Highly automated agricultural production system

• US RE31,023 E
• Filed: 03/02/1979
• Issued: 09/07/1982
• Est. Priority Date: 04/11/1975
• Status: Expired due to Term

• Current Assignee: Advanced Decision Handling Incorporated
• Original Assignee: Advanced Decision Handling Incorporated
• Inventors: Hall, Arthur D. III
• Primary Examiner(s): Bagwill, Robert E.
• Application Number:
  US06/016,845
• Time in Patent Office: 1,285 Days
• Field of Search: 47/1, 47/9, 47/2, 47/58, 47/1.7, 47/17, 47/48.5, 111/1, 56/1, 56/13.3, 56/38.8 R, 56/339, 239/63-65, 239/67-70, 239/191, 137/78, 317/DIG. 3
• US Class Current: 405/37
• CPC Class Codes: A01D 46/24 Devices for picking apples or like fruit A01D46/28 and A01D46/005 takes precedence
• CPC Class Codes: A01G 25/16 Control of watering
• CPC Class Codes: A01G 3/04 Apparatus for trimming hedges, e.g. hedge shears
• CPC Class Codes: A01G 7/00 Botany in general
• CPC Class Codes: A01M 7/0089 Regulating or controlling systems the delivery being related to the movement of a vehicle B05B9/06
• CPC Class Codes: B07C 5/342 according to optical properties, e.g. colour according to radiation transmittivity B07C5/3416
• CPC Class Codes: Y10T 137/1963 Temperature
• CPC Class Codes: Y10T 137/402 Distribution systems involving geographic features
• CPC Class Codes: Y10T 137/7287 Liquid level responsive or maintaining systems

Abstract

The present invention provides a highly automated agricultural production system which comprises, as essential components:

1. A sensing subsystem comprising direct and indirect sensing means in an agricultural production area. The direct sensing means are generally ground or plant mounted. The indirect sensing means are remote from the area being sensed. The direct and indirect sensing means are adapted to jointly generate data on all important parameters in the homogeneous agricultural production area;

2. A data transmitting subsystem for forwarding data generated by the direct and indirect sensing means to computing means and for transmitting instructions from the computing means via interfacing means (controllers) to various devices (field effectors) in the agricultural area to perform various functions;

3. A computing subsystem linked by way of said data transmitting subsystem to said indirect and direct sensing means in a pattern of many feedback loops. The computing means is programmed to enable correlation of data received from the indirect and direct sensing means and to generate appropriate instructions to accomplish a substantive number of functions required for the operation of the automated agricultural production system of the present invention as will be later described in detail, including, but not limited to, the control of the following subsystems.

4. A fluid delivery subsystem which provides:

means for delivering water, chemicals in liquid or gaseous form, air, and the like to various parts of the agricultural production area; and

means for providing power to various peripheral devices which utilize the power of moving liquid and/or gases-for example, a water powered (hydromotor) platform.

5. A field operations subsystem which, in a highly preferred embodiment, comprises means to harvest agricultural products, convey the agricultural products, grade the agricultural products, store the agricultural products, and pack the agricultural products. In addition to the above means which are essentially concerned with presenting the agricultural products in a form amenable for marketing, additionally means are provided for plant care, e.g., pruning, thinning and the like.

A field operations subsystem which accomplishes the functions of fruit harvesting, fruit conveying, fruit grading and fruit storage which, in a most preferred embodiment of the present invention, accomplishes the above functions utilizing fluid received from the fluid delivery subsystem of the present invention. It is also highly preferred that such fluid powered means be utilized in the agricultural system of the present invention for tree care, e.g., pruning of trees, thinning of trees and the like.

The field operations can be accomplished, if desired, utilizing a vehicle which is powered by fluid, typically water, derived from the fluid delivery subsystem of the present invention by means of a water-to-mechanical torque converter (hereafter often called a hydromotor platform).

Claims

1. A computerized system for the production of agricultural products in an agricultural area which comprises a plurality of homogeneous agricultural areas, said system comprising:

a. sensing means for sensing a plurality of desired parameters in said plurality of homogeneous agricultural areas, which parameters are necessary to achieve desired agricultural product growth, and for generating sensor data output representative of said parameters;

b. a plurality of different controlled means operative in response to selectively applied control signals for producing desired changes in said parameters;

c. computing means for comparing said sensor data output to pre-established standards for said plurality of parameters in said agricultural areas, said computing means being programmed to generate said control signals as a result of the comparison of said sensor data output and said pre-established standards both directly and in relation to the sensed inter-relationship of such comparisons from others of said parameters and to optimize said control signals; and

d. data transmission means connecting said sensing means and said controlled means to said computing means for receiving said sensor data output from said sensing means and transmitting said sensor data output to said computing means, and for receiving said control signal from said computing means and transmitting said control signal to said controlled means, said data transmission means comprising means for coding and multiplexing sensor data output from a plurality of said sensing means onto a single data transmission channel and means for coding and multiplexing control signals for a plurality of said controlled means onto a single data transmission channel.

2. The system of claim 1 wherein said data transmission means comprises a pair of conductors for two-directional transmission, and code detecting means associated with each of said sensing means and said controlled means and responsive to coded signals on said pair of conductors for connecting said sensing means and said controlled means to said computing means.

3. The system of claim 1 wherein said data transmission means comprises a matrix of conductors in said agricultural area, said sensing means and said controlled means being located at intersections of conductors in said matrix and responsive to the simultaneous occurrence of at least two signals at an intersection for actuation.

4. The system of claim 1 further comprising a power distribution network for providing electric energy to said sensing means and to said controlled means, said data transmission means being congruent with said power distribution network.

5. The system of claim 4 wherein the power and control signals are multiplexed onto the same lead.

6. The system of claim 1 wherein said sensing means includes both direct sensing means in said homogeneous agricultural area for directly measuring said parameters, and indirect sensing means located at a point remote from said homogeneous agricultural area for detecting and measuring radation from said homogeneous agricultural areas as an indirect measurement of said parameters.

7. The system of claim 2 further comprising fluid delivery means in said agricultural area and connected to said computing means by said data transmission means for conveying fluid to or selected one of said homogeneous agricultural areas under the control of said computing means.

8. The system of claim 7 wherein said fluid delivery means comprises a conduit network throughout said agricultural area.

9. The system of claim 8 wherein said fluid delivery means comprises fluid ejection means.

10. The system of claim 9 wherein said fluid delivery means is in communication with a source of heated water.

11. The system of claim 10 further comprising means for heating said heated water to temperatures selected by said computing means.

12. The system of claim 9 wherein said fluid ejection means comprises solid set sprinklers.

13. The system of claim 9 wherein said fluid ejection means comprises solid set sprinklers in combination with microtube tricklers, said solid set sprinklers being connected to a source of gas and a source of liquid, trickler irrigation is accomplished using a stream of liquid, and spraying is accomplished using a combined stream of gas and liquid.

14. The system of claim 13 wherein said fluid ejection means is activated by solenoids, which solenoids are in electrical communication with said controlled means, said controlled means being linked to said computing means by said data transmission system.

15. The system of claim 9 wherein said fluid ejection means is activated by hydraulic pressure changes in said fluid delivery system.

16. The system of claim 9 wherein said fluid ejection means is activated by an electrical signal delivered to said fluid ejection means via said data transmission means.

17. The system of claim 9 wherein said fluid delivery means is in communication with a source of water-soluble agricultural chemicals which can be introduced into and dispensed via said fluid ejection means.

18. The system of claim 9 wherein said fluid delivery means is in communication with a source of water in which the water temperature is stratified by natural forces and wherein said fluid delivery system is adapted to draw water therefrom in at least two different temperature strata.

19. The system of claim 9 which further comprises frost protection means.

20. The system of claim 19 wherein said frost protection means is adapted to spray water at a selected temperature onto trees in said agricultural area at a selected, extremely low level of application, whereby the heat of the water and the heat of fusion of said water provides frost protection.

21. The system of claim 20 wherein said frost protection means further comprises means for illuminating said trees with infrared illumination and means for directing heated gas on said trees, the blend of the use of said water spraying means, said illumination means, and said gas directing means being controlled by said computing means.

22. The system of claim 9 wherein said fluid delivery means is in communication with a source of carbon dioxide as carbonic acid and is adapted to receive, convey and dispense said carbon dioxide.

23. The system of claim 8 wherein said conduit network comprises at least one main conduit feeding a plurality of secondary lateral conduits, said lateral conduits comprising a plurality of sequence valves in series therealong, each sequence valve being in controllable fluid communication with a pressure activated valve capable of selectively introducing fluid into one of a plurality of fluid ejection means in response to variations in the line pressure of said fluid.

24. The system of claim 8 wherein said conduit network comprises at least one main conduit feeding a plurality of secondary lateral conduits, said lateral conduits comprising a plurality of sequence valves in series therealong, each sequence valve being in controllable fluid communication with fluid ejection means comprising a telescoping support member reciprocable in the vertical plane in response to varying line pressures of said fluid, which telescoping support member carries a fluid sprinkler head having a least one fluid ejection orifice whose effective flow diameter is automatically variable in response to said varying line pressures.

25. The system of claim 8 wherein said conduit network comprises at least one main conduit feeding a plurality of secondary lateral conduits, said lateral conduits comprising a plurality of sequence valves in series therealong, each sequence valve being in controllable fluid communication with a plurality of fluid ejection means, which fluid ejection means comprises a fluid ejection nozzle having a fluid ejection orifice of variable orifice diameter, said nozzle being adjustable in elevation by a first solenoid and said orifice diameter being adjusted by a second solenoid, said first and second solenoids being in series and in communication with said computing means over a single data transmission line.

26. A computerized system for the production of agricultural products in an agricultural area which comprises at least one homogeneous agricultural area, said system comprising:

a. sensing means for sensing at least one desired parameter in said homogeneous agricultural area, which parameter is necessary to achieve desired agricultural product growth, and for generating a sensor data output representative of said at least one parameter, said sensing means including both direct sensing means in said at least one homogeneous agricultural area for directly measuring said one parameter, and indirect sensing means located at a point remote from said homogeneous agricultural area for detecting and measuring radiation from said homogeneous agricultural area as an indirect measurement of said one parameter;

b. controlled means operative in response to a control signal for producing a desired change in said one parameter;

c. computing means for comparing said sensor data output to at least one pre-established standard for said parameter in said agricultural area, said computing means being programmed to generate said control signal as a result of the comparison of said sensor data output and said pre-established standard;

d. data transmission means connecting said sensing means and said controlled means to said computing means for receiving said sensor data output from said sensing means and transmitting said sensor data output to said computing means, and for receiving said control signal from said computing means and transmitting said control signal to said controlled means;

e. fluid delivery means in said agricultural area and connected to said computing means by said data transmission means for conveying fluid to said homogeneous agricultural area under the control of said computing means; and

f. field operation means controlled by said computing means to accomplish at least the harvesting of said agricultural product.

27. The system of claim 26 further comprising fluid transportation means hydraulically connected to said fluid delivery means for the transportation of said agricultural product in fluid from the area of growth thereof in said agricultural area to a different location.

28. The system of claim 27 further comprising means controlled by said computing means for the classification of said agricultural product while said agricultural product is being transported in said liquid.

29. The system of claim 28 wherein said means for the classification of said agricultural product comprises a fluid flow conduit disposed at an upwardly extending angle to receive fluid and said agricultural product, which has a specific gravity less than one, and convey the same upwardly while said agricultural product is in contact with the upper surface of said fluid flow conduit, said fluid flow conduit having disposed thereabove and in fluid flow communication therewith at least one substantially vertically oriented conduit, there being disposed between said fluid flow conduit and said substantially vertically oriented conduit means to permit the passage of agricultural product of a desired size but to prevent the passage of agricultural product not of the desired size.

30. The system of claim 28 wherein said means for the classification of said agricultural product comprises:

an elongated fluid flow conduit having an agricultural product receiving area to receive said agricultural product while in said fluid at a first elevation;

ramp means having one end in said receiving area and a second end in the beginning of an agricultural product vertical dispersal area in said fluid, which second end is at a second elevation which is higher than said first elevation; and

agricultural product removal means in said fluid at the ending of said agricultural product vertical dispersion area, said agricultural product removal means being at an elevation in said fluid whereby agricultural product of a predetermined specific gravity is dispersed to a degree which permits removal by said agricultural product removal means.

31. The system of claim 28 wherein said means for the classification of said agricultural product comprises a generally horizontal U-shaped main conduit having a first upper horizontal fluid receiving section joined to a second lower horizontal fluid removal section by an arcuate vertically oriented section, at least one portion of the inner wall of said conduit being provided with means to cause agricultural product in said conduit to be impelled against a portion of the outer wall of said conduit, which portion contains means to permit passage of agricultural product of a desired size into an agricultural product removal conduit but which means prohibits passage of agricultural product not of the desired size.

32. The system of claim 28 wherein said means for classification includes at least two television cameras positioned to provide multiviewpoint sensing of said agricultural product, and television monitoring means and video recording means connected to said television cameras by said data transmission means.

33. The system of claim 32 wherein each television camera is a monochromatic television camera and associated therewith is

a. a filter wheel containing a plurality of filter means in the periphery thereof,

b. stepping means connected to said filter wheel to rotate said filter wheel in discrete steps thereby inserting into the path of radiation detected by said monochromatic television camera a selected filter means, and

c. controller means connected to said data transmission means and responsive to control signals from said computing means for positioning said monochromatic television camera by tilting and rotating the same for focusing said monochromatic television camera, and for controlling said stepping means.

34. The system of claim 33 further comprising light array means including a plurality of radiation sources controlled by said controller means for selectively impinging radiation of different wavelengths on the field of view of said monochromatic television camera.

35. The system of claim 32 wherein said computing means includes image storage means for storing video signals which serve as templates of standard conditions, said computing means comparing video signals recorded by said video recording means with the video signals stored in said image storage means and generating a signal indicating a condition detected in said agricultural product.

36. The system of claim 28 further comprising means for storing said agricultural product while in contact with a liquid after said agricultural product has been harvested by said field operations means.

37. The system of claim 36 wherein said storage means comprises means for introducing said agricultural product into a storage area and means for removing said agricultural product from said storage area, which comprises at least two storage zones in series fluid communication with means for the transportation of said agricultural product, which storage zones comprise first valving means to permit and prevent the entrance of said fluid into said storage zones;

second valving means to permit and prevent the removal of said fluid from said storage zones;

means to prevent agricultural product in said fluid from reaching said second valving means; and

pumping means to introduce fluid into said storage zones via said second valving means to permit removal of agricultural product in said fluid via said first valving means.

38. The system of claim 36 wherein said agricultural product storage means comprises means to receive said agricultural product and convey the same to the entrance of an agricultural product storage zone, which entrance is underwater, and which entrance is disposed lower than the exit of said agricultural product storage zone;

an agricultural product storage zone comprising a substantially vertically oriented enclosed area for the storage of agricultural product, which area contains baffles and has an entrance and an exit, which entrance is underwater and disposed lower than said exit, said enclosed area also being underwater; and

agricultural product removal means in fluid communication with said exit.

39. The system of claim 26 wherein said field operation means includes a wheeled vehicle attached by a conduit to said fluid delivery means, said fluid delivery means containing water, whereby water can flow from said fluid delivery means to said wheeled vehicle via said conduit.

40. The system of claim 39 wherein said wheeled vehicle comprises at least one support member carrying a rotatable reel upon which said conduit is reeled in a removable manner.

41. The system of claim 40 wherein said wheeled vehicle is powered by a water-to-mechanical torque converter, which converter is powered by water received from said conduit which is joined to said fluid delivery means.

42. The system of claim 41 wherein said vehicle has attached thereto a water conveyor which receives water from said conduit and conveys said water to a point remote from said vehicle.

43. The system of claim 42 wherein said water conveyer is U-shaped at least in the area wherein said water is received from said conduit.

44. The system of claim 43 wherein said vehicle carries thereon a water conveyer drum upon which said water conveyer is reeled in flat form.

45. The system of claim 44 wherein said vehicle comprises upper and lower support members, said upper support member being elevatable with respect to said lower support member.

46. The system of claim 45 wherein said water conveyer is carried by said vehicle at said upper support member.

47. The system of claim 46 wherein said upper support member has attached thereto laterally extensible members which are reciprocal.

48. The system of claim 46 wherein said vehicle further comprises water jet spray means attached thereto and adapted to pass around two rows of trees and remove fruit therefrom by striking water jet sprays thereagainst.

49. The system of claim 46 wherein said vehicle further comprises at least one laterally extensible member carried by said upper support member, said laterally extensible member having at the extremity thereof a slotting saw and carrying disposed beneath said slotting saw a chute for the receipt of plant trimmings cut by said slotting saw, which chute communicates with comminuting means carried by said lower support member, which comminuting means receives said plant trimmings and comminutes the same.

50. The system of claim 49 wherein said comminuting means is provided with an exit port which communicates with a conduit leading to said water conveyer whereby said comminuted trimmings are fed to said water conveyer.

51. The system of claim 46 wherein said vehicle further comprises:

a. fluid jet spray means carried at the side of said vehicle carrying fluid ejection nozzles suspended from said upper support member, said fluid ejection nozzles being in fluid communication with said conduit to receive fluid therefrom and adapted to pass around a plant on each side of said vehicle and by way of fluid ejected from said fluid ejection nozzles remove produce from said plants;

b. produce receiving means disposed at the lower portion of said fluid jet spray means to receive said produce removed from said plants due to said fluid ejected from said fluid ejection nozzles; and

c. means to convey said produce from said produce receiving means while in said fluid into said water conveyer.

52. The system of claim 41 wherein said vehicle comprises at least one support carrying a rotatable reel upon which said conduit is reeled in a removable manner and said vehicle has a water conveyer attached thereto which receives water from said conduit, said water conveyer conveying said water to a point remote from said vehicle.

53. The system of claim 27 wherein said means for the transportation of said agricultural product in fluid from the area of growth thereof is in fluid communication with agricultural product storage and grading means, which storage and grading means comprises means to receive said agricultural product and convey the same to the lowermost portion of a fluid flow conduit disposed at an upwardly extending angle which receives said fluid and said agricultural product, which agricultural product has a specific gravity less than 1, and conveys the same while said agricultural product is in contact with the upper surface of said fluid flow conduit, said fluid flow conduit having disposed thereabove and in fluid flow communication therewith at least one storage area for said agricultural product, there being disposed between said fluid flow conduit and said at least one storage area means to permit the passage of agricultural product of a desired size but prevent the passage of agricultural product of other than the desired size;

and

agricultural product removal means in fluid flow communication with said at least one storage area to permit the removal of said agricultural product.

54. The system of claim 27 wherein said means for the transportation of said agricultural product in liquid from the area of growth thereof is in communication with agricultural product storage and grading means which comprises:

means to receive said agricultural product and convey the same to the entrance of an agricultural product storage zone, which entrance is underwater and which entrance is disposed lower than the exit of said agricultural product storage zone, said exit being in fluid flow communication with the lowermost portion of a fluid flow conduit disposed at an upwardly extending angle which receives said fluid and said agricultural product, which agricultural product has a specific gravity less than one, and conveys the same while said agricultural product is in contact with the upper surface of said fluid flow conduit, said fluid flow conduit having disposed thereabove and in fluid flow communication therewith at least one substantially vertically oriented conduit, there being disposed between said fluid flow conduit and said substantially vertically oriented conduit means to permit the passage of agricultural product of a desired size but to prevent the passage of agricultural product not of the desired size, and means to remove agricultural product from said at least one substantially vertically oriented conduit.

55. The system of claim 26 wherein said field operation means includes means for the batch harvesting of agricultural product which comprises:

a first container provided with means adapting the same to fit around and substantially completely enclose a plant upon which said agricultural product is growing, which agricultural product is to be picked;

a second container provided with means adapting the same to fit around and substantially completely enclose a plant upon which agricultural product is growing, which agricultural product is to be picked;

a first fluid flow conduit interconnecting said first container and said second container and being provided with pumping means to transfer fluid from said first container to said second container and vice versa, whereby as said first container is emptied said second container is filled and as said second container is emptied said first container is filled;

a second fluid flow conduit adapted to introduce fluid into said first container and said second container from said fluid delivering means, and

at least one of said containers having disposed therein a buoyant member which is adapted to reciprocate vertically in said container in response to changes in fluid level therein, said buoyant member being connected to a source of fluid and being adapted to forceably eject fluid against said plant upon which said agricultural product is growing while said plant is enclosed in said container.

56. The system of claim 55 wherein said second fluid flow conduit is interconnected with said first and second containers by a multiport valve which permits fluid to be selectively introduced into said first or said second containers.

57. The system of claim 56 wherein said multiport valve is fed with fluid derived from said fluid delivery means.

58. The system of claim 55 wherein said first and second containers are provided with exit means to permit the removal of agricultural product and fluid, which exit means is joined to fluid conveying means for removal of said agricultural product and fluid from said first and second containers.

59. The system of claim 27 wherein said fluid transportation means includes means to elevate said fluid in a vertical direction which comprises:

a first fluid storage area adapted to receive fluid and agricultural product carried in a fluid;

a second fluid storage area in controllable fluid communication with said first storage area adapted to receive fluid and agricultural product from said first storage area;

a third fluid storage area adapted to receive fluid from said second--third fluid storage area adapted to receive fluid from said second means;

fluid flow control means to permit flow from said first fluid storage area to said second storage area upon the filling of said first storage area and to prevent fluid flow into said third storage area from said second storage area;

second interconnecting means between said third fluid storage area and said second fluid storage area containing pumping means to remove fluid from said third storage area and reintroduce the same into said second storage area via said second interconnecting means, and

means for the introduction of fluid into said third storage area and then into said second storage area via said second interconnecting means, which fluid displaces the original batch of fluid and agricultural product therein.

60. The system of claim 27 wherein said fluid transportation means includes means for polishing, drying and waxing said agricultural product while temporarily removing said agricultural product from said fluid.

61. A computerized system for the production of agricultural products in an agricultural area which comprises at least one homogeneous agricultural area, said system comprising:

a. sensing means for sensing at least one desired parameter in said homogeneous agricultural area, which parameter is necessary to achieve desired agricultural product growth, and for generating a sensor data output representative of said at least one parameter, said sensing means including both direct sensing means in said at least one homogeneous agricultural area for directly measuring said one parameter, and indirect sensing means located at a point remote from said homogeneous agricultural area for detecting and measuring radiation from said homogeneous agricultural area as an indirect measurement of said one parameter;

b. controlled means operative in response to a control signal for producing a desired change in said one parameter;

c. computing means for comparing said sensor data output to at least one pre-established standard for said parameter in said agricultural area, said computing means being programmed to generate said control signal as a result of the comparison of said sensor data output and said pre-established standard.

d. data transmission means connecting said sensing means and said controlled means to said computing means for receiving said sensor data output from said sensing means and transmitting said sensor data output to said computing means, and for receiving said control signal from said computing means and transmitting said control signal to said controlled means; and

e. fluid delivery means in said agricultural area and connected to said computing means by said data transmission means for conveying fluid to said homogeneous agricultural area under the control of said computing means, said data transmission means and said fluid delivery means being housed in a common conduit in contiguous but separated relationship.

62. The system of claim 61 wherein said common conduit comprises a plurality of separated compartments along its length.

63. A computerized system for the production of agricultural products in an agricultural area which comprises at least one homogeneous agricultural area, said system comprising:

a. sensing means for sensing at least one desired parameter in said homogeneous agricultural area, which parameter is necessary to achieve desired agricultural product growth, and for generating a sensor data output representative of said at least one parameter, said sensing means including both direct sensing means in said at least one homogeneous agricultural area for directly measuring said one parameter, and indirect sensing means located at a point remote from said homogeneous agricultural area for detecting and measuring radiation from said homogeneous agricultural area as an indirect measurement of said one parameter, said direct sensing means comprising two carbon dioxide sensors at different elevations in at least one homogeneous agricultural area;

b. controlled means operative in response to a control signal for producing a desired change in said one parameter;

c. computing means for comparing said sensor data output to at least one pre-established standard for said parameter in said agricultural area, said computing means being programmed to generate said control signal as a result of the comparison of said sensor data output and said pre-established standard;

d. data transmission means connecting said sensing means and said controlled means to said computing means for receiving said sensor data output from said sensing means and transmitting said sensor data output to said computing means, and for receiving said control signal from said computing means and transmitting said control signal to said controlled means;

e. a source of carbon dioxide; and

f. fluid delivery means in said agricultural area and connected to said computing means by said data transmission means for conveying fluid to said homogeneous agricultural area under the control of said computing means, said fluid delivery means comprising a conduit network throughout said agricultural area and fluid ejection means, said fluid delivery means being in communication with said source of carbon dioxide and being adapted to receive, convey, and dispense carbon dioxide from said source.

64. The system of claim 63 comprising baffles enclosing an area along contour lines of elevation to contain carbon dioxide.

65. The system of claim 63 wherein each of said two carbon dioxide sensors comprises at least two electrodes and temperature sensing means in contact with distilled water.

66. The system of claim 65 further comprising a Wheatstone bridge two arms of which are in electrical contact with respective ones of said electrodes and which is arranged to be interrogated by activating two arms of the Wheatstone bridge while measuring the voltage across the other two arms, the signals for both pairs of arms being sent and received, respectively, over said data transmission means.

67. Agricultural product storage means comprising:

means to receive an agricultural product and convey the same to the entrance of an agricultural product storage zone, which entrance is underwater and which entrance is disposed lower than the exit of said agricultural product storage zone;

an agricultural product storage zone comprising a substantially vertically oriented enclosed area for the storage of agricultural product, which area has an entrance and an exit, which entrance is underwater and disposed lower than said exit, said enclosed area also being underwater; and

agricultural product removal means in fluid communication with said exit.

68. A computerized system for the production of agricultural products in an agricultural area which comprises at least one homogeneous agricultural area, said system comprising:

a. sensing means for sensing at least one desired parameter in said homogeneous agricultural area, which parameter is necessary to achieve desired agricultural product growth, and for generating a sensor data output representative of said at least one parameter, said sensing means including both direct sensing means in said at least one homogeneous agricultural area for directly measuring said one parameter and indirect sensing means located at a point remote from said homogeneous agricultural area for detecting and measuring radiation from said homogeneous agricultural area as an indirect measurement of said one parameter;

said indirect sensing means including a network of television cameras;

b. television monitoring means and video recording means connected to said network of television cameras by data transmission means to be recited;

c. controlled means operative in response to a control signal for producing a desired change in said one parameter;

d. computing means for comparing said sensor data output to at least one pre-established standard for said parameter in said agricultural area, said computing means being programmed to generate said control signal as a result of the comparison of said sensor data output and said pre-established standard; and

e. data transmission means connecting said sensing means and said controlled means to said computing means for receiving said sensor data output from said sensing means and transmitting said sensor data output to said computing means, and for receiving said control signal from said computing means and transmitting said control signal to said controlled means.

69. The system of claim 68 wherein each television camera in said network is a monochromatic television camera and associated therewith is

a. a filter wheel containing a plurality of filter means in the periphery thereof,

b. stepping means connected to said filter wheel to rotate said filter wheel in discrete steps thereby inserting into the path of radiation detected by said monochromatic television camera a selected filter means, and

c. controller means connected to said data transmission means and responsive to control signals from said computing means for positioning said monochromatic television camera by tilting and rotating the same for focusing said monochromatic television camera, and for controlling said stepping means.

70. The system of claim 69 further comprising light array means including a plurality of radiation sources controlled by said controller means for selectively impinging radiation of different wavelengths on the field of view of said monochromatic television camara.

71. The system of claim 70 wherein said plurality of radiation sources include a monochromatic laser, a lithium flare, a xenon flash, a mercury arc lamp.

72. The system of claim 68 wherein said television monitoring means comprises a plurality of television receivers and said video recording means comprises a plurality of video tape recorders, said system further comprising switch means interposed between said network of television cameras and said television monitoring means and video recording means for selectively connecting any one of the television cameras in said network to any one of said television receivers and any one of said video tape recorders.

73. The system of claim 72 wherein said switch means comprises a switch array having horizontal switch conductors and intersecting vertical switch conductors, said horizontal switch conductors being connected to said network of television cameras and said vertical switch conductors being connected to said television monitoring means and video recording means, and switch array control means connected to said data transmission means and responsive to control signals from said computing means for selectively electrically connecting the intersections of said horiziontal and vertical switch conductors whereby said switch array serves as a means to concentrate or expand said television cameras and said television receivers and video tape recorders.

74. The system of claim 68 further comprising selector means associated with said television monitoring means and video recording means for selecting the signal of a single one of the television cameras in said network for monitoring and/or recording.

75. The system of claim 74 wherein said selector means is a time division multiplexor.

76. The system of claim 68 wherein said computing means includes image storage means for storing video signals which serve as templates of standard conditions, said computing means comparing video signals recorded by said video recording means with the video signals stored in said image storage means and generating a signal indicating a condition detected in said homogeneous agricultural area.

77. The system of claim 68 wherein said television monitoring means comprises a plurality of television receivers and said video recording means comprises a plurality of video tape recorders, said system further comprising switch means interposed between said television cameras and said television monitoring means and video recording means for selectively connecting any one of the television cameras in said network to any one of said television receivers and any one of said video tape recorders.

78. The system of claim 77 wherein said switch means comprises a switch array having horizontal switch conductors and intersecting vertical switch conductors, said horizontal switch conductors being connected to said television cameras and said vertical switch conductors being connected to said television monitoring means and video recording means, and switch array control means connected to said data transmission means and responsive to control signals from said computing means for selectively electrically connecting the intersections of said horizontal and vertical switch conductors whereby said switch array serves as a means to concentrate or expand said television cameras and said television receivers and video tape recorders.

79. A computerized system for the production of agricultural products in an agricultural area which comprises at least one homogeneous agricultural area, said system comprising:

a. sensing means for sensing at least one desired parameter in said homogeneous agricultural area, which parameter is necessary to achieve desired agricultural product growth, and for generating a sensor data output representive of said at least one parameter, said sensing means and controlled means to be recited comprising a field package;

b. controlled means operative in response to a control signal for producing a desired change in said one parameter;

c. computing means for comparing said sensor data output to at least one pre-established standard for said parameter in said agricultural area, said computing means being programmed to generate said control signal as a result of the comparison of said sensor data output and said pre-established standard;

d. data transmission means connecting said sensing means and said controlled means to said computing means for receiving said sensor data output from said sensing means and transmitting said sensor data output to said computing means, and for receiving said control signal from said computing means and transmitting said control signal to said controlled means, said data transmission means comprising a pair of conductors for two-directional transmission;

e. code detecting means associated with each of said sensing means and said controlled means and responsive to coded signals on said pair of conductors for connecting said sensing means and said controlled means to said computing means; and

f. fluid delivery means in said agricultural area and connected to said computing means by said data transmission means for conveying fluid to said controlled means under the control of said computing means, said data transmission means being congruent with said fluid delivery means.

80. The system of claim 79 further comprising a power distribution network for providing electric energy to said sensing means and to said controlled means, said power distribution network being congruent with said data transmission means and said fluid delivery means.

81. The system of claim 79 wherein said fluid delivery means includes an air delivery line and a liquid delivery line and said controlled means includes liquid spray means and liquid irrigation means, first spool valve means connected between said air delivery and liquid delivery line and said liquid spray means and controlled by said code detecting means for spraying said agricultural area, and second spool valve means connected between said liquid delivery line and said liquid irrigation means and controlled by said code detecting means for irrigating said agricultural area.

82. A computerized system for the production of agricultural products in an agricultural area which comprises at least one homogeneous agricultural area, said system comprising:

a. sensing means for sensing at least one desired parameter in said homogeneous agricultural area, which parameter is necessary to achieve desired agricultural product growth, and for generating a sensor data output representtive of said at least one parameter;

b. controlled means operative to response to a control signal for producing a desired change in said one parameter;

c. computing means for comparing said sensor data output to at least one pre-established standard for said parameter in said agricultural area, said computing means being programmed to generate said control signal as a result of the comparison of said sensor data output and said pre-established standard;

d. data transmission means connecting said sensing means and said controlled means to said computing means for receiving said sensor data output from said sensing means and transmitting said sensing data output to said computing means, and for receiving said control signal from said computing means and transmitting said control signal to said controlled means, said data transmission means comprising a pair of conductors for two-directional transmission;

e. code detecting means associated with each of said sensing means and said controlled means and responsive to coded signals on said pair of conductors for connecting said sensing means and said controlled means to said computing means;

f. address sending means controlled by said computing means and connected to said data transmission means for sending a binary signal to said code detecting means; and

g. signal receiver means connected to said data transmission means for detecting a pulse amplitude modulated signal from said sensing means.

83. The system of claim 82 further comprising an analog-to-digital converter connected between said signal receiver means and said computing means for converting said pulse amplitude modulated signal to a digital signal.

84. A computerized system for the production of agricultural products in an agricultural area which comprises at least one homogeneous agricultural area, said system comprising:

a. sensing means for sensing at least one desired parameter in said homogeneous agricultural area, which parameter is necessary to achieve desired agricultural product growth, and for generating a sensor data output representative of said at least one parameter;

b. a controlled means operative in response to a control signal for producing a desired change in said one parameter;

c. computing means for comparing said sensor data output to at least one pre-established standard for said parameter in said agricultural area, said computing means being programmed to generate said control signal as a result of the comparison of said sensor data output and said pre-established standard; and

d. data transmission means connecting said sensing means and said controlled means to said computing means for receiving said sensor data output from said sensing means and transmitting said sensor data output to said computing means and for receiving said control signal from said computing means and transmitting said control signal to said controlled means, said data transmission means comprising;

i. a matrix of conductors in said agricultural area, said sensing means and said controlled means being located at intersections of conductors in said matrix and being responsive to the simultaneous ocurrence of at least two signals at an intersection for activation, and

ii. a further single data conductor connected to all of said sensing means and to said computer, whereby only that sensing means which is addressed by said at least two signals in said matrix is connected to said computing means by said further single data conductor.

85. A computerized system for the production of agricultural products in an agricultural area which comprises at least one homogeneous agricultural area, said system comprising:

a. sensing means for sensing at least one desired parameter in said homogeneous agricultural area, which parameter is necessary to achieve desired agricultural product growth, and for generating a sensor data output representative of said at least one parameter;

b. controlled means operative in response to a control signal for producing a desired change in said one parameter;

c. computing means for comparing said sensor data output to at least one pre-established standard for said parameter in said agricultural area, said computing means being programmed to generate said control signal as a result of the comparison of said sensor data output and said pre-established standard;

d. data transmission means connecting said sensing means and said controlled means to said computing means for receiving said sensor data output from said sensing means and transmitting said sensor data output to said computing means and for receiving said control signal from said computing means and transmitting said control signal to said controlled means, said data transmission means comprising a matrix of conductors comprising row conductors and column conductors in said agricultural area, said sensing means and said controlled means being located at intersections of conductors in said matrix and being responsive to the simultaneous occurrence of at least two signals at an intersection for activation;

e. row selector means connected to said row conductors and controlled by said computing means to select a single one of said row conductors;

f. column selector means connected to said column conductors and controlled by said computing means to select a single one of said column conductors; and

g. function selector means connected to said column selector means and controlled by said computing means to control the function of a selected controlled means.

86. The system of claim 85 wherein said controlled means are fluid dispensing means, said system further comprising fluid delivery means in said agricultural area and connected to convey fluid to said fluid dispensing means, said fluid dispensing means being connected in rows by said fluid delivery means, said fluid delivery means including solenoid valve means in each of said rows of fluid dispensing means and connected to said row conductors for passing fluid in response to a signal on a corresponding row conductor.

87. The system of claim 86 wherein said fluid dispensing means are spray heads having position control means and nozzle orifice control means connected to said column conductors and responsive to said function selector means to position said spray heads and adjust size of the nozzle orifices of said spray heads.

88. A computerized system for the production of agricultural products in an agricultural area which comprises at least one homogeneous agricultural area, said system comprising:

a. sensing means for sensing soil moisture in said homogeneous agricultural area and for generating a sensor data output representative of said soil moisture;

b. an irrigation system operative in response to a control signal for producing a desired change in said soil moisture, said irrigation system including means for storing water;

c. computing means for comparing said sensor data output to at least one pre-established standard for soil moisture in said agricultural area, said computing means being programmed to generate said control signal as a result of the comparison of said sensor data output and said pre-established standard;

d. data transmission means connecting said sensing means and said controlled means to said computing means for receiving said sensor data output from said sensing means and transmitting said sensor data output to said computing means, and for receiving said control signal from said computing means and transmitting said control signal to said controlled means;

e. means for measuring the amount of water in said means for storing water and supplying a signal proportional thereto to said computing means; and

f. means for supplying weather forecast data in the form of signals proportional to the forecast time and amount of rain to said computing means,

g. said computing means being programmed to compute the amount of irrigation water required to bring the soil moisture up to a pre-established standard, to compare the computed amount of irrigation water with the amount of water in said means for storing water and the amount of rain forecast, and to adjust the computed amount of irrigation water based on those computations in order to generate said control signal. .Iadd. 89. A computerized system for the production of agricultural products in an agricultural area which comprises at least one homogeneous agricultural area, said system comprising;

(a) sensing means for sensing at least one desired parameter in said homogeneous agricultural area, which parameter is necessary to achieve desired agricultural product growth, and for generating a sensor data output representative of said at least one parameter;

(b) a plurality of different controlled means each operative in response to a different respective control signal and functioning together to produce a desired change in said at least one parameter;

(c) computing means for comparing said sensor data output to at least one pre-established standard for said at least one parameter in said agricultural area, said computing means being programmed to generate said respective control signals as a result of the comparison of said sensor data output and said pre-established standard; and

(d) data transmission means connecting said sensing means and said controlled means to said computing means for receiving said sensor data output from said sensing means and transmitting said sensor data output to said computing means, and for receiving said control signals from said computing means and transmitting said control signals to said controlled

89. means. .Iaddend. .Iadd. 90. A computerized system for the production of agricultural products in an agricultural area which comprises at least one homogeneous agricultural area, said system comprising:

(a) a plurality of sensing means for sensing at least one desired parameter in said homogeneous agricultural area, which parameter is necessary to achieve desired agricultural product growth, and for generating sensor data output signals representative of said at least one parameter;

(b) a plurality of controlled means operative in response to respective control signals for producing a desired change in said at least one parameter;

(c) computing means for comparing said sensor data output signals to at least one pre-established standard for said at least one parameter in said agricultural area, said computing means being programmed to generate said control signals as a result of the comparison of said sensor data output signals and said pre-established standards; and

(d) data transmission means connecting said sensing means and said controlled means to said computing means for receiving said sensor data output from said sensing means and transmitting said sensor data output to said computing means, and for receiving said control signals from said computing means and transmitting said control signals to said controlled means, said data transmission means comprising means for multiplexing sensor data output signals from said plurality of sensing means onto a

91. controlled means. .Iaddend..Iadd. 95. A computerized system as defined in claim 94 wherein said computing means continues to generate said control signal until the comparison of said pre-established standard and said sensor data output signal representative of said desired parameter indicates that the desired change in said desired parameter has been achieved. .Iaddend. .Iadd. 96. A computerized system as defined in claim 95, wherein said desired parameter is moisture and said computing means computes the amount of irrigation water necessary to produce a desired change in the sensed moisture. .Iaddend..Iadd. 97. A computerized system for the production of agricultural products in an agricultural area which comprises at least one homogeneous agricultural area, said system comprising:

(a) sensing means for sensing a plurality of different parameters in said homogeneous agricultural area, which parameters are necessary to achieve desired agricultural product growth, and for generating sensor data outputs representative of said parameters;

(b) controlled means operative in response to a control signal for producing desired changes in said parameters;

(c) computing means for comparing said sensor data outputs to pre-established standards for said plurality of parameters in said agricultural area and for comparing said sensor data outputs to one another, said computing means being programmed to generate said control signals as a result of both (1) the comparison of said sensor data ouptuts and said pre-established standards and (2) the comparison of various ones of the sensor data output signals to one another; and

(d) data transmission means connecting said sensing means and said controlled means to said computing means for receiving said sensor data outputs from said sensing means and transmitting said sensor data outputs to said computing means, and for receiving said control signals from said computing means and transmitting said control signals to said controlled means. .Iaddend.

90. single data transmission channel. .Iaddend..Iadd. 91. The system of claim 90, wherein there are a plurality of controlled means and said data transmission means further comprises means for multiplexing control signals for said plurality of controlled means onto a single data transmission channel. .Iaddend..Iadd. 92. The system according to claim 90, wherein said data transmission means includes address means for sending respective address signals to said sensing means, and each said sensing means includes means for receiving said address signals and providing a sensor data output signal in response to its respective address signal. .Iaddend..Iadd. 93. The system according to claim 91, wherein said data transmission means includes address means for sending respective address signals to said plurality of controlled means, and each said controlled means includes means for receiving and responding to its respective address signal. .Iaddend. .Iadd. 94. A computerized system for the production of agricultural products in an agricultural area, said system comprising:

(a) sensing means for sensing a plurality of parameters in said agricultural area, at least one of said plurality of parameters being a desired parameter which is necessary to achieve desired agricultural product growth and for generating sensor data output signals representative of said plurality of parameters;

(b) controlled means operative in response to a control signal for producing a desired change in said desired parameter;

(c) computing means for comparing the sensor data output signal representative of said desired parameter to at least one pre-established standard for said desired parameter in said agricultural area, calculating the proper control signal which should be provided to said controlled means in order to produce said desired change in said desired parameter and generating said proper control signal, said computing means comparing sensor data output signals, other than that representative of said desired parameter, to one another for ensuring that said controlled means has responded to said proper control signal; and

(d) data transmission means connecting said sensing means and said control means to said computing means for receiving said sensor data output signals from said sensing means and transmitting said sensor data output signals to said computing means, and for receiving said control signal from said computing means and transmitting said control signal to said