System for controlling vertical displacement of agricultural implements into the soil
FIELD OF INVENTION 
     The invention pertains to automatically adjusting the distance at which an agricultural implement such as a seed planter or soil tiller extends into the ground in response to varying moisture conditions in the soil. 
     DESCRIPTION OF THE PRIOR ART 
     In a paper published in July 1970, entitled &#34;Automatic Control for Cotton Planter for the Irrigated West,&#34; by Lyle M. Carter, publication no. 42-173 of the Agricultural Research Service, U.S. Department of Agriculture, it was discussed that improvements in the germination of planted seed may be attained by planting at a level where the soil moisture condition is optimal for germination. Since this level ordinarily varies throughout a field, it is quite difficult for a farmer to accomplish optimal planting everywhere. In many instances, planting at optimal moisture conditions for germination are attained over only about 10% of a field. 
     An experimental apparatus was described in the 1970 publication that included a measuring (or sensing) device attached adjacent to the planter to a frame common to the planter, so as to move vertically with the planter. The sensing device employed electrodes to measure soil electrical resistance, and raised or lowered the planter and the sensor in response to the measurement, for the purpose of planting at the level of optimal moisture condition for germination throughout a field. 
     As further disclosed in the 1970 publication, several electrode designs were employed, none being satisfactory. The most effective design included a generally J-shaped positive electrode, except that there was no upward extension on the short side of the &#34;J&#34;. In operation, the generally J-shaped electrode compacted the oncoming soil so as to form a narrow compacted ribbon of soil generally parallel to and below the ground su face. The ribbon, as it formed, passed immediately below in touching engagement with the lowest surface of the electrode. 
     The planter apparatus itself provided the &#34;negative&#34; electrode at its multiple points of contact with the soil, thereby providing multiple electrode pairs, or multiple resistivities, in parallel, between the positive J-shaped electrode and: (a) the planter shoe; (b) the seed firming wheel; or (c) covering devices or anything else in contact with the soil. In any system with parallel resistivities, the least resistive path contributes the major response in an electrical circuit. Thus, in this prior art device, depending upon variable soil density, moisture content variation by depth, organic material distribution within the soil, and so forth, a different resistive pathway at any given moment may have provided the least resistive pathway. As a result, the electrical pathway was not constant and the planter was not maintained at a level of optimal soil moisture, except in the most uniform of soil conditions. 
     Prior to employing the generally J-shaped electrode, a pair of fiat springs operating like parallel mini-skis spaced about 1 inch apart, were employed as positive and negative electrodes. They were mounted behind a soil removing blade similar looking to a mini-snow plow, in order to provide a smooth surface for the skis. Spring tension kept the skis in contact with the soil. They sensed the electrical resistance of the soil between them. This arrangement was much less satisfactory than the later multiple electrode arrangement with the generally J-shaped electrode. More specifically, soil colloids and other soil materials ultimately formed a film of semi-conducting-like materials on the underside of the spring electrodes increasing the interface resistance between spring and soil. Thus, with time, the sensed resistance increased and the control commanded the blade to go deeper irrespective of the real soil moisture. In addition, variations in soil density caused a variable volume of soil to be included in the electrical pathway between the two spring electrodes, whereby a drier compacted soil appeared to have the same electrical resistance as a wetter loose soil, which is not an acceptable condition for a control that is seeking constant soil moisture throughout a field. Still further, since the springs were mounted behind and rigidly connected to the soil-removing mini-plow that was being controlled along with the planter, the contact pressure between the springs and the soil would be reduced when the plow was commanded to move upward with the planter and sensor; and with such rapid movement one or more of the springs would tend to lose contact with the soil, thereby resulting in undesirable oscillation, with the overall machine literally bouncing up and down. 
     SUMMARY 
     The present invention comprises significant improvements over the device disclosed in the 1970 publication, 
     In general, in addition to the J-shaped positive electrode, a negative electrode is provided rather than relying upon parts of the agricultural implement itself as electrodes. This new electrode extends into the soil immediately behind the positive electrode in the direction of travel. It extends deep enough to contact the ribbon created under the positive electrode throughout the full thickness of the ribbon. Its forwardmost face is wedge-shaped. 
     The J-shaped positive electrode of the present invention likewise includes a wedge-shaped forwardmost face. As in the J-shaped electrode in the 1970 article discussed above, there is no upward extension or curve on the short side of the &#34;J&#34;. Furthermore, the bottom of the &#34;J&#34; never approaches horizontal. 
     In addition, the new device includes an improved control system that 
     a. permits the user to select a time delay period during which a signal to raise or lower the implement must be maintained before a command is issued to the solenoid valve or valves which control the raising or lowering of the implement; 
     b. includes means to sense forward movement of the agricultural implement and to prevent soil resistivity control of the implement during periods of minimal or no forward movement. 
     c. synchronizes raising or lowering commands from a plurality of different variables such as soil moisture content and surface conditions (e.g., see U.S. Pat. Nos. 4,913,070 and 5,234,060). 
     d. synchronizes control of a plurality of height actuators connected, for example, to opposite ends of a frame, each actuator responding to the same sensed variable; and further may include the additional function of synchronously maintaining each end of the frame at a different level if necessary. 
     By means of the combination of the ribbon-forming positive electrode and somewhat longer, wedge-shaped negative electrode, it is an object of the present invention to maintain a narrow band of compacted soil extending from the positive to the negative electrode, and to break up this band at the negative electrode so that the band is disrupted behind the negative electrode. This assures that the clearly dominant, least electrically resistive soil pathway (compacted soil provides a pathway of least resistance in comparison to less dense soil) extending from the positive electrode will occur at one location, i.e., in the compact pathway between the positive electrode and the new negative electrode, not between the positive electrode and one or more parts of the agricultural implement itself or other parts of the unit, and not between the positive and negative electrode through soil pathways other than the compact pathway. 
     Another object is to assure that the same soil pathway, i.e., the pathway between the electrode pair of the present invention, is included in the control circuitry for every and all measurements. 
     A further object, in the case of a planter, is to break up the compacted soil ribbon at the negative electrode so that the ribbon does not interfere with seed placement components behind the negative electrode. 
     A yet further object is to provide a negative electrode that is shaped to interact with oncoming soil so as to maintain a substantially constant-sized area on the electrode surface in effective electrical contact with the soil, rather than having a electrode shape that causes the effective electrode area to be variable depending upon field roughness and soil characteristics thereby undesirably causing current flow through the sensing device to be a function both of soil moisture and variable geometry. 
     An even further object is to provide a negative electrode having a shape that interacts with oncoming soil so as to scour the electrode, and cause soil and trash essentially to flow around the electrode, thereby eliminating or minimizing residues of soil particles or soil solution remaining on the electrode surface, which otherwise may foul or adversely affect reliability of resistivity measurements. 
     Still another object is to provide a negative electrode having a shape that interacts with oncoming soil so as to scour the electrode in such a manner that the forwardmost point of the electrode is polished by the soil (the leading edge of the wedge continuously is polished by the oncoming soil and provides the effective electrode area, while the electrical conductivity of the rest of the wedge is very low). 
     Yet another object is to provide a system to more accurately control vertical displacement of an agricultural implement such as a planter or tiller in the soil in response to soil moisture detection (i.e. soil resistivity). 
     A still further object is to provide a more accurate means of detecting electrical resistance of soil by an electrode pair moving through the soil. 
     Even yet another object is to provide an integrated control system that provides a plurality of functions including de-control of implement vertical movement when the vehicle is not moving or operating too slowly, and synchronized control of diverse actuator systems. 
    
    
     Other objects and advantages of the present invention will be obvious from the following detailed description taken in conjunction with the drawings in which 
     FIG. 1 is a general view of the system of the present invention. 
     FIG. 1a shows details of electrode 1 in FIG. 1. 
     FIG. 1b is a cross-sectional view of part of FIG. 1a. 
     FIG. 1c is a cross-sectional view of electrode 2 in FIG. 1. 
     FIG. 2 is a front schematic view of an alternative embodiment of the invention. 
     FIGS. 3a-d illustrate electronic circuitry of the present invention. 
    
    
     DETAILED DESCRIPTION 
     In FIG. 1, reference numerals 1 and 2 designate the positive and negative electrode pair of the present invention that extend into the ground, in the manner of a tilling tool, usually in front of the agricultural implement such as a planter 4 and dry soil removal blade 5, but also may be located behind or beside the implement. Blade 5 essentially lowers the soil level A to level B. 
     The pair is adjust ably secured to part of a framework 6 which is connected to the implement in the prior art manner. Such frameworks typically are connected to a tractor framework 7. 
     A control box 8 mounted at a convenient location on the framework, or on the motorized carrier (not shown) bearing the framework, is wired to the electrode pair. The control box is connected to a solenoid or solenoids in a solenoid actuated valve system 9 which controls flow of hydraulic fluids to an actuator or hydraulic device 10, such as disclosed in U.S. Pat. Nos. 4,913,070 and 5,234,060, for raising or lowering an agricultural implement such as a planter or tiller. 
     Positive electrode 1 is secured to an electrode holder 3 in a conventional manner, e.g., by means of bolts having insulated sleeves where they pass through the electrode. In turn, electrode holder 3, is adjust ably secured to frame 6. The electrode generally is J-shaped without an upturned short leg. It forms a compact ribbon of soil 11 in the oncoming soil that passes under but in contact with the lower most surface of the &#34;J&#34;. The width of soil ribbon or band 11 usually will be about the same as the width of the electrode. 
     The electrode should be thick enough, and constructed of materials such as high carbon steel or stainless steel, in order to insure a robust ability to project like a tilling tool into typical soils that it will encounter. 
     Although it generally is J-shaped as was the experimental electrode in the 1970 article described above, there are several features of the present electrode not disclosed in the article. Referring to FIG. 1a, its bottommost section never approaches horizontal. The downward push on the soil continues to the very end of the ribbon&#39;s contact with the rearmost part of the electrode. The slope &#34;y&#34; of the electrode preferably is 10° or more, in order to (a) assure that the electrode stays in contact with the soil while moving forward and (b) the bottom of the electrode is scoured by the soil. If the curve of the electrode becomes less than 10°, soil and colloids begin to accumulate, because there is insufficient scouring, thereby resulting in an undesirable, everchanging electrode-soil area of contact. 
     Dimension-wise, the compacting zone &#34;c&#34; of the electrode typically is about 1.5 cm in height. Overall height &#34;h&#34; usually is about 35 cm, with a side-to-side thickness of about 1.3 cm and a front-to-back thickness of about 3 cm. The distance &#34;d&#34; from the forwardmost surface of the electrode to its rearwardmost surface is about 15 cm. 
     The electrode can be fabricated simply by bending a heated length of 1.27 cm×3.18 cm steel bar, and then grinding to shape. 
     In general, the curve of the &#34;J&#34; should be such that soil band 11 ends up being about 0.3 to 1 cm in thickness, typically about 0.5 cm thick. Exemplary radii dimensions for this curve (see FIG. 1a) are S=10 cm and T=3.8 cm. 
     Immediately above the compacting zone, the forwardmost face of the electrode is wedge-shaped (see FIG. 1b) preferably being knife-like at its apex 12. As can be seen in FIG. 1, the wedge shape extends above soil surface A. This edge forces drier surface soil to pass around the electrode, thereby essentially preventing such upper drysoil from following the leading edge of the electrode downward and becoming part of the electrical pathway thus presenting false soil resistivity. Preferably, the angle which forms the wedge is no greater than 30°, and edge 12 is sharp enough so as to be no wider than 0.1 cm at its face. 
     Referring again to FIG. 1, negative electrode 2 may be constructed of the same material as electrode 1. Its typical dimensions are about 35 cm long, about 5 cm wide, and about 0.6 cm thick. Its lowest point typically is about 1.25 cm below the lowest point of electrode 1 so that the oncoming compacted ribbon of soil immediately below electrode I may contact the front face of electrode 2 throughout the full thickness of the ribbon. As shown in the cross-sectional view of electrode 2 in FIG. 1c, it is wedge-shaped in the direction of its movement through the soil, having an apex 13 in the direction of soil movement so as to break up the compacted band of soil and cause oncoming soil to scour the electrode. The apex preferably has the same angle and sharpness as apex 12 in electrode 1. 
     The distance between electrodes 1 and 2 generally is about 0.5 to 5 cm, preferably about 0.8 to 1.5 cm. The distance between the positive electrode 1 and any other conducting surface other than electrode 2 preferably should be at least 10 times the distance between electrodes 1 and 2. 
     In operation, depending upon sensed soil resistance, solenoid activated valve system 9 in FIG. 1 may be actuated by control box 8 to open or close conventional hydraulic fluid valves so as to raise or lower the agricultural implement and electrode pair I and 2 with respect to the framework 6, so that the working point of the implement is kept at a level of constant soil moisture content or soil resistivity. 
     Referring to FIG. 2, therein is illustrated an alternate embodiment of the present invention in which one or more, typically at least two separate planters 20a and b may be connected to a single mounting frame or bar 21 in turn pivotally connected to a frame (not shown) fixed to a tractor. One electrode pair 25 is connected to the center of frame 21. The arrangement is borne by support wheels 27a and 27b at opposite ends of the bar or frame. A control box 31 also mounted on the frame 21 is connected to the electrode pair and to a separate actuator 28a and 28b at each end of the frame or bar, for the purpose of lowering or raising frame 21 by means of actuators 29a and b. Control box 31 may include circuitry to synchronize vertical movement of the wheels or planters so that both actuators simultaneously cause the wheels or planter to move the same degree in the same direction, or to cause one side of the array to move in one direction, while the other side is caused to move in the same direction but to a different degree or is caused to remain at its present position or is caused to move in the opposite direct. 
     The electronic circuitry of the present invention is illustrated in FIGS. 3a-d. Referring first to FIG. 3a, the details of the bridge and delay circuitry are depicted therein. In operation a 5 kHz square wave voltage may be applied through a capacitor 40 to a resistance bridge 41 with the compacted soil ribbon resistance 42 as one element. Therefore, the excitation applied across the ribbon is an alternating polarity voltage ramp whose slope varies with soil resistance. The bridge is configured as a &#34;window&#34; comparator 43 with the window representing approximately 4% of the applied voltage. Signal voltages from either side of the bridge &#34;window&#34; and from the center of the active arm 45 are followed by voltage comparators 47 which convert the bridge balance state to binary values. The digital signals may be sampled twenty microseconds after the positive leading edge of excitation. When the sampled voltage across the soil ribbon is greater or less than the window limits, one of the count timers 49 is started. If the signal remains outside the window limits for ten consecutive cycles of the excitation voltage, or 0.2 seconds, the appropriate solenoid in FIG. 1 (reference numerals 81 and 82 in the output circuitry of FIG. 3b) is activated to move the agricultural implement up or down as commanded. Reference numeral 50 designates a connection tap in the circuitry that may be adjusted manually to vary the number of cycles before a solenoid is actuated. 
     At any time the bridge 41 returns to a &#34;balanced&#34; state or changed state, the counters and actuators are reset. This circuit helps to minimize false signals and mechanical oscillation. 
     The countdown sequence can be as long or short as needed by changing the connection tap 50 in FIG. 3a. 
     The only portion of the circuitry with voltages less than zero is isolated between the capacitor 40 and the bridge side of the voltage comparators 53 in FIG. 3a. At the input pins of the comparators, the voltage is clamped by a diode array 55 to a value above zero. Thus an alternating current is applied to the soil without the necessity for a dual power supply, and inexpensive digital integrated circuits (such as low speed CMOS) may be used for signal processing and control. 
     When the agricultural implement such as a planter is not moving in the field or is in the transport mode, the implement may be moved to a selected vertical position with respect to the implements wheels (if any) by comparator circuitry in the command circuitry of FIG. 3c using voltage comparators 59 and flip flops 60 which compare the voltage of the set elevation potentiometer 56 to the feedback potentiometer 57. In this mode, speed is sensed by a reed relay 62 in the timing clock circuitry and mode control of FIG. 3d actuated by a magnet connected to a shaft that only rotates when the implement wheels are in contact with the soil. When the frequency exceeds the rate sensing circuitry threshold, a latch 60 in FIG. 3d is opened shifting function of the control from maintaining the &#34;home&#34; position to following the soil moisture. Thus, the control system includes a vehicle motion detector system that commands the implement to return to a pre-selected position when no motion of the vehicle is detected or when vehicle speed falls below a predetermined value; or, alternatively, freezes the vertical position of the implement at the last commanded position when no motion is detected. 
     Referring again to FIG. 3c, logic and controls may be added for a separate left (or right) side &#34;slave&#34; control 64 since, in some applications, the position of two or more agricultural implements, such as planters, may be controlled as a single unit by hydraulically controlled planter gauge wheels on each end of a long tool bar as shown in FIG. 2, as opposed to an independent actuator directly connected to each planter. In this arrangement, a separate feedback potentiometer 67 is compared to the right side feedback potentionmeter 57 and the relative heights of the two sides of the tool bar adjusted by comparator 69 and flip flops 70 to maintain a level tool bar. 
     Convenience switches 61 in FIG. 3d may be added for special operations or testing, in order to defeat any control, whereby the implement may be operated in non-automatic modes, if desired. 
     In addition to the above, the circuitry of the present invention accepts unregulated 12 VDC power from a tractor battery, provides selectable discrete timed soil resistivity sampling, provides user switch positions for continuous operation, bypassing the motion detectors, and provides user switch positions to allow the user to select automatic control for sensed soil resistivity or manual mode allowing constant but user specified vertical height adjustment of the agricultural implement.