Agricultural apparatus for sensing and providing feedback of soil property changes in real time

1. An agricultural system comprising:

an agricultural row unit movable on a field between a first soil condition and a second soil condition, the first soil condition having a different soil hardness than the second soil condition;

a down-pressure actuator applying pressure to the row unit, the down-pressure actuator initially applying a first pressure associated with the first soil condition;

a soil-hardness sensing device positioned at a distance D forward of the row unit, the soil-hardness sensing device outputting a soil-hardness change signal when detecting a change from the first soil condition to the second soil condition; and

at least one memory device storing instructions that, when executed by at least one processor, cause the down-pressure actuator to change, in response to receiving the soil-hardness change signal, the first pressure to a second pressure when the row unit encounters the second soil condition.

2. The agricultural system of claim 1 , wherein the soil-hardness change signal is determined based on the distance D and a velocity Q of the row unit.

3. The agricultural system of claim 1 , wherein the down-pressure actuator includes a hydraulic actuator.

4. The agricultural system of claim 3 , further comprising a control valve for controlling, in response to the soil-hardness change signal, flow of hydraulic fluid to the hydraulic actuator.

5. The agricultural system of claim 1 , wherein the at least one processor is located on the row unit.

6. The agricultural system of claim 1 , wherein the soil-hardness sensing device includes a first linear position sensor coupled to a blade and a second linear position sensor coupled to a wheel gauge, the soil-hardness change signal being determined in part based on relative motion between the blade and the wheel gauge as measured by the first linear position sensor and the second linear position sensor.

7. The agricultural system of claim 1 , wherein the soil-hardness sensing device includes a blade arm, a gauge wheel arm, and an angular encoder, the angular encoder measuring relative angular motion between the blade arm and the gauge wheel arm, the soil-hardness change signal being determined at least in part based on the relative angular motion.

8. The agricultural system of claim 1 , further comprising a side-by-side arrangement of agricultural row units connected to a towing frame, the row units including a first group of row units and a second group of row units, the first group of row units being positioned inside a compacted path formed by wheels of a towing vehicle, the second group of row units being positioned outside the compacted path.

9. The agricultural system of claim 8 , further comprising:

another soil-hardness sensing device positioned outside the compacted path, the soil-hardness sensing device being positioned inside the compacted path;

a first set of control valves for controlling, in response to the soil-hardness change signal, flow of hydraulic fluid to the first group of row units; and

a second set of control valves for controlling, in response to another soil-hardness change signal outputted by the another soil-hardness sensing device, flow of hydraulic fluid to the second group of row units.

10. An agricultural system comprising:

a towing frame for attachment to a towing vehicle draw bar;

an agricultural row unit attached to the towing frame in a trailing position relative to a moving direction on a field, the row unit being movable between a first soil condition and a second soil condition, the first soil condition having a different soil hardness than the second soil condition, the row unit including a down-pressure actuator for applying pressure to the row unit, the down-pressure actuator initially applying a first pressure associated with the first soil condition;

a soil-hardness sensing unit attached to the towing frame in a forward position relative to the moving direction on the field, the soil-hardness sensing unit being positioned at a distance D forward of the row unit, the soil-hardness sensing unit detecting soil-hardness changes and outputting a soil-hardness change signal when detecting a change from the first soil condition to the second soil condition; and

at least one memory device storing instructions that, when executed by at least one processor, cause the down-pressure actuator to change, in response to receiving the soil-hardness change signal, the first pressure to a second pressure when the row unit encounters the second soil condition.

11. The agricultural system of claim 10 , wherein the soil-hardness sensing unit is an integral unit separate from the row unit, the soil-hardness sensing unit detecting the soil-hardness changes independent of the row unit.

12. The agricultural system of claim 10 , wherein the soil-hardness change signal is determined in real time.

13. The agricultural system of claim 10 , wherein the soil-hardness change signal is based on the distance D and a velocity Q of the row unit.

14. The agricultural system of claim 10 , wherein the soil-hardness sensing unit is an integral unit separate from the row unit, the soil-hardness sensing unit detecting the soil-hardness changes independent of the row unit and in real time based on the distance D and a velocity Q of the row unit.