Systems, methods, and apparatus for soil and seed monitoring

• US 10,512,212 B2
• Filed: 12/15/2017
• Issued: 12/24/2019
• Est. Priority Date: 12/19/2016
• Status: Active Grant

• Current Assignee: Climate LLC (Bayer AG)
• Original Assignee: The Climate Corporation (Bayer AG)
• Inventors: Koch, Dale, Strnad, Michael, Morgan, Matthew, McMahon, Brian
• Primary Examiner(s): Paige, Tyler D
• Application Number:
  US15/844,394
• Publication Number:
  US 20180168094A1
• Time in Patent Office: 739 Days
• Field of Search: 701 50
• CPC Class Codes: A01B 63/111 regulating working depth of implements
• CPC Class Codes: A01B 63/16 with wheels adjustable relatively to the frame
• CPC Class Codes: A01C 21/005 Following a specific plan, e.g. pattern
• CPC Class Codes: A01C 5/064 with rotating tools
• CPC Class Codes: A01C 5/068 Furrow packing devices, e.g. press wheels
• CPC Class Codes: A01C 7/102 Regulating or controlling the seed rate
• CPC Class Codes: A01C 7/203 comprising depth regulation means
• CPC Class Codes: B60K 2360/11 Instrument graphical user interfaces or menu aspects
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60K 35/22 Display screens
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60K 35/29 Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
• CPC Class Codes: B60K 35/50 Instruments characterised by their means of attachment to or integration in the vehicle B60K35/231 takes precedence
• CPC Class Codes: B60K 35/80 Arrangements for controlling instruments
• CPC Class Codes: B60K 35/85 Arrangements for transferring vehicle- or driver-related data
• CPC Class Codes: B60W 10/30 including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
• CPC Class Codes: B60W 2555/00 Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
• CPC Class Codes: B60W 2710/30 Auxiliary equipments
• CPC Class Codes: G01J 1/0407 Optical elements not provided otherwise, e.g. manifolds, windows, holograms, gratings
• CPC Class Codes: G01J 1/06 : Restricting the angle of incident light
• CPC Class Codes: G01J 2001/061 : Baffles
• CPC Class Codes: G01J 2001/066 : with an aiming optical device
• CPC Class Codes: G01J 5/025 : Interfacing a pyrometer to an external device or network; User interface
• CPC Class Codes: G01J 5/04 : Casings
• CPC Class Codes: G01J 5/041 : Mountings in enclosures or in a particular environment
• CPC Class Codes: G01J 5/07 : Arrangements for adjusting the solid angle of collected radiation, e.g. adjusting or orienting field of view, tracking position or encoding angular position optical collimating elements G01J5/0806
• CPC Class Codes: G01J 5/0875 : Windows; Arrangements for fastening thereof
• CPC Class Codes: G01J 5/0893 : Arrangements to attach devices to a pyrometer, i.e. attaching an optical interface; Spatial relative arrangement of optical elements, e.g. folded beam path G01J5/049 takes precedence
• CPC Class Codes: G01J 5/12 : using thermoelectric elements, e.g. thermocouples
• CPC Class Codes: G01K 1/16 : Special arrangements for conducting heat from the object to the sensitive element
• CPC Class Codes: G01N 2021/4742 : comprising optical fibres
• CPC Class Codes: G01N 21/3554 : for determining moisture content
• CPC Class Codes: G01N 21/3563 : for analysing solids; Preparation of samples therefor
• CPC Class Codes: G01N 21/474 : Details of optical heads therefor, e.g. using optical fibres
• CPC Class Codes: G01N 21/55 : Specular reflectivity
• CPC Class Codes: G01N 27/043 : of a granular material
• CPC Class Codes: G01N 27/223 : for determining moisture content, e.g. humidity rain detectors on vehicle windows B60S1/0825
• CPC Class Codes: G01N 33/24 : Earth materials G01N33/42 takes precedence
• CPC Class Codes: G01N 33/243 : for determining biological parameters concerning composting, biodegradability or bioavailability
• CPC Class Codes: G01N 33/245 : for agricultural purposes
• CPC Class Codes: G01N 33/246 : for water content
• CPC Class Codes: G01V 8/10 : Detecting, e.g. by using light barriers by reflection from the object G01S17/00

Abstract

Systems, methods and apparatus are provided for monitoring soil properties including soil moisture, soil electrical conductivity and soil temperature during an agricultural input application. Embodiments include a soil reflectivity sensor and/or a soil temperature sensor mounted to a seed firmer for measuring moisture and temperature in a planting trench. A thermopile for measuring temperature via infrared radiation is described herein. In one example, the thermopile is disposed in a body and senses infrared radiation through an infrared transparent window. Aspects of any of the disclosed embodiments may be implemented in or communicate with an agricultural intelligence computer system as described herein.

Claims

1. A computer system comprising:

one or more processors in data communication with a wireless receiver in communication with one or more wireless transmitters each comprising a first coupler and a second coupler coupled to one or more sensors;

the first coupler coupled to a body of an agricultural machine configured to interact with soil and the second coupler coupled to a removable portion of the agricultural machine;

the first and second couplers arranged to engage electrically as the removable portion is mounted to the body of the agricultural machine;

one or more non-transitory computer-readable storage media coupled to the one or more processors and storing sequences of program instructions which, when executed by the one or more processors, cause the one or more processors to;

by data communication between the wireless receiver and the one or more wireless transmitters coupled to the one or more sensors, determine measurement data relating to one or more of a temperature characteristic of the soil or a moisture characteristic of the soil or a conductivity characteristic of the soil or a reflectivity characteristic of the soil;

based on the measurement data, generate and transmit a signal to the agricultural machine to cause the agricultural machine to control a position of an implement coupled to the agricultural machine to adjust a depth of a trench formed in the soil by the implement during operation of the agricultural machine.

2. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to determine measurement data comprising one or more of soil moisture data or soil organic matter data or soil porosity data or soil texture data or soil type data;

based on the measurement data, generate a signal to cause the agricultural machine to control a seed meter to change a population of seeds planted in the soil.

3. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to determine measurement data comprising one or more of soil moisture data or soil organic matter data or soil porosity data or soil texture data or soil type data;

based on the measurement data, generate a signal to cause the agricultural machine to change a seed variety of seeds planted in the soil.

4. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to determine measurement data comprising one or more of soil moisture data or soil organic matter data or soil porosity data or soil texture data or soil type data;

based on the measurement data, generate a signal to cause the agricultural machine to adjust a rate of application of one or more of a fertilizer or a fungicide or an insecticide by the agricultural machine.

5. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to determine measurement data comprising one or more of soil moisture data or soil organic matter data or soil porosity data or soil texture data or soil type data;

based on the measurement data, generate a signal to cause the agricultural machine to adjust a force applied to the soil by the implement.

6. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to:

determine measurement data comprising furrow residue data;

based on the measurement data, generate a signal to cause the agricultural machine to adjust a force applied in relation to the soil by a row cleaner of the implement.

7. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to display, in one or more windows of a monitor coupled to the implement, a representation of the measurement data, wherein the one or more windows comprises:

a soil moisture window to display estimated soil moisture data;

or

a soil temperature window to display estimated soil temperature data;

or

a depth setting window to display a depth at which the one or more sensors are sensing the measurement data;

or

a reflectivity variation window to display reflectivity data comprising a statistical reflectivity variation in a signal generated by a reflectivity sensor of the one or more sensors;

or

a carbon content window to display estimated soil carbon content data;

or

an organic matter window to display estimated soil organic matter content data;

or

a soil components window to display estimated fractional presence data relating to one or more soil components.

8. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to display, in a monitor coupled to the implement, a predicted agronomic result based on reflectivity data comprising a statistical reflectivity variation in a signal generated by a reflectivity sensor of the one or more sensors.

9. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to display, in a monitor coupled to a plurality of row units of the implement, one or more of:

an average value of the measurement data for all of the plurality of row units;

a highest value of the measurement data for all of the plurality of row units;

a lowest value of the measurement data for all of the plurality of row units;

individual values of the measurement data for each of the row units in the plurality of row units.

10. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to:

display, in one or more windows of a monitor coupled to the implement, a representation of data, wherein the data comprises one or more of soil data, the measurement data, or estimated data, the data relates to one or more of soil carbon content or soil electrical conductivity or soil organic matter or soil components or soil moisture or soil temperature, and the one or more windows comprises;

a map window to display a subset of the data, wherein the subset of the data corresponds to a numerical range of reflectivity variation associated with a threshold level of predicted emergence failure.

11. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to:

display, in one or more windows of a monitor coupled to the implement, a representation of planting data, wherein the planting data is measured by the one or more sensors, the one or more sensors comprise one or more of an optical seed sensor or an electromagnetic seed sensor or a reflectivity sensor, and the one or more windows comprises;

one or more planting data windows to display one or more good spacing data values, wherein the one or more good spacing data values are calculated by the one or more processors based on seed pulses obtained from the one or more sensors.

12. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause a monitor to receive weather data and soil data from one or more servers over a network, transmit the measurement data to the one or more servers using the network, and receive agronomic recommendation data from a recommendation system on the one or more servers.

13. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause a depth adjustment actuator of the agricultural machine to cooperate with a trench opening system of the agricultural machine to adjust the depth of the trench.

14. The system of claim 13, the storage media further comprising instructions which when executed by the one or more processors, cause the depth adjustment actuator to modify a height of a gauge wheel of the trench opening system relative to an opener disc of the trench opening system to adjust the depth of the trench.

15. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause a seed meter coupled to a hopper of the agricultural machine to control a rate of deposit of seeds from the hopper into the soil.

16. The system of claim 15, the storage media further comprising instructions which when executed by the one or more processors, cause a monitor in data communication with the one or more sensors and one or more clutches of the agricultural machine to cause the one or more clutches to selectively couple the seed meter to an electric drive.

17. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause a monitor to receive, from one or more temperature sensors mounted to the agricultural implement, a signal relating to a temperature of the soil and determine the measurement data based on the temperature signal.

18. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause a monitor to receive, from one or more reflectivity sensors mounted to the agricultural machine, a reflectivity signal relating to a reflectivity of the soil and determine the measurement data based on the reflectivity signal.

19. The system of claim 18, the storage media further comprising instructions which when executed by the one or more processors, cause the system to identify a first portion of the reflectivity signal as a seed pulse;

identify a second portion of the signal as a measurement of a soil characteristic.

20. The system of claim 18, the storage media further comprising instructions which when executed by the one or more processors, cause the system to identify a wavelength of the reflectivity signal that is associated with a characteristic of a seed;

obtain reflectivity measurement data at the wavelength.

21. The system of claim 18, the storage media further comprising instructions which when executed by the one or more processors, cause the system to, using the reflectivity signal, determine a seed pulse;

based on the seed pulse, cause adjusting a timing of a deposit of an input into the trench by the implement during operation of the agricultural machine.

22. The system of claim 18, the storage media further comprising instructions which when executed by the one or more processors, cause the system to:

using the reflectivity signal, identify a presence of crop residue in the trench;

based on the identified presence of crop residue, cause adjusting of one or more of a valve or an actuator of the implement during operation of the agricultural machine.

23. The system of claim 22, the storage media further comprising instructions which when executed by the one or more processors, cause the system to display on a monitor, based on the identified presence of crop residue, a map of spatial variation in crop residue.

24. The system of claim 18, the storage media further comprising instructions which when executed by the one or more processors, cause the system to, using the reflectivity signal, determine a seed pulse;

based on the seed pulse, determine a geospatially-mapped orientation of a seed.

25. The system of claim 18, the storage media further comprising instructions which when executed by the one or more processors, cause the system to, using the reflectivity signal, determine seed-to-soil contact data;

display a map of spatial variation in the seed-to-soil contact data on the monitor.

26. The system of claim 18, the storage media further comprising instructions which when executed by the one or more processors, cause a monitor to receive, from one or more electrical conductivity sensors, a signal relating to an electrical conductivity of the soil.

27. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to obtain seed pulse data from an optical seed sensor of the one or more sensors;

modify the seed pulse data based on a signal generated by a reflectivity sensor of the one or more sensors.

28. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to, based on one or more signals relating to a measured reflectivity of the soil, the one or more signals received from a plurality of reflectivity sensors mounted to a seed firmer of the agricultural machine, determine the measurement data.

29. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to, based on one or more signals relating to a capacitance moisture of the soil, the one or more signals received from a capacitive moisture sensor mounted to a seed firmer of the agricultural machine, determine the measurement data.

30. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to, based on one or more signals relating to a soil moisture tension of the soil, the one or more signals received from an electronic tensiometer sensor mounted to a seed firmer of the agricultural machine, determine the measurement data.

31. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors cause using the measurement data obtained from the one or more sensors to compute a soil moisture tension of the soil.

32. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to, based on one or more signals relating to a temperature of the soil, the one or more signals received from a temperature sensor mounted to a seed firmer of the agricultural machine, determine the measurement data.

33. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to:

obtain the measurement data by interfacing with a plurality of soil-engaging ears comprising a conductive material coupled to the implement.

34. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to adjust, based on a measured temperature of the soil, one or more of soil reflectivity measurement data or soil electrical conductivity measurement data.

35. The system of claim 1, further comprising a monitor in data communication with the one or more sensors to obtain the measurement data, the one or more sensors being mounted to a seed firmer of the agricultural machine, the one or more sensors comprising a plurality of reflectivity sensors and a plurality of temperature sensors and a plurality of electrical conductivity sensors.

36. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to:

based on reflectivity measurement data obtained from a reflectivity sensor of the one or more sensors, calculate a seed germination moisture value;

cause adjusting the depth of the trench formed in the soil by the implement during operation of the agricultural machine based on the seed germination moisture value.

37. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to:

calculate a uniformity of moisture value based on the measurement data obtained from the one or more sensors;

cause adjusting the depth of the trench formed in the soil by the implement during operation of the agricultural machine based on the uniformity of moisture value.

38. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to:

calculate an emergence environment score based on the measurement data obtained from the one or more sensors;

cause adjusting the depth of the trench formed in the soil by the implement during operation of the agricultural machine based on the emergence environment score.

39. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to:

calculate a moisture variability value based on the measurement data obtained from the one or more sensors;

cause adjusting the depth of the trench formed in the soil by the implement during operation of the agricultural machine based on the moisture variability.

40. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to remove measurement of ambient light from a total light measurement measured from a reflectivity sensor of the one or more sensors, by:

emitting light from an emitter of the reflectivity sensor;

measuring the total light measurement;

turning off the emitter;

measuring ambient light;

calculating reflected light by subtracting the ambient light measurement from the total light measurement.

41. The system of claim 1, the storage media further comprising instructions which when executed by the one or more processors, cause the system to analyze voids in soil by:

causing moving a reflectivity sensor through soil;

measuring reflectivity received at first and second detectors of the reflectivity sensor;

obtaining speed of the reflectivity sensor through the soil;

calculating at least one of void length, void depth, and number of voids per linear distance from a first detector reflectivity measurement and a second detector reflectivity measurement.

42. A computer-implemented method comprising:

using one or more processors in data communication with a wireless receiver in communication with one or more wireless transmitters each comprising a first coupler and a second coupler coupled to one or more sensors;

the first coupler coupled to a body of an agricultural machine configured to interact with soil and the second coupler coupled to a removable portion of the agricultural machine;

the first and second couplers arranged to engage electrically as the removable portion is mounted to the body of the agricultural machine, by data communication between the wireless receiver and the one or more wireless transmitters coupled to the one or more sensors, determining measurement data relating to one or more of a temperature characteristic of the soil or a moisture characteristic of the soil or a conductivity characteristic of the soil or a reflectivity characteristic of the soil;

based on the measurement data, generating and transmitting a signal to the agricultural machine to cause the agricultural machine to control a position of an implement coupled to the agricultural machine to adjust a depth of a trench formed in the soil by the implement during operation of the agricultural machine.

43. The method of claim 42, further comprising determining measurement data comprising one or more of soil moisture data or soil organic matter data or soil porosity data or soil texture data or soil type data;

based on the measurement data, generating a signal to cause the agricultural machine to control a seed meter to change a population of seeds planted in the soil.

44. The method of claim 42, further comprising determining measurement data comprising one or more of soil moisture data or soil organic matter data or soil porosity data or soil texture data or soil type data;

based on the measurement data, generating a signal to cause the agricultural machine to change a seed variety of seeds planted in the soil.

45. The method of claim 42, further comprising determining measurement data comprising one or more of soil moisture data or soil organic matter data or soil porosity data or soil texture data or soil type data;

based on the measurement data, generating a signal to cause the agricultural machine to adjust a rate of application of one or more of a fertilizer or a fungicide or an insecticide by the agricultural machine.

46. The method of claim 42, further comprising determining measurement data comprising one or more of soil moisture data or soil organic matter data or soil porosity data or soil texture data or soil type data;

based on the measurement data, generating a signal to cause the agricultural machine to adjust a force applied to the soil by the implement.

47. The method of claim 42, further comprising determining measurement data comprising furrow residue data;

based on the measurement data, generating a signal to cause the agricultural machine to adjust a force applied in relation to the soil by a row cleaner of the implement.

48. The method of claim 42, further comprising:

displaying, in one or more windows of a monitor coupled to the implement, a representation of the measurement data, the one or more windows comprising;

a soil moisture window to display estimated soil moisture data;

or

a soil temperature window to display estimated soil temperature data;

or

a depth setting window to display a depth at which the one or more sensors are sensing the measurement data;

or

a reflectivity variation window to display reflectivity data comprising a statistical reflectivity variation in a signal generated by a reflectivity sensor of the one or more sensors;

or

a carbon content window to display estimated soil carbon content data;

or

an organic matter window to display estimated soil organic matter content data;

or

a soil components window to display estimated fractional presence data relating to one or more soil components.

49. The method of claim 42, further comprising displaying, in a monitor coupled to the implement, a predicted agronomic result based on reflectivity data comprising a statistical reflectivity variation in a signal generated by a reflectivity sensor of the one or more sensors.

50. The method of claim 42, further comprising:

displaying, in a monitor coupled to a plurality of row units of the implement, one or more of;

an average value of the measurement data for all of the plurality of row units;

a highest value of the measurement data for all of the plurality of row units;

a lowest value of the measurement data for all of the plurality of row units;

individual values of the measurement data for each of the row units in the plurality of row units.

51. The method of claim 42, further comprising:

displaying, in one or more windows of a monitor coupled to the implement, a representation of data, wherein the data comprises one or more of soil data, the measurement data, or estimated data, the data relates to one or more of soil carbon content or soil electrical conductivity or soil organic matter or soil components or soil moisture or soil temperature, and the one or more windows comprises;

a map window to display a subset of the data, wherein the subset of the data corresponds to a numerical range of reflectivity variation associated with a threshold level of predicted emergence failure.

52. The method of claim 42, further comprising:

displaying, in one or more windows of a monitor coupled to the implement, a representation of planting data, wherein the planting data is measured by the one or more sensors, the one or more sensors comprise one or more of an optical seed sensor or an electromagnetic seed sensor or a reflectivity sensor, and the one or more windows comprises;

one or more planting data windows to display one or more good spacing data values, wherein the one or more good spacing data values are calculated by the one or more processors based on seed pulses obtained from the one or more sensors.

53. The method of claim 42, further comprising causing a monitor to receive weather data and soil data from one or more servers over a network, transmit the measurement data to the one or more servers using the network, and receive agronomic recommendation data from a recommendation system on the one or more servers.

54. The method of claim 42, further comprising causing a depth adjustment actuator of the agricultural machine to cooperate with a trench opening system of the agricultural machine to adjust the depth of the trench.

55. The method of claim 54, further comprising causing the depth adjustment actuator to modify a height of a gauge wheel of the trench opening system relative to an opener disc of the trench opening system to adjust the depth of the trench.

56. The method of claim 42, further comprising causing a seed meter coupled to a hopper of the agricultural machine to control a rate of deposit of seeds from the hopper into the soil.

57. The method of claim 56, further comprising causing a monitor in data communication with the one or more sensors and one or more clutches of the agricultural machine to cause the one or more clutches to selectively couple the seed meter to an electric drive.

58. The method of claim 42, further comprising causing a monitor to receive, from one or more temperature sensors mounted to the agricultural implement, a signal relating to a temperature of the soil;

obtaining the measurement data from the signal.

59. The method of claim 42, further comprising causing a monitor to receive, from one or more reflectivity sensors mounted to the agricultural machine, a reflectivity signal relating to a reflectivity of the soil;

obtaining the measurement data from the signal.

60. The method of claim 59, further comprising identifying a first portion of the reflectivity signal as a seed pulse;

identifying a second portion of the signal as a measurement of a soil characteristic.

61. The method of claim 59, further comprising identifying a wavelength of the reflectivity signal that is associated with a characteristic of a seed;

obtaining reflectivity measurement data at the wavelength.

62. The method of claim 59, further comprising using the reflectivity signal, determining a seed pulse;

based on the seed pulse, causing adjusting a timing of a deposit of an input into the trench by the implement during operation of the agricultural machine.

63. The method of claim 59, further comprising using the reflectivity signal, identifying a presence of crop residue in the trench;

based on the identified presence of crop residue, causing adjusting of one or more of a valve or an actuator of the implement during operation of the agricultural machine.

64. The method of claim 63, further comprising displaying on a monitor, based on the identified presence of crop residue, a map of spatial variation in crop residue.

65. The method of claim 59, further comprising, using the reflectivity signal, determining a seed pulse;

based on the seed pulse, determining a geospatially-mapped orientation of a seed.

66. The method of claim 59, further comprising, using the reflectivity signal, determining seed-to-soil contact data;

displaying a map of spatial variation in the seed-to-soil contact data on the monitor.

67. The method of claim 42, further comprising receiving, from one or more electrical conductivity sensors, a signal relating to an electrical conductivity of the soil;

obtaining the measurement data from the signal.

68. The method of claim 42, further comprising obtaining seed pulse data from an optical seed sensor of the one or more sensors;

modifying the seed pulse data based on a signal generated by a reflectivity sensor of the one or more sensors.

69. The method of claim 42, further comprising, based on one or more signals from a plurality of reflectivity sensors mounted to a seed firmer of the agricultural machine, measuring a reflectivity of the soil.

70. The method of claim 42, further comprising, based on one or more signals from a capacitive moisture sensor mounted to a seed firmer of the agricultural machine, measuring a capacitance moisture of the soil.

71. The method of claim 42, further comprising, based on one or more signals from an electronic tensiometer sensor mounted to a seed firmer of the agricultural machine, measuring a soil moisture tension of the soil.

72. The method of claim 42, further comprising using the measurement data obtained from the one or more sensors to determine a soil moisture tension of the soil.

73. The method of claim 42, further comprising based on one or more signals from a temperature sensor mounted to a seed firmer of the agricultural machine, measuring a temperature of the soil.

74. The method of claim 42, further comprising obtaining the measurement data by interfacing with a plurality of soil-engaging ears comprising a conductive material coupled to the implement.

75. The method of claim 42, further comprising, based on a measured temperature of the soil, adjusting one or more of soil reflectivity measurement data or soil electrical conductivity measurement data.

76. The method of claim 42, further comprising obtaining the measurement data from one or more sensors mounted to a seed firmer of the agricultural machine, the one or more sensors comprising a plurality of reflectivity sensors and a plurality of temperature sensors and a plurality of electrical conductivity sensors.

77. The method of claim 42, further comprising based on reflectivity measurement data obtained from a reflectivity sensor of the one or more sensors, calculating a seed germination moisture value;

causing adjusting the depth of the trench formed in the soil by the implement during operation of the agricultural machine based on the seed germination moisture value.

78. The method of claim 42, further comprising calculating a uniformity of moisture value based on the measurement data obtained from the one or more sensors;

causing adjusting the depth of the trench formed in the soil by the implement during operation of the agricultural machine based on the uniformity of moisture value.

79. The method of claim 42, further comprising calculating an emergence environment score based on the measurement data obtained from the one or more sensors;

causing adjusting the depth of the trench formed in the soil by the implement during operation of the agricultural machine based on the emergence environment score.

80. The method of claim 42, further comprising calculating a moisture variability value based on the measurement data obtained from the one or more sensors;

causing adjusting the depth of the trench formed in the soil by the implement during operation of the agricultural machine based on the moisture variability.

81. The method of claim 42, further comprising removing measurement of ambient light from a total light measurement measured from a reflectivity sensor of the one or more sensors, by:

emitting light from an emitter of the reflectivity sensor;

measuring the total light measurement;

turning off the emitter;

measuring ambient light;

calculating reflected light by subtracting the ambient light measurement from the total light measurement.

82. The method of claim 42, further comprising analyzing voids in the soil by:

causing moving a reflectivity sensor through the soil;

measuring reflectivity received at first and second detectors of the reflectivity sensor;

obtaining speed of the reflectivity sensor through the soil;

calculating at least one of void length, void depth, and number of voids per linear distance from a first detector reflectivity measurement and a second detector reflectivity measurement.