard.
  • Example 77 the sensor system of any of Examples 72-76, wherein the sensor device has a rugged design to survive being driven over by a tractor or implement.
  • Example 78 the sensor system of any of Examples 72-77, wherein the RF circuitry of the sensor device is configured to receive RF signals from the wireless device for bi-directional communications between the sensor device and the wireless device.
  • Example 79 the sensor system of any of Examples 72-78, wherein the sensor device is positioned at a depth of 6-60 inches below the ground surface.
  • Example 80 the sensor system of any of Examples 72-79, wherein the sensor device is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density, moisture, temperature,
  • Example 81 - a sensor device comprising at least one sensor of the sensor device to determine and monitor depth below ground for the sensor device; and RF circuitry to transmit data from the sensor device to a wireless device, wherein the sensor device is positioned at a depth within a tillage layer in soil of an agricultural field.
  • Example 82 the sensor device of Example 81, wherein the at least one sensor includes two sensors that are configured to triangulate to determine depth below ground of the sensor device.
  • Example 83 the sensor device of any of Examples 81-82, wherein the at least one sensor includes multiple sensors that are positioned around the sensor device with each of the multiple sensors being directed towards a soil surface.
  • Example 84 the sensor device of any of Examples 81-83, wherein the at least one sensor comprises at least one depth monitoring sensor.
  • Example 85 the sensor device of any of Examples 81-84, wherein the at least one depth monitoring sensor comprises a sonar sensor or a ground penetrating radar sensor.
  • Example 86 the sensor device of any of Examples 81-85, wherein the at least one sensor comprises at least one soil sensor to measure soil properties of a surrounding region of soil.
  • Example 87 the sensor device of any of Examples 81-86, wherein the sensor device has a rugged design to survive being driven over by a tractor or implement.
  • Example 88 the sensor device of any of Examples 81-87, wherein the RF circuitry of the sensor device to receive RF signals from the wireless device for bi-directional communications between the sensor device and the wireless device.
  • Example 89 the sensor device of any of Examples 81-88, wherein the sensor device is positioned at a depth of 6-60 inches below the ground surface.
  • Example 90 the sensor device of any of Examples 81-89, wherein a geographical tag for a position of the sensor device in the agricultural field is recorded upon implanting the sensor device in the ground.
  • Example 91 the sensor device of any of Examples 81-90, wherein the at least one sensor is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density,
  • Example 92 - a computer implemented method, comprising using at least one sensor of a sensor device to determine a first depth below ground in soil of the sensor device; detecting with a sensor of the sensor device a change of depth of the sensor device; and using the at least one sensor of the sensor device to determine a second depth below ground in soil for the sensor device in response to detecting the change of depth of the sensor device, wherein the sensor device is positioned at a depth within a tillage layer in soil of an agricultural field.
  • Example 93 the computer implemented method of Example 92, wherein the at least one sensor includes two sensors that are configured to triangulate to determine the first depth or the second depth of the sensor device.
  • Example 94 the computer implemented method of any of Examples 92-93, wherein the at least one sensor includes multiple sensors that are positioned around the sensor device with each of the multiple sensors being directed towards a soil surface.
  • Example 95 the computer implemented method of any of Examples 92-94, wherein the at least one sensor comprises at least one depth monitoring sensor.
  • Example 96 the computer implemented method of any of Examples 92-95, further comprising reporting with RF circuitry of the sensor device the second depth to a wireless device.
  • Example 97 the computer implemented method of any of Examples 92-96, further comprises measuring, with the at least one sensor, soil properties of a surrounding region of soil.
  • Example 98 the computer implemented method of any of Examples 92-97, wherein the sensor device has a rugged design to survive being driven over by a tractor or implement.
  • Example 99 the computer implemented method of any of Examples 92-98, wherein the sensor device is positioned at a depth of 6-60 inches below the ground surface.
  • Example 100 the computer implemented method of any of Examples 92-99, wherein the at least one sensor is configured to sense soil parameters including one or more of soil density, moisture, temperature, respiration, CO2 generation, porosity, water movement, matric potential, electrical conductivity, Nitrate, Nitrite, Total Nitrogen, Ammonium, Phosphate, Orthophosphate, Polyphosphate, Total Phosphate, Potassium, Magnesium, Calcium, Sodium, Cation Exchange Capacity, pH, Percent Base Saturation of Cations, Sulfur, Zinc, Manganese, Iron, Copper, Boron, Soluble Salts, Organic Matter, Excess Lime, Active Carbon, Aluminum, Amino Sugar Nitrate, Ammoniacal Nitrogen, Chloride, C:N Ratio, Electrical Conductivity, Molybdenum, Texture (Sand, Silt, Clay), Cyst nematode egg counts, Mineralizable Nitrogen, and Soil pore space.
  • soil parameters including one or more of soil density,

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Abstract

Sont décrits des systèmes de détection souterrains comprenant au moins un capteur et éventuellement une station de base pour communiquer des paramètres de sol détectés dans des champs agricoles. Selon un aspect de la divulgation, l'invention concerne un système de détection comprenant une station de base positionnée à la surface du sol d'un champ agricole, partiellement dans le sol, ou au-dessous de la surface du sol. La station de base comprend un premier émetteur-récepteur qui est conçu pour transmettre des signaux électromagnétiques (EM) à une entité souterraine et un second émetteur-récepteur qui est conçu pour transmettre des signaux EM vers le bas à travers le sol et un dispositif de détection souterrain est positionné à une profondeur dans le sol au-dessous d'une profondeur de travail du sol. Le dispositif de détection est conçu pour générer un champ électromagnétique à travers le sol afin de transmettre des signaux EM à la station de base et de recevoir les signaux EM en provenance de la station de base pour des communications bidirectionnelles entre le dispositif de détection et la station de base.
PCT/IB2024/053906 2023-08-09 2024-04-22 Système de détection souterrain pour détecter différents paramètres de sol WO2025032379A1 (fr)

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PCT/IB2024/053907 WO2025032380A1 (fr) 2023-08-09 2024-04-22 Système de détection souterrain permettant de détecter différents paramètres pédologiques
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