A crop growing system including a planter and associated harvester

Abstract

A method for growing plants, including a planter and a harvester, both of which include separating seeds and measuring parameters of the seeds as they are separated. This can be used to plant selected seeds and harvest specific plants. The system operates by correlating information from seeds planted in individual plantings and harvested seeds with respect to specific locations on a growth medium, and the system can include information about the growth medium at the locations. The locations can be determined by plants in a planting pattern, where the pattern can be detected by a reader on the harvester. The system can be used to control selection of seeds to take into account soil conditions for the plants.

Description

Technical Field

[0001] The present invention relates to a crop growth system comprising a sowing system and a harvesting system, wherein the sowing system and the harvesting system can be operated separately, and the operating system and the harvesting system can form part of a common system, which cooperate with each other to control the sowing and harvesting of crops, which is currently impossible.

[0002] This system provides a method and apparatus primarily for placing granules on a substrate during the sowing process. The substrate can be the ground or other growing medium. The sowing equipment moves on the ground or growing medium, or vice versa, as in indoor agriculture where the growing medium moves via a fixed sowing system. The system also provides a method and apparatus for harvesting granules from a growing substrate or the ground and classifying the granules based on one or more measured characteristics. While the invention primarily relates to placing seed and fertilizer granules in a field and subsequently harvesting them, it is not limited to seeds and fertilizers in a field; other types of granules and substrates can be used. Background Technology

[0003] Agricultural machinery is widely used for field sowing. A crucial aspect is seed selection, which refers to choosing the right seed variety, as this increases the likelihood of germination and the development of viable plants. It is also essential to place each seed in a location that maximizes its yield potential. Furthermore, planting operations may include spatially placing other materials, such as fertilizers, herbicides, pesticides, biocontrol agents, or spatial markers, near the seed location.

[0004] Current technology has only achieved part of these goals. Seeders are typically used to place larger seeds, such as corn, at predetermined intervals along a row, usually at a density of 3 to 7 seeds per meter. Major manufacturers have been working to increase seeder speeds without sacrificing seeding accuracy. At the time of writing (2018), the highest speed of seeders from all major brands was approximately 10 mph (15 kph), placing about 14 seeds per second. The latest seeders typically include a separating disc with a series of regularly spaced holes around its perimeter, which draw seeds from the reservoir through a vacuum. This approach has several drawbacks. Seeder speed is limited by the speed of the separator. The vacuum required for the separator increases equipment costs and power requirements. Finally, the separator is prone to failure in three modes. First, the separator holes may fail to attract seeds, resulting in lower plant density and lower yield. The probability of seed loss increases with the separator rate. Second, a hole may attract two or more closely planted seeds that compete with each other, reducing yield. Seeders typically include a scraper to eliminate double-seeding. When the scraper operates at high speed, it may remove two seeds. Third, the hole may become clogged and unusable. The separated seeds are conveyed to the furrows via seed tubes or conveyor belts configured to minimize the relative speed between the seeds and the ground. Pesticides can be applied to the adjacent second furrow.

[0005] Seeders are typically used to deposit generally small grain seeds at a density of 25 to 250 seeds per square meter, with a similar maximum speed of approximately 15 kph. Seeders known in the art suspend seeds at a specific bulk density in turbulent flow and transport them through a network of tubes to an outlet near where the seeds are to be placed. The seeds fall at random locations with a predetermined average density. Despite the high seeding rate, the seeding accuracy of these seeders is relatively low.

[0006] Harvesters known in the art collect grains of bulk crops into common bins. The average yield and quality of the land area represented by the contents of the bins can be assessed by the farmer. In current practice, harvest bins are transported to progressively larger storage bins as the crop is moved from the field to the farm warehouse to the elevator. Quality is assessed based on the average value of the bins, which generally represents the average value of the progressively larger land area. Foreign matter and defects in the crop can be removed by various methods, including optical sorting machines, to improve quality. Optical sorting machines are known in the art and can provide detailed quality information, but require extensive infrastructure and are limited to fixed locations. US 9832928, published December 5, 2017, suggests using sensors to estimate yield as the harvester moves through the field, thereby providing a more refined estimate of yield variations in the field. The object of this invention is to provide detailed quality and yield information in real time at a fine spatial scale and to separate crop grains into different bins based on quality parameters as the harvester moves through the field. Summary of the Invention

[0007] According to a first aspect of the present invention, a sowing apparatus is provided for applying seeds to a growth medium, the sowing apparatus comprising:

[0008] A storage container used to store seeds;

[0009] A supply pipe used to transport seeds from a container;

[0010] A separation device, comprising:

[0011] A tube through which seeds pass;

[0012] An assembly for rotating a pipe about an axis, such that the centrifugal force generated by the rotation acts to drive the seed along the pipe and generate pressure on the seed against the wall of the pipe, causing it to slide along the wall.

[0013] And a conveying component for conveying the separated seeds to the growth medium.

[0014] The term "seed" as used in this article is intended to include any material that can be planted and from which a plant will grow. This can certainly include cuttings, tubers, and root crops, such as potatoes.

[0015] The term "collected elements" as used in this article is intended to include any material that has been harvested and separated from other crop materials. This includes seeds or grains, but may also include other crop materials or fruits such as berries, grapes, etc.

[0016] The term “separation” as used in this article preferably refers to a situation where seeds or elements are separated from each other by a certain distance, but this is not necessary. In some cases, an element may still overlap with another element or with some other elements, and separation is sufficient to obtain meaningful data from the observation of the seed.

[0017] The term "growth medium" can refer to soil in a field or a prepared growth bed. The seeding equipment can be moved relative to the culture medium and vice versa.

[0018] According to a second aspect of the present invention, a sowing apparatus is provided for applying seeds to a growth medium, the sowing apparatus comprising:

[0019] A storage container used to store seeds;

[0020] A supply pipe used to transport seeds from a container;

[0021] A separation device used to separate seeds one by one in a fluid;

[0022] A measuring device for detecting one or more parameters of a seed;

[0023] And a diversion device for extracting some seeds, so that only a selected portion of the seeds are used for sowing.

[0024] According to another aspect of the present invention, a sowing apparatus for applying seeds to a growth medium is provided, the sowing apparatus comprising:

[0025] A storage container used to store seeds;

[0026] A supply pipe used to transport seeds from a container;

[0027] A separation device for separating seeds one by one in a fluid;

[0028] A measuring device for detecting one or more characteristics of a seed;

[0029] And a data storage system for storing data related to the measured features.

[0030] According to another aspect of the present invention, a sowing apparatus for applying seeds to a growth medium is provided, the sowing apparatus comprising:

[0031] A storage container used to store seeds;

[0032] A supply pipe used to transport seeds from a container;

[0033] A separation device for separating seeds one by one to vary the spacing between them;

[0034] One earth-breaking device

[0035] And a conveying component for conveying the separated seeds to a soil-opening device, in which the conveying component operates at different conveying speeds.

[0036] According to another aspect of the present invention, a sowing apparatus for applying seeds to a growth medium is provided, the sowing apparatus comprising:

[0037] A storage container used to store seeds;

[0038] A supply pipe used to transport seeds from a container;

[0039] A separation device for separating seeds one by one to vary the spacing between them;

[0040] One earth-breaking device

[0041] And a conveying component. Used to convey separated seeds to a soil-opening device, wherein the conveying component includes an intermediate substrate or carrier on which the separated seeds are applied, the intermediate substrate is applied to a growth medium, and serves to maintain the spatial relationship between the seeds and other deposited particles.

[0042] According to another aspect of the present invention, a sowing apparatus for applying seeds to a growth medium is provided, the sowing apparatus comprising:

[0043] A storage container used to store seeds;

[0044] A supply pipe used to transport seeds from a container;

[0045] A separation device for separating seeds one by one to vary the spacing between them;

[0046] And a transport component for transporting the separated seeds to the growth medium.

[0047] The system includes a control device that generates at least two growth scenarios for each location in the growth medium, selects the option best suited to the user's needs using a growth model, and issues control signals that cause deterioration of seeds and related elements. These scenarios are then placed at the aforementioned locations.

[0048] According to another aspect of the present invention, a sowing apparatus for applying seeds to a growth medium is provided, the sowing apparatus comprising:

[0049] A storage container used to store seeds;

[0050] A supply pipe used to transport seeds from a container;

[0051] A separation device for separating seeds one by one in a separated fluid;

[0052] A control device;

[0053] And a conveying component for conveying the separated seeds to the growth medium;

[0054] The control device responds at least in part to inputs from external demands for a particular product, such as customer requests, to select the seeds to be planted.

[0055] According to another aspect of the invention, a sowing apparatus for applying seeds to a growth medium is provided.

[0056] A storage container used to store seeds;

[0057] A supply pipe used to transport seeds from a container;

[0058] A separation device for separating seeds one by one in a separated fluid;

[0059] A control device;

[0060] And a transport component for transporting the separated seeds to the growth medium.

[0061] The invention provides multiple seeding devices installed at intervals on the entire seeding device, and each seeding device is associated with a corresponding one of multiple sensing devices, each sensing device acquiring information related to the condition of the growth medium on the respective seeding device.

[0062] Preferably, each sensing device is arranged to acquire information on the growth medium at a location relating to the width of the canopy and / or root zone of an individual plant in the crop, so that the sowing of each plant is associated with the information acquired about the individual plant.

[0063] In some cases, a measuring device that detects one or more parameters of a seed may only detect the presence of the seed. In other cases, it may also detect the presence of the seed and one or more characteristics.

[0064] According to an important optional feature of the invention, which can be used independently of any of the above or below features, a seed measuring device is provided for detecting at least one parameter of a single seed.

[0065] According to an important optional feature of the invention, which can be used independently of any of the above or below features, a control system is provided for recording time-related measurements of seeds.

[0066] According to an important optional feature of the invention, which can be used independently of any of the above or below features, a control system is provided for recording measurements of seeds in relation to their ground location.

[0067] According to an important optional feature of the invention, which can be used independently of any of the above or below features, a control system is provided for providing information about the ground to which seeds are to be applied, and the control system is capable of delivering seeds based on the information.

[0068] According to an important optional feature of the invention, which can be used independently of any of the above or below features, a diversion device is provided for separating selected seeds from a soil-opening device in response to the detection of at least one parameter of the separated seeds.

[0069] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the separation rate is higher than the minimum required rate, thereby enabling the availability of alternative seeds in the event that the first test seed does not meet the conditions for continued delivery and is discarded.

[0070] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the storage container for storing seeds includes at least first and second separate containers that respectively store seeds having first and second quality parameters, and a control device that allows selection of the container to be used at any time based on at least a portion of at least one measured parameter.

[0071] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the separating device is used to separate the intervals between seeds into different lengths, and the conveying member operates at different time intervals to change the difference between the intervals in order to reduce the difference or to intentionally place the seeds on the substrate at uneven intervals.

[0072] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the conveying device includes a belt having a container for seeds, wherein the belt is driven at different forward speeds to change the intervals.

[0073] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the conveying device is arranged such that the velocity of the seeds leaving the conveying device is approximately equal in magnitude and opposite in direction to the relative velocity between the soil-opening device and the ground.

[0074] According to an important optional feature of the invention, which can be used independently of any of the features above or below, the conveying device includes a funnel and a trough, the trough being operable with an actuator to move between a capture position and a release position. In this arrangement, in some cases, a sensor may be provided to detect the presence and / or velocity of the seeds. Another important feature may be to provide a sensor that detects whether and when the seeds have actually reached the ground to ensure the accuracy of the sowing action and to stop operation in the event of blockage or other inconsistencies.

[0075] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the seeder includes a system for supplying fertilizer granules, and the number of fertilizer granules or the amount of fertilizer placed in the tank per unit length can be varied to achieve the desired fertilizer concentration at each location.

[0076] According to an important optional feature of the invention, which can be used independently of any of the above or below features, a rotatable body is provided, the rotatable body being mounted to be rotatable about an axis, the rotatable body defining at least one conduit extending from an outer end adjacent to the axis outwards, the radial distance outwards from the axis being greater than that of the inner end, wherein aggregated particles are fed into the inner end of the at least one conduit, the inner end being arranged in an array adjacent to the conduit, thus the function of the supply conduit is to deposit particles into the inner end of the at least one conduit, so that the particles enter the inner low-speed end and the particle flow in the conduit is separated into individual conduits in the at least one conduit, the shape and arrangement of the at least one conduit being such that the particles are accelerated as they pass from the inner end to the outer end, so that the particles are continuously arranged within the at least one conduit as they move toward the outer end.

[0077] According to an important optional feature of the invention, which can be used independently of any of the above or below features, a control system is provided for providing information about the ground to which seeds are to be applied, and the control system is capable of delivering seeds and associated particles to an intermediate substrate based on the information.

[0078] According to an important optional feature of the invention, which can be used independently of any of the above or below features, a control system is provided for providing information about the ground to which seeds are to be applied, and the control system is capable of delivering at least two fertilizers and releasing them at two different rates based on the information.

[0079] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the intermediate matrix is ​​applied to the ground or growth substrate such that the intermediate matrix substantially transports the particles to the ground or growth substrate according to the spatial arrangement of the particles on the intermediate matrix.

[0080] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the particles to be applied to the intermediate matrix include seeds, chemicals such as fertilizers, targeted herbicides, pesticides or fungicides, agents for enhancing or protecting plants grown from seeds, or sensing devices.

[0081] According to an important optional feature of the invention, which can be used independently of any of the above or below features, each region of the intermediate substrate is configured to temporarily adjust the fertilizer concentration available to plants in that region, and wherein the temporary concentration distribution is selected at least in part based on seeds placed in the same region.

[0082] According to an important optional feature of the invention, which can be used independently of any of the above or below features, each region of the intermediate matrix is ​​configured to conditionally release fertilizer at least in part based on one or more weather conditions.

[0083] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the intermediate matrix includes an adhesive material for retaining the particles.

[0084] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the separated seeds are presented to the extruded body when the body is extruded.

[0085] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the composition of the intermediate matrix is ​​changed at least in part due to at least one measured characteristic of the location where the intermediate matrix is ​​placed.

[0086] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the intermediate matrix is ​​formed of at least two layers, wherein the seeds are placed on the first layer and then a second layer is placed to cover the seeds.

[0087] According to an important optional feature of the invention, this feature can be used independently of any of the above or below features, wherein the intermediate matrix comprises a continuously woven tube to encapsulate the seed.

[0088] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the intermediate matrix provides physical protection for the seeds.

[0089] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the intermediate matrix can further contain a plurality of coding elements at different locations on the intermediate matrix.

[0090] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the conveying member includes a placement device comprising a system for translating seeds in at least two orthogonal directions.

[0091] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the conveying member includes a placement device comprising a system for translating the seed along three orthogonal directions before placing the seed on the ground or growth substrate, one of which is substantially perpendicular to the ground or growth substrate.

[0092] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the location information is encoded as a pattern of seeds placed on a growth medium.

[0093] According to an important optional feature of the invention, which can be used independently of any of the above or below features, information about the physical properties of each seed in a series of seeds placed on a growth medium is stored together with information about the location where the seeds are placed.

[0094] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the conveying component includes a measuring system that performs at least one measurement on at least one characteristic and transmits the measurement to a receiver.

[0095] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the control device includes a sensor that receives at least one measurement characteristic of the position.

[0096] According to an important optional feature of the present invention, this feature can be used independently of any of the features described above or below, and the growth model of the control device includes information relating to one or more of the following:

[0097] Characteristics of previously harvested crops;

[0098] At least one characteristic of the seeds that the seeder can obtain in the seed box;

[0099] Soil condition information for each location;

[0100] The probability of predation at each location;

[0101] The probability of disease at each location;

[0102] The probability of weeds at each location;

[0103] The height of each position;

[0104] Air quality at each location;

[0105] Weather for each location.

[0106] One objective of this invention is to increase the seeding rate so that fields can be planted more quickly. Another objective is to eliminate the need for a vacuum, thereby reducing the required power. Another objective is to reduce the error rate due to missed seeds and duplicate sowing. Another objective is to reduce malfunctions caused by blockages. Another objective is to provide a method for adjusting the seeding rate so that seeds are sown at desired intervals without overlap. Another objective is to adjust the seeding rate based on measured field conditions. Another objective is to provide a method for cultivating multiple seed types on the same growth medium and gaining agronomical advantages due to synergies between different plant types. Another objective is to provide a method for selecting crop genotypes that are highly suitable for a particular location. Another objective is to provide a means for land reclamation and reforestation. Another objective is to provide information on seed sowing quality characteristics, seed sowing location, sowing time, and sowing soil.

[0107] The present invention is a system for placing particles on a matrix, the system comprising a conveying device, a storage container for bulk particles, a separating device, a particle detection device, an optional measuring device for measuring at least one particle parameter, an optional device for measuring at least one matrix parameter, a computing device, an optional position sensing device, an optional device for conveying particles to at least two different paths based on the measured parameters, and a conveying device for conveying the separated particles to the matrix at a minimum relative speed.

[0108] The bulk particle storage, separation device, particle detection device, optional particle measuring device, optional matrix measuring device, optional conveying device, optional position sensing device, and conveying device are collectively referred to below as a Separating Particle Unit (SPU). The computing device must communicate with the SPU, whether via a direct wired connection or a wireless link. Multiple SPUs can be implemented as an array, with some common elements shared among the individual SPUs. In this case, it should be understood that, for the purposes of the following description, logical shares of common elements will be interpreted as physical elements. For example, a bulk particle storage unit may be a common feature of multiple SPUs, but this description should be interpreted as if each SPU had a bulk particle storage unit.

[0109] The transport device enables relative movement between the substrate and the SPU. In some embodiments, the required relative translation between the SPU and the substrate is obtained through dead reckoning as an offset relative to a previous relative position. In a preferred embodiment, a position sensing device provides information about the relative position of each particle being transported onto the substrate. In the most preferred embodiment, the information from the position sensing device is processed to provide a signal that guides the transport device to each relative position for particle transport and provides information about the relative position of the SPU at the instant of particle transport. In some embodiments, the transport vehicle is a person or animal and the SPU is placed on a backpack or animal. In other embodiments, the transport vehicle is a tractor, and the SPU is either directly mounted to the tractor or mounted on a trailer towed by the tractor. In another embodiment, the transport vehicle is a drone. In another embodiment, the transport vehicle is a cable car. In another embodiment, the transport vehicle is a trolley running on a track. In another embodiment, the transport device is an XY platform. In another embodiment, the transport vehicle is a mobile platform fully or partially submerged in water, such as in aquaculture. In another embodiment, the SPU is stationary relative to the Earth, and the substrate is translated on a conveyor belt or other conveying device. In some embodiments, the transport vehicle is operator-controlled, while in others, the transport vehicle is autonomous: that is, the movement is primarily controlled by a computer and sensor system. The growth medium may be located on the conveyor belt or in pots, sheets, mats, or other containers moving along the seeding system. In another embodiment, the substrate is carried on the conveyor belt, and the SPU translates relative to the conveyor belt in a direction not collinear with the direction of the conveyor belt's movement. Preferably, the SPU translates in a direction perpendicular to the direction of the conveyor belt's movement.

[0110] During operation, the SPU is translated relative to the substrate by a conveying device to a position where the conveying device is adjacent to a location on the substrate where the seeds are to be placed. The required minimum separation rate can be calculated based on the relative velocity of the SPU and the desired spacing between the seed placement locations on the substrate. The seeds are conveyed from a storage container of bulk seeds to the separation device at a rate at least equal to the minimum required rate. The separation device emits one seed at a time, and at least one seed detection device generates a signal that is transmitted to the computing device each time a seed is emitted.

[0111] The signal duration is the time a particle spends in space, measured by the detection device, and is proportional to the particle length along the direction of motion. This signal is used within the computing device to increment a single counter and set the start time to calculate the particle position from the detection device to the exit point of the conveyor via dynamic calculation. The kinetic calculation requires at least the start time, velocity, particle mass, and the forces acting on the particle. The velocity can be estimated by measuring the average velocity of the particles immediately after launch from the separation device in an optional calibration step. A sensor may also be provided to confirm that the seed has been released and correctly positioned.

[0112] In another embodiment, the acoustic Doppler effect can be used to measure the particle velocity. In a preferred embodiment, the velocity of each particle is measured directly by placing two particle detection devices at a known distance along the particle path and calculating the velocity based on the time difference between signals from the particle detection devices. The particle mass can be the average mass, which is input as a calibration constant. Preferably, the particle mass can be measured directly, for example, by a force sensor, or by using a signal duration proportional to the particle length, plus calibration data related to length and mass. The force acting on the particle depends on the specific geometry of the SPU and constants such as gravity and the coefficient of friction, which are input as empirical constants into the calculation device. It should be noted that empirical constants such as friction and geometry vary with environmental conditions such as temperature and humidity.

[0113] In a more preferred embodiment, two additional particle detection devices are located near the outlet of the conveyor and provide information about the time and velocity of the particles at the release point. This additional information can be compared with velocities and times predicted by dynamic calculations, and empirical constants can be adjusted in response to changes in the operating environment to improve the accuracy of the dynamic calculations.

[0114] The computing device calculates when particles will be within the measurement area of ​​the optional particle measuring device and generates appropriate timing signals to start and stop data acquisition.

[0115] In some embodiments, the particle measuring device is a spectrometer that provides information about the particle composition.

[0116] In some embodiments, the particle measuring device is an imaging system that provides information about the size, shape, and reflectivity of particles at one or more wavelengths.

[0117] In some embodiments, the particle measuring device is acoustic and provides information about changes in density within the particles.

[0118] In some embodiments, multiple measuring devices are used. In some embodiments, information about the particles and their positions on the matrix is ​​stored.

[0119] In some embodiments, the particles are seeds, and the stored information about seed quality parameters can be correlated with the quality of plants produced at the stored location. This information can be used to select the optimal seed for each location.

[0120] In some embodiments, the granules are fertilizer granules, and information about the granule composition can be correlated with the matrix chemicals at the storage location. This correlation information can be used to select the optimal fertilizer for the storage location or to provide customized fertilizer formulations that include liquid and powder materials.

[0121] In a preferred embodiment, the SPU has a conveying device capable of transporting particles to different locations based on at least one measured mass parameter for each particle. If the mass parameter meets a threshold determined by the operator, the particles continue to the conveying device; otherwise, the particles are conveyed to a container. For example, if the particles are seeds, those determined to be good seeds continue to the conveying device and are planted, while those determined to be defective seeds are conveyed to a waste bin and used for different purposes. In this embodiment, a rate higher than the minimum required rate is desired, so that if particles are conveyed away from the conveying device, replacement particles can be used shortly thereafter. In some embodiments, remaining particles that would have been suitable for placement on a substrate are conveyed to a storage tank and reintroduced into the separation device at a later time. In some embodiments, remaining particles that would have been suitable for placement on a substrate are stored in a tube that maintains the separation order for release to the conveying device at a later time.

[0122] An optional matrix measuring device transmits information about at least one matrix parameter to a computing device. The matrix measuring device is preferably a spectrometer that provides information about the matrix composition or an imager that provides information about the matrix texture. The matrix measuring device can be acoustic or electromagnetic to provide information about the subsurface soil structure. The matrix measuring device can measure soil moisture content, for example, by measuring the dielectric response of the soil. Sampling can be surface-sensing or can include subsurface measurements performed by probes or core sampling devices. In a minimal embodiment, information about each matrix location is stored together with information about the particles placed at that location. If the particles are seeds, the quality of plants produced at the stored location can be correlated with the matrix quality information and used to determine optimal particle placement parameters based on the location. For example, if the particles are seeds, it may be undesirable to place seeds if the matrix is ​​rock; if the matrix is ​​sterile, fewer seeds per unit length are needed; if the matrix is ​​highly fertile, more seeds per unit length are needed. For example, if the particles are fertilizer particles, the number of particles placed per unit length can be varied to achieve the desired fertilizer concentration at each location. In a preferred embodiment, the separation device guides particles to a conveying device or hopper based at least in part on at least one measured matrix parameter. In some embodiments, the SPU is associated with multiple bulk particle storage tanks, each containing particles with different mass parameters. The computing device selects which particle storage tank to connect to and feeds the separation device at any time based at least in part on at least one measured matrix parameter.

[0123] A key feature of this invention is that, in the context of matrix measurement, the term "location" refers to an accurate location coordinate, typically within a few millimeters, and a small area surrounding this location coordinate corresponds to the root zone or canopy zone of the crop—less than one square meter for most annual crops. It is preferable to measure matrix properties with a spatial resolution of less than or equal to one meter. However, if the matrix is ​​known to be relatively homogeneous and change slowly, interpolation between measurements taken at a coarser scale may be sufficient.

[0124] In a preferred embodiment, the SPU includes a particle measuring device, a matrix measuring device, and a particle conveying device. At least one particle parameter and at least one matrix parameter are measured. If the particle parameter meets a condition, the particle continues to the conveying device; otherwise, it is conveyed to a hopper. In a more preferred embodiment, the condition of the particle parameter depends at least in part on at least one matrix parameter. At least one particle parameter, at least one matrix parameter, and the matrix location where the particle is placed or not placed are stored for subsequent analysis. In some embodiments, the separation rate is higher than a minimum required rate, such that alternative particles can be obtained if the first test particle does not meet the condition for continued conveying. In the case where the particle is a seed, this embodiment allows seed quality parameters to be matched with soil quality parameters. That is the optimal choice for selecting seeds for a specific location.

[0125] The particle conveying device receives particles from the separating device, with optional measurement and conveying as intermediate steps. The particle conveying device can be a seed tube known in the art. The conveying device can be a brush belt known in the art. As known in the art, the conveying device can be a foam-covered wheel. These embodiments are configured such that the velocities of the particles leaving the SPU are approximately equal in magnitude and opposite in direction to the relative velocities between the SPU and the matrix. That is, the relative velocity between the particles and the matrix is ​​close to zero. In a preferred embodiment, the conveying device alters the velocity distribution of each particle in a manner that allows each particle to be placed closer to a desired position on the matrix. For illustrative purposes, a brush belt-based embodiment is described in detail.

[0126] The brush belt has a region near the separation device that captures and retains particles, and a region near the substrate that releases particles. In the prior art, the bushing belt moves at a constant speed between the two positions, causing particles arriving from the separation device at irregular intervals to be deposited on the substrate at irregular intervals. As the particle rate increases, subtle differences in the spacing between particles become increasingly important. As previously described, by measuring the time and velocity of particles approaching the separation device and predicting the dynamics of particle movement, the arrival time of particles on the brush belt can be precisely determined. Furthermore, in this embodiment, the brush belt position is measured when each particle is captured. To ensure that particles are deposited on the substrate at equal intervals, the distance between the last deposited particle and the next closest particle on the brush belt is increased at equal time intervals. As the spacing between particles on the brush belt varies, the speed of the brush belt also varies. The brush belt can be driven, for example, by a synchronous motor with an encoder or a stepper motor with an encoder. It will be understood that the described control mechanism also enables particles to be intentionally placed on the substrate at non-uniform intervals in response to, for example, changes in the substrate composition.

[0127] In the most preferred embodiment, the separation device is arranged as described in the applicant's PCT application WO 2018 / 018155, published on February 1, 2018, and its arrangement may be used herein and is incorporated by reference.

[0128] Therefore, the separation system consists of a rotating body with one or more pipes extending from a central region where bulk particles are introduced from a bulk particle reservoir into an outer region, where they are released. The particles are accelerated by inertial force, which depends on the angular velocity of the rotating body and the shape of the pipes. In this device, the separation rate achieved through a single pipe is significantly higher than that achieved by vacuum separation in the prior art, allowing particles to be placed on the substrate at a significantly higher rate. Agricultural seeders based on this embodiment can traverse fields much faster because there is no rate limitation in the separation step. Other factors, such as the power required to break up the ground or surface roughness, can become rate limiting factors. This type of separation system requires only a rotary motor, which can be conveniently driven by electric or hydraulic power. The power requirement is a part of the power required by the vacuum separator.

[0129] The separation system described in published PCT application WO 2018 / 018155 launches particles at intervals determined in part by the distribution of center-to-center distances of the bulk particles. The average period and variance within the period depend on the size and shape distribution of the particles and surface texture, thereby modulating friction with the pipe wall. Each particle is oriented within the pipe to minimize potential energy. For all particles except spherical ones, the long axis of the particle will preferentially align with the axis of the pipe. The specification includes measurements of particle properties within the pipe or after release, and methods for redirecting particles based on the measured properties. If particles are transferred from the separator unit to a conveying device consisting of tubes, variations in the time period between particles result in corresponding variations in particle position on the matrix. As mentioned above, using a brush belt as the conveying device and varying the speed of the brush belt can reduce these variations. In some embodiments, the launch angle of the trajectory to the desired matrix position is calculated, and an actuator changes the launch angle to make the particles follow a predicted path. In other embodiments, particles are collected by a funnel and deposited in a trough that can be operated with an actuator to move between a capture position and a release position. The slit width is chosen such that it can receive particles over a time period corresponding to the variation in release time. After capturing a particle, the actuator accelerates toward the release position, and inertial force pushes the particle toward the trailing edge of the slot.

[0130] In many cases, the method involves operating on the separated particles while keeping them separate. This operation may include simply viewing or counting the separated particles. However, separation is particularly effective for treating separated particles, for example, by coating, inoculation, or sterilization. In other cases, the operation may include analyzing or evaluating the particles.

[0131] However, in this application, the particles can be used in a separated state for seeding, wherein they can be separated into individual channels at high speed for high-speed seeding operations. Separation can be achieved using a central feeder and a single disc, each conduit of which is fed to a separate delivery device for a separate seeding head. Alternatively, each seeding head may include its own separation device.

[0132] While the system may be effective for generating a high-speed stream of separated particles in a single pipe, in many cases, multiple pipes arranged in an array around a central feed pipe are provided.

[0133] The device defined above can be used to detect at least one measurable parameter of a particle stream, which includes:

[0134] Particles are carried in the form of a particulate stream in the supply pipeline;

[0135] A solid that rotates about an axis;

[0136] The rotating body defines at least one conduit that extends outward from an inner end adjacent to the axis to an outer end, the outer end being radially outward from the axis being greater than the radially outward from the inner end.

[0137] The inner end is arranged adjacent to the axis such that the supply conduit is used to deposit the particles at the inner end of the at least one conduit, so that the particles enter the inner end;

[0138] The at least one conduit is shaped and arranged such that the particles are accelerated as they pass through from the inner end to the outer end, causing the particles separated into the conduit to line up continuously in the conduit as they move toward the outer end; and

[0139] For each of the at least one pipe, measure at least one parameter of the particle.

[0140] In some cases, apparatus is provided for sorting particles such that, for each pipe, particles are directed into one of several paths determined by measurements of parameters. However, measurements of one or more parameters, which are obtained more effectively taking into account the increased degree of particle separation achieved using the arrangement described herein, can be used for other purposes.

[0141] Therefore, the arrangement defined above offers the following advantages: the increased velocity gained through the body's rotation and the increased acceleration of the particles on the body better separate each particle from the next for parameter detection. Furthermore, the increased particle velocity can be used to increase the system's throughput because parameters can be detected or measured more quickly.

[0142] In one arrangement, parameters are measured while the particles are in the pipe. The advantage of this is that the particle's position is clearer and more definite, as it is controlled by the rotation of the main body and the position of the conduit. Given the more precise positioning of the particles, parameter measurements can be performed more efficiently in many cases.

[0143] In this case, preferably, the parameter is measured by a measuring device carried on the rotating body. Thus, the measuring device is positioned relative to the conduit and therefore relative to the particle.

[0144] Because it allows for more precise focusing on specific locations, the operation of the measuring equipment can be simplified. In this case, each conduit can include one or more individual measuring devices dedicated to measuring particles flowing through that conduit. That is, each particle moving along the pipe can be monitored by multiple sensors or measuring devices, which can be arranged in a row, each detecting different parameters of the particle, thus allowing for a better assessment of the generated particles. However, in some cases, a single sensor can provide all the necessary information.

[0145] Preferably, at least a portion of the conduit closest to the measuring device is made of a transparent material. Making a portion of the conduit transparent allows for measurement through the transparent section while the conduit maintains a constant shape to continue controlling the movement of the particles.

[0146] In one arrangement, the pipe wall or the pipe itself is segmented, with one or more gaps between the segments. One or more measuring devices are located near the gaps to measure different parameters of the particles while obtaining a field of view unobstructed by the pipe walls. When the pipe itself is divided into separate sections, each section is preferably arranged along the path of the pipe substantially parallel to the average velocity vector of the particles at the location of said section, to minimize disturbance to the particle flow along the pipe. Therefore, when in the gaps, any of the techniques described herein can be used to manipulate the particles.

[0147] In another arrangement, electrostatic force can be used for particle separation, where the particles are charged differently according to selected parameters, and then an electric field is applied to cause the different charges to lead the particles to different paths. Typically, a device is provided that generates an equal charge on each particle, so that particles of different masses are separated by passing them through an electric field that acts differently on the particles based on their different masses, since each particle has a different or unique charge per unit mass.

[0148] Preferably, the conduit is curved, such that the outer end is angled relative to the inner end. This shape typically follows the path of the particles closely as they accelerate under the influence of centrifugal and Coriolis forces, allowing them to travel along that path without generating excessive friction against the sides of the conduit.

[0149] Preferably, the pipes are arranged side by side at the inner end adjacent to the axis, such that the feed pipes deposit particles in a manner that directly separates the particles into the inner end of the pipes, and the spacing of the pipes towards the outer end increases as the pipes move toward the region on the rotating body where the diameter increases.

[0150] Preferably, the axis of the rotating body is vertical, so that the disk lies in a horizontal plane. However, other orientations can be used.

[0151] Preferably, in each pipe, the sidewall against which the particle moves is inclined in the direction along the axis, so that the accelerating force acting on the particle is effective to move the particle into a common radial plane for release from the rotating body.

[0152] That is, the accelerating force tends to move the particles toward a common axial position along the axis of the rotating body. In this way, even if the particles enter the conduit at positions spaced apart along the axis, the shape of the conduit will bring them all to the same axial position.

[0153] In a preferred arrangement, each conduit is shaped such that acceleration causes particles to move against the conduit wall, wherein the wall is V-shaped to confine the particles to the bottom of the V-shape. The wall may include a surface comprising lines for engaging and rotating particles within the conduit. Additionally, the wall may include one or more openings at one location, allowing smaller components to be released through the openings and separated from the particles. Each conduit may include an associated second conduit parallel to the first conduit, into which the separated smaller components enter. This can be used in systems containing a plurality of such conduits to separate particles from the size of the first conduit.

[0154] In one example, each separation device includes: a separation head having a front edge, wherein the front edge is arranged such that particles to be separated move toward the front edge in the flow; and an actuator for moving the front edge between a first position and a second position, wherein the first position is on one side of the flow and is arranged to guide the particles to a second side of the flow, and the second position is on a second side of the flow and is arranged to guide the particles to one side of the flow.

[0155] In this example, preferably, the separating head is arranged in the radial plane of the rotating body, and the first side and the second side are arranged on the corresponding side of the radial plane.

[0156] In this example, preferably, the separating head includes guide surfaces inclined on a first and second side of the front edge, such that the separating head is generally wedge-shaped.

[0157] Preferably, the actuator is moved by a piezoelectric component. However, other driving forces, such as electromagnetic voice coils, can be used.

[0158] Preferably, the actuator is mounted in a tube that extends radially outside the separating head and lies in the radial plane of the separating head.

[0159] This invention is not limited to the type or size of the particles of interest, and can be operated with different particles or objects to be separated.

[0160] In agriculture, crop yields are optimized by planting a specified number of seeds per unit area. Not all seeds produce viable plants. Additional seeds are planted to compensate for those that fail to germinate or produce viable plants. This invention can generally be used in seeding or planting equipment to classify seeds according to measurements associated with viability, thereby planting the seeds most likely to produce viable plants while using less viable seeds for other purposes. This invention can be used to classify seeds by size for compatibility with planting equipment. This invention can be used to count seeds, allowing a specified number of seeds to be planted. This invention can also be used in rapid-flow planting devices to provide separated seeds of known quality and quantity.

[0161] Because this invention provides a much higher number of seeds per second than existing technologies, farmers can sow more acres per hour.

[0162] Although the conduits described in some examples herein are typically channels formed on a disk with upright sides, conduits can also be circular, elliptical, triangular, or quadrilateral, or can be partial tubes typically C-shaped, V-shaped, or L-shaped. Conduits can also be defined by minimal two- or three-dimensional surfaces, or by contact points where forces are applied to the particles. Conduits can also be closed tubes with many different cross-sectional shapes, such as circular, elliptical, triangular, or quadrilateral.

[0163] The arrangement described below can achieve the goals of increasing core yield, reducing device size, and lowering energy requirements.

[0164] In some cases, the seeding system is configured to apply at least two different types of seeds at different locations, wherein the type of seeds applied depends at least in part on at least one measured parameter from each location, and said at least one measured parameter is selected from the group consisting of substrate parameters, crop plant parameters, and crop element parameters of crops harvested adjacent to said location. In some cases, the seeding system is configured to apply a relevant substance, such as fertilizer, to the ground or substrate. In some cases, the seeding system is configured to apply at least two different composite substances at different locations, wherein the relevant composite substances depend at least in part on at least one measured parameter from each location, and said at least one measured parameter is selected from the group consisting of substrate parameters, crop plant parameters, and crop element parameters of crops harvested adjacent to said location.

[0165] In some embodiments, an arrangement is provided for depositing separated particles from a separation system onto an intermediate matrix or carrier. The function of the intermediate matrix material is to maintain the spatial relationship between the deposited particles. The intermediate matrix material can be deposited onto the ground or growth substrate a second time via the matrix deposition system, in a manner that essentially transfers the spatial arrangement of the particles on the intermediate matrix to the arrangement of the particles on the ground or growth substrate. For example, if seeds are transferred onto the intermediate matrix at 10 mm intervals, the intermediate matrix is ​​also deposited onto the soil at a 10 mm interval from the seeds.

[0166] In some embodiments, the arrangement of particles on a portion of the intermediate substrate of size A is determined at least in part by a measurement parameter specific to a location on the ground or growth substrate of size A, and a portion of the intermediate substrate is transferred to that location. That is, there is a one-to-one mapping between the location on the ground or growth substrate and the location on the intermediate substrate. The particles can be seeds, chemicals (e.g., fertilizers), herbicides, insecticides, or fungicides for weeds, sensor devices, or biological agents for enhancing or protecting plants grown from seeds.

[0167] In some implementations, the intermediate matrix completely surrounds the seed.

[0168] In some embodiments, at least one surface of the intermediate matrix is ​​coated with an adhesive material that functions to retain particles deposited at that location on the intermediate matrix. For example, the intermediate matrix may be a strip with an adhesive on one side that keeps the seeds in contact with the adhesive.

[0169] In some embodiments, the intermediate matrix consists of a material extruded simultaneously with the separated particles presented to the extruder. For example, a gel with a low bulk modulus is continuously extruded from the extruder, and the separated particles collide and are entrained in the gel at controlled intervals. The gel is composed in a manner that increases in bulk modulus shortly after extrusion and particle incorporation. The gel modulus may increase, for example, due to solvent evaporation or temperature changes.

[0170] In some embodiments, the composition of the extruded gel is altered such that the resulting intermediate matrix is ​​better suited to a specific location where the composition is altered, at least in part, due to at least one measurable property of the location, where the intermediate matrix will be placed. For example, when a low concentration of nutrients is measured at the location where the intermediate matrix is ​​placed, the concentration of nutrients dissolved in the gel can be increased.

[0171] In some embodiments, the intermediate matrix is ​​formed of at least two layers, wherein particles are placed on a first layer and then a second layer is placed to cover the particles and the first layer. Alternatively, at least two layers may be fused together after particle deposition to encapsulate the particles.

[0172] In some embodiments, the intermediate matrix consists of fibrous tubes that are continuously woven around each particle as they are introduced from the separation system. Furthermore, the diameter of the fibrous tubes can be varied in a way that constrains each particle to a short segment of the fibrous tube.

[0173] In some implementations, the intermediate substrate carries a single seed. In other implementations, the intermediate substrate carries multiple seeds.

[0174] In some embodiments, the intermediate substrate comprises a rigid guide portion and a payload portion. Preferably, the guide portion is shaped like a spike to penetrate the ground or growth medium. Preferably, the guide portion is biodegradable. In some embodiments, the guide portion contains at least one of a fertilizer, herbicide, fungicide, insecticide, or biological agent to aid plant growth. In some embodiments, the payload portion is surrounded by a rigid shell attached to the guide portion, which remains in the ground or growth medium after placement. In some embodiments, the payload portion is enclosed in a tube integrated with the substrate placement device, wherein the tube is attached to the guide portion during intermediate substrate placement and detaches after intermediate substrate placement, thereby leaving the guide portion and payload portion in the ground or growth medium. In a preferred embodiment, a portion of the payload portion contains seeds. Preferably, the diameter of the payload portion is at least twice the diameter of the seeds. In some embodiments, a portion of the payload portion also contains soil in contact with the seeds. In some embodiments, a portion of the payload portion contains a transport regulating medium that regulates the transport rate of chemicals, such as fertilizer, to the seeds. In some embodiments, a portion of the payload portion contains fertilizer. In some embodiments, a portion of the payload portion contains a fungicide for inhibiting fungal infection. In some embodiments, a portion of the payload portion contains a pesticide for suppressing insects. In some embodiments, a portion of the payload portion contains a herbicide for suppressing weeds. In some embodiments, a portion of the payload portion contains a biological agent for promoting plant growth.

[0175] In some embodiments, the particles adhere to an intermediate matrix on a rotary separation system. In other embodiments, the particles are adhered to an intermediate matrix after they have exited the rotary separation system.

[0176] In some embodiments, the intermediate substrate contains fertilizer in a region near the seed location and is configured to release the fertilizer into the plant growing from the seed in a controlled manner. The intermediate substrate may have components that, for example, regulate the diffusion rate of fertilizer from one or more reservoirs to the plant.

[0177] In some embodiments, the intermediate substrate is configured to inhibit fertilizer diffusion from the substrate layer and allow fertilizer to diffuse in a controlled manner into the plant from which seeds placed on or within the substrate grow. The intermediate substrate may have, for example, a layered structure, in which the inner layer allows fertilizer diffusion while the outer layer prevents fertilizer diffusion.

[0178] In some implementations, the intermediate matrix is ​​constructed in a manner that provides physical protection for the seeds. For example, the intermediate matrix may contain materials that insects cannot chew.

[0179] In some embodiments, information about at least one measurable physical property of each of a series of seeds placed on a growth substrate, intermediate substrate, or ground, together with information about the seed placement location, is stored in a database or other format.

[0180] In some embodiments, a measuring system is added to at least one location on an intermediate substrate, and the measuring system performs at least one measurement on at least one property and transmits the measurement to a receiver. The measured property may be a chemical substance, such as water; a chemical substance essential for plant growth and health, such as, but not limited to, compounds containing nitrogen, phosphorus, potassium, calcium, iron, and selenium; or a gas, such as carbon dioxide, methane, or oxygen. The measured property may be temperature. The measured property may be light. The measured property may be vibration, for example, indicating the presence of insects.

[0181] The properties being measured can be biological reagents such as fungi, which are implemented, for example, by opening a gate that causes the microfluidic ELISA analysis chip to sample the environment around the matrix at a preset time or a trigger time.

[0182] In some embodiments, the intermediate matrix may further include multiple coded elements at different locations on the intermediate matrix. The coded elements may include multiple regions that are physically or chemically different from the intermediate matrix. Physically different regions may be, for example, perforations, dents, scratches, texture variations, magnetic orientation variations, electronic orientation variations, optical axis variations, etc. Chemically different regions may be, for example, ink markings forming patterns or sequences of symbols such as barcodes, dots, etc. The coded elements may be transponders such as RFID tags. The coded elements may be located at the endpoints of portions of the intermediate matrix that contain a series of particles such as seeds and / or fertilizers between the endpoints. The coded elements may be assigned a key in a database, and this key is used to identify the location on the ground or growth substrate where the intermediate matrix is ​​to be placed. Two coded elements are sufficient to specify the location of a linear portion of the intermediate matrix, and three coded elements are sufficient to specify the location of a planar portion of the intermediate matrix. For example, endpoints A and B identified by coded elements on a portion of the intermediate matrix may correspond to points A' and B' on the ground or growth substrate. More coded elements may be included in portions of the intermediate matrix; these are redundant and can be used to correct for errors in reading the coded elements due to, for example, dust in the field.

[0183] In some embodiments, the coding element is associated with each seed or grain. The position on the intermediate matrix can be specified by the coding element with a precision of millimeters or higher.

[0184] In some embodiments, the substrate placement device includes a system for translating an intermediate substrate in three orthogonal directions before placement on the ground or growth substrate, one direction being substantially perpendicular to the ground or growth substrate. For example, the placement arrangement may include an XYZ stage including stepper motors for each direction of travel. Where the seeding device is generally translated relative to the ground in the X direction, the placement device may include a linear displacement stage oriented in the Y direction, where the Y direction differs from the X direction, and a linear displacement stage oriented in the Z direction, where the Z direction is substantially perpendicular to the ground. Preferably, the Y direction is orthogonal to the X direction. In a preferred embodiment, the intermediate substrate placement device includes a stage that translates at a speed equal to and opposite to that of the seeder device, such that the speed of the intermediate substrate placement device relative to the ground is zero during at least a portion of the placement of the intermediate substrate. In some embodiments, the substrate placement device may have millimeter-level or higher precision.

[0185] In some embodiments, the substrate placement device is linked to a position determination system that measures the position of a reference point on the seeder relative to the Earth.

[0186] A location determination system can be, for example, a GPS receiver. It can also be, for example, a radio receiver that receives signals from a beacon placed at a reference point on the field. Alternatively, it can be an optical device that emits light pulses and measures the time of flight or phase of the pulses reflected from the reference point. Those skilled in the art will recognize that the uncertainties in these measurements can be far greater than the accuracy of a substrate placement system or the placement of seeds on an intermediate substrate. For example, the uncertainty in a single GPS measurement might be approximately 1000 mm, while the placement accuracy of seeds on an intermediate substrate might be approximately 1 mm. To achieve millimeter-level seed placement accuracy in a field, GPS location information alone is insufficient. Other location measurement methods are needed to supplement or replace GPS.

[0187] According to another aspect of the present invention, a method for growing crops in a growth medium is provided, comprising:

[0188] Sowing crop seeds on a growing medium;

[0189] Harvesting crops and separating the collected elements from other crop materials;

[0190] During sowing, the seeds are placed in the growth medium in different patterns, wherein the patterns define distinct locations within the growth medium; and

[0191] After sowing, the different locations are identified by reading different patterns.

[0192] In some embodiments, location information is encoded as the order in which seeds are placed on the ground, on a growth substrate, or in an intermediate substrate. Location information can be encoded by the relative position of the seeds and the seed type. In some embodiments, location information is encoded in the intervals between seeds placed on the ground, on a growth substrate, or in an intermediate substrate. In some embodiments, location information is encoded as a series of different displacements between seeds along a longitudinal axis. In some embodiments, location information is encoded as a series of different seed displacements transverse to the longitudinal axis. In some embodiments, location information is encoded as a combination of a seed type sequence and inter-seed displacements. In some embodiments, the positioning device provides precise location information in a manner more precise than absolute coordinates that reference the displacements between seeds and the seed placement positions. In some embodiments, the positioning device is less precise than the inter-seed displacements, and seed placement refers to a relative displacement relative to the position of one or more preceding seeds. While directly measuring the position or type of seeds placed underground may not be feasible, location information can be read after seed germination by the position and type of the plant from which the seed has grown. For example, GPS positioning can be used to identify areas where plants grow from known seed patterns.

[0193] The location of each plant can be measured and compared to the location of a known seed pattern to find the closest match. Once the pattern of a plant location matches the pattern of a seed location, each plant can be matched with the seed that produced it. In the case of planting two or more types of seeds, the location can be inferred from the plant type. For example, if barley B and low-erucic acid rapeseed C seeds are placed in the sequence BBBCBCCB, the location can be determined by searching the region specified by the sequence BBBCBCCB using a lower-resolution location determination device. Once the sequences match, the identity of the seed that produced each plant in the sequence can be determined. Furthermore, the identity of the seed that produced each plant in an adjacent region can be identified simply by counting the number of plants in the sequence relative to a known reference sequence. The code sequence in the example above is equivalent to an 8-bit number that can be used to identify one of 256 reference locations. As mentioned above, the number of effective bits can be increased by increasing the length of the sequence, increasing the number of plant types, and including any combination of relative location information.

[0194] In some embodiments, a single type of seed is typically planted in a row along a first axis, and positional information is encoded as a displacement sequence between consecutive seeds along the first axis. For example, the displacement sequence may form a longitudinal seed density waveform along the first axis. Alternatively, the displacement sequence may be transverse to the first axis to form a transverse waveform. The waveform may include both longitudinal and transverse displacements.

[0195] The waveform includes at least three, and preferably more than fifteen, consecutive seed positions. A longer sequence of seed positions is preferred because the waveform can still be read even if some seeds fail to germinate, and this contributes to the positional information. In fact, once the waveform is determined, the identity of the failed-germinating seeds can be determined by the gaps in their expected positions. In some embodiments, two-dimensional positional information is encoded by changing the phase or waveform of a continuous line parallel to and laterally shifted along a first axis.

[0196] In some embodiments, the computing device generates at least two scenarios for plant growth at each location on the field or growing substrate, selects the option that best suits the user's needs, and issues a control signal to place the seeds and related elements at the location.

[0197] In some embodiments, the computing device receives position information from a position measuring device and at least one measurement characteristic of the position from a sensor device, and generates at least two plant growth scenarios based at least in part on at least one measurement characteristic at the measured position, selects the option most suitable for the user's requirements, and issues a control signal to place the seeds and related elements at the position.

[0198] In some embodiments, the computing device receives information at each location about one or more crop characteristics from a previous harvest, and, based at least in part on the previous harvest information at each location on the field or growing substrate, generates at least two plant growth scenarios, selects the option that best suits the user's requirements, and issues control signals to place seeds and related elements at the locations.

[0199] In some embodiments, the computing device receives information about at least one property of the seeds available to the seeder in the seed box, and generates at least two plant growth schemes based at least in part on the seed properties, selects the option that best suits the user's needs, and issues control signals that cause the seeds and related elements to be placed in the location.

[0200] In some embodiments, the computing device receives information about the location and at least one seed characteristic from a sensor measuring the readily available, separated seeds at the location, and generates at least two plant growth schemes based at least in part on the seed characteristics and the location, selects the option that best suits the user's requirements, and issues a control signal to place the seeds and related elements at the location.

[0201] In some embodiments, the computing device receives information about the soil conditions at each location from previous measurements, and based at least in part on the soil condition information at each location in the field or growing substrate, generates at least two plant growth scenarios, selects the option that best suits the user's requirements, and issues control signals to place seeds and related elements at the location.

[0202] In some embodiments, the computing device receives information about the elevation of each location and, based at least in part on the elevation information at each location on the field or growing substrate, generates at least two plant growth scenarios, selects the option that best suits the user's needs, and issues control signals to cause seeds and related elements to be placed at the locations.

[0203] In some embodiments, the computing device receives information about past weather at each location and, based at least in part on the weather information at each location on the field or growing substrate, generates at least two scenarios for plant growth, selects the option that best suits the user's needs, and issues a control signal that causes seeds and related elements to be placed at the location.

[0204] In some embodiments, the computing device receives information about location, altitude, soil conditions, past weather, previous harvest yield, and seed characteristics, generates at least two scenarios for plant growth based at least in part on at least some of the inputs, selects the option best suited to the user's needs, and issues control signals that cause the seeds and related elements to be placed at the location.

[0205] According to a first aspect of the present invention, a harvester is provided, comprising:

[0206] A harvesting system comprising components for collecting elements harvested from crops in a growing medium and separating the collected elements from other crop materials;

[0207] A transport device used to cause relative movement between the growing medium and the harvesting system;

[0208] A separation system is used to separate some collected elements from other collected elements;

[0209] The separation system includes a sensing system arranged to measure at least one characteristic of the collected elements, wherein the elements are separated based on the sensed characteristics.

[0210] It should be understood that harvesters can be mounted or attached to tractors for movement in the field, or crops can be mounted on a moving transport system that passes through a fixed harvesting system.

[0211] According to an important feature of the present invention, a sensing system is provided, which includes a processor arranged to measure at least one characteristic of each individual element, wherein the elements are separated based on the sensed characteristics.

[0212] According to a second aspect of the present invention, a harvester is provided, comprising:

[0213] A harvesting system comprising components for collecting elements harvested from crops in a growing medium and separating the collected elements from other crop materials;

[0214] A transport device used to cause relative movement between the growing medium and the harvesting system;

[0215] A separation system is used to separate some collected elements from other collected elements;

[0216] It provides auxiliary harvesting units to harvest separated and collected elements from selected plants or areas.

[0217] The arrangement described herein can be used to harvest crop seeds and separate them from other crop materials, wherein, prior to harvesting, independently of seed harvesting, the crop is analyzed to identify selected plants or plant areas, auxiliary harvesting equipment is used to harvest the selected plants or plant areas to form a supply of selected seeds, and at least some of the selected seeds are sown.

[0218] Preferably, location data is used for sowing, which may include data obtained during harvesting and sorting to determine the growth potential of certain areas of the field.

[0219] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the auxiliary harvesting unit is mounted on the transport device to move relative to the harvesting system to the desired position.

[0220] In some cases, the collected elements are separated from the harvested crop on a conventional machine. Alternatively, the collected elements can be transported to a location separate from the harvester and separated at a separate location.

[0221] According to another important aspect of the invention, during planting, crops are placed in fixed positions with patterns associated with different locations in the growth medium, and during harvesting, the positions on the substrate are determined by detecting patterns in the crops and analyzing those patterns.

[0222] Patterns or codes can be one-dimensional in the horizontal or vertical direction, or two-dimensional in both the horizontal and vertical directions, to determine a specific location in the matrix.

[0223] In one arrangement, patterns can be detected by measuring elements of the harvested crop after harvesting, or simultaneously by analyzing seed or crop elements on the harvester. This may only provide relatively rough locations on the substrate, requiring strips of individual crops to be planted. However, alternatively or additionally, patterns can be detected by measuring the crop before harvesting using various forms of machine-mounted or separate sensors.

[0224] According to an important optional feature of the invention, which can be used independently of any of the above or below features, a mechanical sorting device responsive to a sensing system is provided for guiding elements into separate paths.

[0225] According to an important optional feature of the invention, which can be used independently of any of the features above or below, the path is directed to a separate storage container carried on the transport device. However, storage may occur on another component of the system.

[0226] According to an important optional feature of the invention, which can be used independently of any of the above or below features, an apparatus is provided for separating elements into separate streams for measurement.

[0227] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the sensing system includes any device that receives particle flow from crop particles to be measured and can perform measurement steps, which may include photons, electrons, neutrons, atoms, ions, molecules or any combination thereof.

[0228] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the sensing system operates to obtain information about at least one mass parameter for each crop grain, which is analyzed to provide classification of the elements.

[0229] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the sensing system operates to obtain the time for processing particles.

[0230] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the sensing system operates to generate summary statistics of the sensed element, and optionally generate separation and time.

[0231] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the sensing system processor operates to obtain the location of the harvesting system during sensing.

[0232] According to an important optional feature of the invention, which can be used independently of any of the features above or below, the method includes separating some elements from others based on the location of the crop. That is, the system can detect the position of the harvesting system relative to the crop, select certain seeds or elements based on that position, and store or use them independently. This can be used in conjunction with an additional sensing system configured to detect phenotypic parameters of the crop prior to the harvesting system. The selected plants can then be harvested individually, and the elements in the auxiliary harvesting unit, along with information about the location of the plants or areas, can be stored. The sensors detecting the crop can be mounted on the front mechanical support of the harvester or in other locations. Alternatively, the harvester can use information obtained from sensors mounted on other platforms. Other platforms may include other harvesters, mapping vehicles, drones, and satellites.

[0233] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the sensing system processor is arranged to generate statistics on how the parameters of the elements are spatially correlated as the harvesting system moves from one location to another.

[0234] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the statistics are used to allocate land to crop varieties and plan fertilizer inputs for subsequent crops.

[0235] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the sensing system includes an input arranged to change the classification criteria.

[0236] According to an important optional feature of the invention, this feature can be used independently of any of the above or below features, the processor includes an input through which the end user conveys their quality requirements, and the sensing system processor is arranged to place elements in a separate path oriented toward the end user's needs.

[0237] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the quality characteristics determined by the sensing system are used to sell crops and increase their total value.

[0238] According to an important optional feature of the invention, which can be used independently of any of the above or below features, an additional sensing system is provided, which is configured to detect phenotypic parameters of crops on the ground prior to the harvesting system.

[0239] According to an important optional feature of the invention, which can be used independently of any of the features described above or below, the processor or central control system is arranged to generate information on how yield and quality parameters relate to seed parameters based on location, enabling farmers to plant the optimal type of seed for each location in the field.

[0240] An important optional feature of the invention, which can be used independently of any of the above or below features, provides an auxiliary harvesting unit prior to the harvesting system to harvest individual elements from selected plants or areas.

[0241] The auxiliary harvesting unit can be mounted on transport equipment to move across the harvesting system to the desired location, or it can be a system preceding a conventional header, comprising a series of harvesting components spanning the header to work on selected plants, while conventionally leaving other plants unharvested. Alternatively, the auxiliary system can be a completely separate, independent system, carried and operated independently. The analysis required to determine the plants to be harvested can be performed optically, for example by image analysis, or by other methods available to those skilled in the art. The analysis process can utilize sensors on the harvester or other independent sensors.

[0242] Preferably, the elements from the auxiliary harvesting unit are measured and classified to select the best elements relative to certain selected characteristics of the total. The best elements may be used in the seeding system or reserved for other purposes.

[0243] According to an important optional feature of the invention, which can be used independently of any of the features above or below, a seeding system attached to a transport device is provided for applying seeds to the ground or substrate after harvesting. In some cases, the seeding system is configured to apply at least two different types of seeds at different locations, wherein the type of seeds applied depends at least in part on at least one measured parameter from each said location, and said at least one measured parameter is selected from the group consisting of substrate parameters, crop plant parameters, and crop element parameters harvested adjacent to said location. In some cases, the seeding system is configured to apply a related substance, such as fertilizer, to the ground or substrate. In some cases, the seeding system is configured to apply at least two different components of a related substance at different locations, wherein the components of the related substance depend at least in part on at least one measured parameter from each said location, and said at least one measured parameter is selected from the group consisting of substrate parameters, crop plant parameters, and crop element parameters harvested adjacent to said location.

[0244] According to an important optional feature of the invention, which can be used independently of any of the above or below features, the seeding system receives selected elements from the sorting device.

[0245] According to an important optional feature of the invention, which can be used independently of any of the features above or below, the type and location of the seeds sown by the sowing system are stored.

[0246] This invention includes at least a transport vehicle, a harvesting vehicle, a mechanical sorting tool acting on each item, and multiple storage vehicles. The entire system includes the transport vehicle, harvesting vehicle, sorting tool, multiple storage vehicles, and optional functions are hereinafter referred to as the HSS harvesting and sorting system. The transport vehicle is any vehicle that moves the harvesting vehicle, sorting tool, and storage vehicles from one location to another. The harvesting device refers to one or more devices that perform the following functions: removing at least a portion of the crop from its growing location, processing said portion into separate usable and unusable portions, and transferring the usable portion to the storage device.

[0247] The term "sorting device" refers to a mechanical system that separates a group of particles into individual particles, measures at least one characteristic of each particle, and orients each particle to a destination based at least in part on at least one measured characteristic. A storage device refers to any enclosure that at least partially restricts the movement of multiple particles. Typically, a storage device refers to a box; however, for the purposes of this invention, a short section of tubing (typically used to transfer particles from one location to another) can also constitute a storage device.

[0248] While separation steps are typically used to separate particles into individual elements, sufficiently separating them to allow for individual parameters of the particles to be measured, in some cases the same system can be used where only the particles are sufficiently separated to obtain a meaningful set of particle measurements. That is, the particles can be formed into a flow in which the particles partially overlap, and the measurement can be the average of two or more particles, rather than obtained from a single particle.

[0249] In another embodiment, the sorting and storage devices can be small enough to be carried by a person, or alternatively, they can be carried on a trolley. The trolley can be motorized, pulled by a person, or pulled by an animal. In a preferred embodiment, the mechanical harvesting device and the mechanical sorting device are carried together with the storage device on a mechanical transport device, particularly a combine harvester. In short, the preferred embodiment has the combined features plus the additional features of the sorting device.

[0250] In a preferred embodiment, the sorting apparatus includes a separation step, a measurement step, and a transfer step. In the most preferred embodiment, the separation and transfer steps are performed as described in PCT application WO 2018 / 018155 published by the applicant on February 1, 2018, the arrangement of which may be used herein and is incorporated herein by reference.

[0251] This document discloses a separator comprising a rotating body having one or more conduits extending from a central region where bulk particles are introduced to an outer region where separated particles are released. Depending on the angular velocity of the rotating body and the shape of the conduits, the particles are accelerated by inertial forces. These inertial forces also orient the particles to minimize potential energy. For all particles except spherical ones, the long axis of the particle will preferentially align with the axis of the conduit. The specification includes measurements of particle properties within the conduit or after release, and methods for redirecting the particles based on the measured properties. Any device that receives particle flux from crop particles to be measured can perform the measurement steps. Particle flux can be photons, electrons, neutrons, atoms, ions, molecules, or any combination thereof. In some embodiments, as described in US8227719 (Prystupa et al.), published July 24, 2012, the measurement steps are performed using light scattering, the disclosure of which is incorporated herein by reference and may be studied for further information.

[0252] In other embodiments, the measurement steps may be performed by a spectrometer that analyzes the chemical composition of the particles, selected from the group consisting of X-rays, UV-Vis, near-infrared, mid-infrared, and Raman spectrometers. In other embodiments, the measurement steps may be performed by a mass spectrometer.

[0253] In another embodiment, a weighing sensor can be used to measure simple mass.

[0254] In another embodiment, the measuring device uses sound waves to measure soundness and detect voids. In another embodiment, the measuring device is a multispectral camera that analyzes the size, shape, and surface characteristics of the particles. In another embodiment, the measuring device is capacitive to measure the dielectric constant and moisture content of the particles. In a more preferred embodiment, at least two of the listed measuring devices are used. In an even more preferred embodiment, at least three of the listed measuring devices are used. Information about at least one quality parameter for each crop particle is analyzed to provide a classification of each crop particle, and the crop particles are transferred to a storage bin corresponding to that classification. For example, if the crop particle is barley kernels, the barley kernels can be classified as suitable for germination, suitable for feed, or susceptible to disease. Barley kernels suitable for germination are transferred to a malt bin by a sorting machine, barley kernels suitable for feed are transferred to a feed bin, and barley kernels susceptible to disease are transferred to a recycling bin.

[0255] In another embodiment, the system described herein includes a transport device, a harvesting device, a sorting device, multiple storage devices, a computing device, and a display device. The computing device described herein is an increment of the functions described above within the scope of the sorting device and can be executed on the same computing device. The computing device receives from the sorting device information regarding measurement parameters for each type of crop particle, the classification assigned to each type of crop particle, and the processing time for the particles, and generates summary statistics. The summary statistics may include, but are not limited to, the number of crop particles processed, total mass, statistics describing the mass distribution, the number of crop particles processed per unit time, the number of crop particles in each classification, the number of crop particles processed per unit time in each classification, and summary mass statistics for each classification. Mass parameters may include, but are not limited to, size, shape, mass, particle size, disease (e.g., presence of fungi), presence of mycotoxins, predation (e.g., presence of insects), presence of herbicides, presence of pesticides, moisture content, total protein, protein type, amino acid profile, total carbohydrates, amylose / amylose ratio, lipids, flavonoids, and elemental analysis (including isotopes).

[0256] In a more preferred embodiment, the HSS includes all existing components as well as a device for measuring the position of the harvester assembly.

[0257] Location information can be derived from GPS, dedicated location transponders, analysis of crop patterns, or any combination thereof. As the HSS moves from one location to another, the computing device generates statistics on how crop particle parameters are spatially correlated.

[0258] The location can be performed using crop codes for two or more crops as described below, wherein different crops are arranged in a pattern that defines a measurable code to identify a unique location.

[0259] The computing device sends at least some of the generated statistical information to a presentation device, such as a display screen. The information can be presented graphically so that the operator can immediately make decisions regarding harvesting and sorting. The operator can choose to change the sorting criteria en route to harvest to optimize the total value of the crop. This information can be used to allocate land to various crops and plan fertilizer application for subsequent crops in the same year or following years. Most importantly, detailed information on quality characteristics can be used to sell the crop and increase its total value. Because sorting and classification are completed during the harvesting process, the crop can be shipped immediately.

[0260] The display device can present information from multiple harvesters located side-by-side or even in geographically different locations, and the main operator can coordinate the operation of the harvesters to collect and gather the required amount of crop bins across multiple locations.

[0261] In a preferred embodiment, the arrangement herein includes all the foregoing features, as well as means for the end user to communicate their quality requirements to the harvesting system and for the harvesting system to place crop grains in separate bins dedicated to each end user. The harvesting system also communicates to each end user the volume of crop grains collected in a dedicated bin that meets their quality requirements. Crop grains not allocated to end users are typically placed in bins assigned by the operator, but do not necessarily correspond to a defined commodity grade.

[0262] In a more preferred embodiment, the invention includes all the foregoing features, as well as one or more sensors configured to detect phenotypic parameters of the crop prior to harvesting. The plant sensor is preferably a hyperspectral camera that operates at a spectral resolution of 10 nm or better in the range of 600 nm to 1700 nm, or more preferably in the range of 400 nm to 2300 nm. Cameras operable within a limited wavelength range, or even monochrome cameras, are within the scope of the invention, but are less preferred.

[0263] Additional sensors can be mounted on the harvesting system or on a standalone vehicle such as a drone. The additional sensors transmit information about phenotypic parameters and the location of individual crops or groups of crops within a small area to the harvesting system. The harvesting system of this invention correlates plant phenotypic information with crop grain information obtained in the sorting step to generate information about how plant phenotypic characteristics relate to crop grain quality properties.

[0264] It should be noted that phenotypes and crop grains may originate from different types of crops: that is, the characteristics of different types of crops may be correlated. This allows for the correlation of hyperspectral data from known locations with quality data from harvested crops to better simulate harvest quality based on hyperspectral imaging. The information obtained can be used to identify the effects of competition and interaction between plants, thereby improving agronomic models used to predict crop growth. In some embodiments, the improved agronomic model may be specific to a particular location or set of locations in a field, where the size of the location is the size of the crop canopy or root zone, typically less than one square meter. In other embodiments, the improved agronomic model may be based on information about crop phenotypes, crop grain properties, substrate properties, and weather from multiple locations across multiple fields, obtained from sensors on multiple harvesters. This model can then be used to optimize harvest timing based on hyperspectral surveys of field conditions. Detailed information about how phenotypes correlate with seed quality at harvest as phenotypic parameters change over time (plant maturity) allows operators to select the harvest time that optimizes the total seed quality. It should be noted that the quality characteristics of one crop type may be related to the quality characteristics of another crop type, so information about the harvested crop type can be used to predict the performance of another crop type.

[0265] This information also enables operators to identify phenotypes associated with desired quality characteristics for each region of the crop area and to sow the best-performing varieties for each location in subsequent crops. This information allows operators to prioritize storing seeds with ideal phenotypes separately and to plant these seeds for future crops.

[0266] In some cases, additional sensors can be used to locate or mark individual plants or plant areas before harvesting, allowing for individual harvesting. Marking can be done to identify the plant itself and / or the seeds or components to be harvested from the plant. After marking, the plants can be harvested separately from the marked ones. This can be accomplished using the auxiliary harvester described herein. Where the seeds themselves are marked, plant elements or seeds from marked plants can be separated by a sorting system on the harvester, by detecting the markings during separation and sorting.

[0267] The data described above can also be correlated with soil sampling performed on the harvester or separately on remote sensors. Sampling can be surface-sensing or can include lower surface measurements via probes or core sampling devices. The system can analyze samples of the soil itself during planting and harvesting.

[0268] In a more preferred embodiment, the invention includes all the foregoing features and a storage medium containing information about the location and quality characteristics of seeds sown in a field awaiting harvest.

[0269] Multivariate statistical analysis is used to analyze phenotypic information and seed quality information obtained at each harvest location to generate information on how yield and quality parameters relate to seed parameters with location. This information will enable farmers to plant the optimal type of seed for each location in the field.

[0270] In a preferred embodiment, the invention includes all the foregoing features and an auxiliary harvester designed and configured to harvest selected individual plants before harvesting remaining plants in the harvesting system path via the main harvester. In an example embodiment, the main harvester is a combine harvester, and the auxiliary harvesting unit is mounted on a track perpendicular to the combine harvester's direction of travel and prior to the main cutting head. Depending on the width of the combine harvester, more than one auxiliary harvesting unit may be required to traverse a distance to the selected plant within an acceptable response time. In this embodiment, plants with desired phenotypes and desired seed quality parameters are selected separately by analyzing information from crop sensors. Information about the plant location is relayed to the auxiliary harvesting unit, which moves to the selected plant location and extracts crop grains (typically seeds). The crop grains are transferred from the auxiliary harvesting unit to a dedicated sorting unit, which sorts the crop grains according to at least one measured quality parameter and forwards them to a storage bin based at least in part on the measured quality parameter. This implementation plan is particularly useful for phenotypic plant breeding and for selecting seed stock suitable for specific locations.

[0271] This invention automates the process of selecting new varieties of germinated seeds suitable for the soil and microclimate of a specific location. For this invention, multiple factors can be selected simultaneously, including but not limited to disease resistance, lodging resistance, drought resistance, flood resistance, frost resistance, insect resistance, herbicide tolerance, yield, and the aforementioned quality parameters.

[0272] In some embodiments, the HSS includes a seeder device. The function of the seeder device is to place seeds and possibly related materials (e.g., fertilizer) in or on the ground. In some embodiments, the planting device further receives seeds from a sorting device. That is, seeds are harvested, sorted, and planted in a single process. The seeder device follows the harvester device, so both sowing and harvesting can be completed in one operation, thus saving time. In a preferred embodiment, at least one seeder parameter is determined at least in part by at least one measured parameter of the crop particles and / or at least one measured parameter of the crop. In a more preferred embodiment, at least one seeder parameter is dynamically adjusted in response to changes in at least one measured parameter of the crop particles or at least one measured parameter of the crop. In a preferred embodiment, information about the type and location of seeds sown by the seeder device is stored. The composition of the crop plants and particles depends on local factors, including microclimate and soil conditions, and therefore both can be indirectly measured using statistical methods.

[0273] According to an important optional feature of the present invention, this feature can be used independently of any of the features described above or below, and seeds or elements can be separated using the following methods for particle separation, the methods comprising:

[0274] Provide a large supply of particles in the supply pipeline;

[0275] A body that rotates about an axis;

[0276] The rotating body defines at least one conduit extending outward from an inner end adjacent to the axis to an outer end, the outer end being radially outward from the axis than the inner end.

[0277] A large quantity of particles is conveyed at the inner end of the at least one pipe; the inner end is arranged in an array adjacent to the axis such that the supply conduit is used to deposit the particles at the inner end of the at least one pipe, so that the particles enter the inner low-velocity end and are used to separate the particle flow in the at least one conduit.

[0278] The at least one channel is shaped and arranged such that the particles are accelerated as they pass from the inner end to the outer end, thereby causing the particles separated into the at least one channel to be arranged in a continuous row in the channel as they move toward the outer end.

[0279] In many cases, the method involves operating on the separated particles while keeping them separate. This operation may include simply measuring or counting the separated particles. However, separation is particularly effective for processing separated particles, for example, through coating, inoculation, or sterilization. In other cases, the operation may include analyzing or evaluating the particles.

[0280] However, in other cases, the particles can be used in a separated state, such as in the seeding method described above, where the separation can be implemented at high speed into separate pipes for high-speed seeding operations.

[0281] While the system may be effective for generating a high-speed flow of separated particles in a single pipe, in many cases, multiple pipes arranged in an array around a central feeding pipe are provided.

[0282] While this system may be effective for high-speed separated particle flows generated by certain pipelines, in many cases, multiple pipelines are provided arranged around a central feed pipe.

[0283] According to an important optional feature of the present invention, which can be used independently of any of the features described above or below, a method for detecting at least one measurable parameter of a particulate flow includes:

[0284] Particles are carried in the form of a particulate stream in the supply pipeline;

[0285] A body that rotates about an axis;

[0286] The rotating body defines at least one conduit extending outward from an inner end adjacent to the axis to an outer end, the outer end being radially outward from the axis than the inner end.

[0287] The inner end is arranged adjacent to the axis such that the supply conduit is used to deposit the particles at the inner end of the at least one conduit, so that the particles enter the inner end.

[0288] The at least one conduit is shaped and arranged such that the particles are accelerated as they pass through from the inner end to the outer end, such that the particles separated into the conduit are arranged in a continuous row within the conduit as they move toward the outer end; and

[0289] For each of the at least one pipe, measure at least one parameter of the particle.

[0290] In some cases, methods for sorting particles are provided such that, for each pipe, the particles are guided into one of several paths determined by measurements of parameters. However, given the increased degree of particle separation achieved using the arrangement described herein, measurements of one or more parameters obtained more efficiently can be used for other purposes.

[0291] Therefore, the arrangement defined above offers the following advantages: the increased velocity gained through the body's rotation and the increased acceleration of the particles on the body better separate each particle from the next for parameter detection. Furthermore, the increased particle velocity can be used to increase the system's throughput because parameters can be detected or measured more quickly.

[0292] In one arrangement, parameters are measured while the particles are in the pipe. The advantage of this is that the particle's position is clearer and more definite because it is controlled by the rotation of the main body and the position of the pipe. This more precise particle positioning allows for more efficient parameter measurements in many situations.

[0293] In this case, preferably, the parameter is measured by a measuring device carried on a rotating body. In this way, the measuring device is located at a specific position relative to the pipe and therefore relative to the particles.

[0294] Because it allows for more precise focusing on specific locations, the operation of the measuring equipment can be simplified. In this case, each conduit can include one or more individual measuring devices dedicated to measuring particles flowing through that conduit. That is, each particle moving along the pipe can be monitored by multiple sensors or measuring devices, which can be arranged in a row, each capable of detecting different parameters of the particle, thus allowing for a better assessment of the generated particles. However, in some cases, a single sensor can provide all the necessary information.

[0295] In one example, each separation device includes: a separation head having a leading edge arranged such that particles to be separated move toward the leading edge in a flow; and an actuator for moving the leading edge between a first position and a second position, wherein the first position is on one side of the flow to guide the particles to a second side of the flow, and the second position is on the second side of the flow to guide the particles to said one side of the flow.

[0296] In this example, preferably, the separating head is arranged in the radial plane of the rotating body, and the first side and the second side are arranged on the corresponding sides of the radial plane.

[0297] In this example, preferably, the separating head includes inclined guide surfaces on the first and second sides of the front edge, such that the separating head is generally wedge-shaped.

[0298] Preferably, the actuator is moved by a piezoelectric component. However, other driving forces, such as electromagnetic voice coils, can be used.

[0299] Berries, such as Saskatoon and blueberries, have a short shelf life due to spoilage and require immediate processing after harvesting. Spoiled and unripe berries are sorted out. This invention provides a faster method for sorting berries, which reduces spoilage and provides consumers with a higher quality product.

[0300] In agriculture, crop yields are optimized by planting a specified number of seeds per unit area. Not all seeds produce viable plants. Additional seeds are planted to compensate for those that fail to germinate or produce viable plants. This invention can generally be used in seeding or planting equipment to sort seeds according to measurements associated with viability, so that seeds most likely to produce viable plants are planted, while seeds with lower viability are used for other purposes. This invention can sort seeds by size for compatibility with planting equipment. This invention can be used to count seeds, thereby allowing a specified number of seeds to be planted. This invention can also be used to provide a rapid flow of separated seeds of known quality and quantity in planting equipment. Because the number of seeds separated per second provided by this invention is much higher than that of the prior art, a farmer can sow more acres per hour.

[0301] This invention can be applied to sorting colloidal particles, which are typically manufactured using condensation processes to produce a distribution of size and shape. The permissible electronic transitions in metallic colloids are sensitively dependent on the size and shape of the colloid. This invention can be used to sort colloidal particles into homogeneous categories based on size and shape or based on absorption spectra.

[0302] Although the conduits described in some examples herein are typically channels formed on a disk with upright edges, the conduit can also be circular, elliptical, triangular, or quadrilateral, or it can be a partial tube typically C-shaped, V-shaped, or L-shaped. The conduit can also be defined by a minimal two- or three-dimensional surface, or multiple surfaces defined by contact points where forces are applied to the particles. The conduit can also be a closed tube with many different cross-sectional shapes, such as circular, elliptical, triangular, or quadrilateral.

[0303] The arrangement described below can provide the goals of increasing core yield, reducing device size, and lowering energy requirements.

[0304] The system described in this paper can be used with conventional large combine harvesters controlled by a single operator, or it can be applied to systems using a group or group of smaller vehicles, where all data can be transmitted from each vehicle to a central system to monitor the operation of the group. In this way, harvesting actions can be monitored and controlled so that each vehicle separates the elements to be harvested based on knowledge determined from all vehicles, and selection criteria can be modified based on knowledge of the crops harvested by all vehicles.

[0305] It should be understood that the harvester can be stationary relative to the earth, and the substrate can be translated on a conveyor belt or other conveying device.

[0306] The growing medium can be located on a conveyor belt or in a pot, sheet, mat, or other container that moves along the seeding system relative to the harvesting system. In another embodiment, the substrate is carried on a conveyor belt, and the harvester translates relative to the conveyor belt in a direction not collinear with the direction of the conveyor belt's movement.

[0307] Preferably, the harvester translates in a direction perpendicular to the movement of the conveyor belt.

[0308] According to another aspect of the present invention, a method for growing crops in a growth medium is provided, comprising:

[0309] Harvesting crops and separating the collected elements from other crop materials;

[0310] During harvesting, at least one characteristic is measured based on the collected elements and the harvesting location of the collected elements;

[0311] Subsequently, crop seeds are sown on the growth medium using the at least one of the measured characteristics.

[0312] According to another aspect of the present invention, a method for growing crops in a growth medium is provided, comprising:

[0313] Sowing crop seeds on a growing medium;

[0314] The selected seeds were placed at a known location within the growing medium area scattered among the other seeds;

[0315] When crops are growing on the growing medium, harvesters that cross the growing medium are used to harvest the crops so that all the crops are collected on the growing medium.

[0316] During the harvesting process, crops are harvested from selected locations in the growing medium where the seeds were planted separately from other crops, separating the harvested seeds of these crops from the other harvested seeds; and

[0317] Collect the separated seeds.

[0318] In one key implementation, the harvesting and sorting system receives seeds of different sizes, shapes, and types, separates them into single rows in a separating device, measures the characteristics of each seed, determines the seed type from the measured characteristics, and uses a diverter to separate it from at least one type of seed. This important feature can be used, for example, to separate seeds from two or more crops. This important feature can also be used to separate crop seeds from weed seeds. For example, crop seeds can be directed to a set of crop bins, and weed seeds can be transferred to weed seed bins.

[0319] In some embodiments, the crop element measurement system of the harvest sorting system is configured to measure chemical contamination from, for example, pesticide, herbicide, or fungicide residues. Figure 2 and 3 The separation system shown is suitable for this type of measurement because inertial forces provide high pressure (and maintain good contact) between the crop elements and the separation tube wall required to collect high-quality attenuated total internal reflection spectra. A portion of the tube wall can be constructed from a high-refractive-index material such as Si or Ge to limit the depth of radiation penetration to micrometers or less. Chemical contaminants on the surface layer can be identified by characteristic absorption in the mid-infrared region, typically with wavelengths between 2.5 and 25 micrometers.

[0320] According to another aspect of the present invention, a method for growing crops in a growth medium is provided, comprising:

[0321] Sowing crop seeds on a growing medium;

[0322] Harvest crops while they are growing on a growing medium;

[0323] During the sowing period, obtain information about the individual seeds being sown;

[0324] During the harvesting process, information about the individual seeds being harvested is obtained; and

[0325] Information from seeds sown individually and seeds harvested is correlated based on their specific location on the growing medium. Attached Figure Description

[0326] An embodiment of the present invention will now be described with reference to the accompanying drawings, in which:

[0327] Figure 1 This is a schematic diagram of the sowing device according to the present invention.

[0328] Figure 2 This is an isometric view of a seed sorting device, illustrating a particle separation method according to the present invention.

[0329] Figure 3 yes Figure 2 A vertical sectional view of the equipment.

[0330] Figure 4A , Figure 4B and Figure 4C It shows Figure 2 and Figure 3 A vertical cross-sectional view of the separation device of the equipment.

[0331] Figure 5 yes Figure 1 A schematic diagram of an embodiment of the separation and transfer device.

[0332] Figure 6 yes Figure 1 A schematic diagram of a second embodiment of the separation and transfer device.

[0333] Figure 7 yes Figure 1 A schematic diagram of another embodiment of the separation and transfer device.

[0334] Figure 8 yes Figure 1 A schematic diagram of another embodiment of the separation and transfer device.

[0335] Figure 9 This is a flowchart of the harvesting system.

[0336] Figure 10A A scheme for encoding location information according to a pattern with two types of seeds is shown.

[0337] Figure 10B The image shows the ground area allocated to plants in conventional row sowing.

[0338] Figure 10C A scheme for efficient seed placement is shown.

[0339] Figure 10D A scheme for encoding location information according to a pattern with two types of seeds is shown.

[0340] Figure 10E A scheme for encoding position information using transverse waves according to a type of seed pattern is shown.

[0341] Figure 11 This is a schematic diagram of a seeding device according to the present invention, which generates and uses an intermediate substrate to apply seeds and other materials to the ground or other growth media in a controlled manner and at controlled locations in a controlled manner.

[0342] Figure 12 An arrangement is shown in which a longitudinally continuous substrate consisting of two layers carrying seeds, fertilizer and other materials (e.g., measuring devices) is applied to the ground in strips.

[0343] Figure 13 An arrangement is shown in which a longitudinally continuous substrate consisting of braided tubes carrying seeds, fertilizer and other materials is applied to the ground in strips.

[0344] Figure 14 An arrangement is shown in which a longitudinally continuous matrix consisting of extruded material carrying seeds, fertilizer and other materials is applied to the ground in strips.

[0345] Figure 15 An arrangement is shown in which a longitudinally continuous substrate consisting of strips with an adhesive layer is applied in strips onto the ground, the substrate carrying seeds, fertilizer and other materials, such as fungicides.

[0346] Figure 16 Another construction of the intermediate matrix is ​​shown, which takes the form of a series of individual plug components that will be applied to the ground separately.

[0347] Figure 17 An arrangement is shown in which the plug of Figure 18 is applied to the ground at different locations along three orthogonal directions.

[0348] Figures 18A to 18E The diagram illustrates a series of steps involving applying seeds and fertilizer to a growing medium using an application plunger, with the plunger penetrating the ground while leaving a portion of the application device, seeds, and fertilizer behind.

[0349] Figure 19 The diagram shows the individual stations of the filling station placed on the seeder, which fill the application device with the seeds and fertilizer carried by the seeder.

[0350] Figure 20A and 20B It shows Figures 18A to 18E Enlarged views of two embodiments of the applied plunger.

[0351] Figure 21This is a schematic diagram of a harvester using the arrangement described in this article. Detailed Implementation

[0352] Figure 1 A sowing device 100 is shown, comprising a frame 101 on wheels 102 for transport across the ground to be sown. The frame has one or more toolbars 103 with tools for preparing soil 104, opening soil 105, and closing soil 106. For example, the soil loosener could be a plow blade. Specific construction of the ground engagement components is not part of this invention and various arrangements known in the art can be used. The device has a position detection device 107 and a soil sensor 108 communicating with a control device 109. The position detection device could be, for example, a radio receiver that operates by comparing signals from multiple beacons at a known location. The beacons could be GPS satellites. Better accuracy can be achieved if the beacons are located at reference points around the field being sown. The position detection device can also operate via laser interferometry. The soil sensor measures one or more soil parameters, which may include depth, texture, moisture, organic matter, nitrogen, phosphorus, potassium, and trace elements. Alternatively, the soil sensor may measure infrared reflectance from the soil to infer its composition. Soil sensors can detect gamma rays from isotopes in the soil to infer elemental abundance. Soil sensors can measure X-ray fluorescence to infer elemental abundance. Soil sensors can measure laser-induced breakdown spectra to infer elemental abundance. Soil sensors can measure Raman spectra to infer mineral abundance. Control device 109 can combine three-dimensional location information from a series of measurements or from a previously measured topological map to predict wind, temperature, and humidity conditions at each location during the growing season. The control device can also combine wind, temperature, and humidity predictions with measured soil parameters and select sowing parameters for the location, based at least in part on at least one of the aforementioned factors. Sowing parameters may include the type of seed applied, the spatial relationship between seeds, and the type and quantity of other substances (e.g., fertilizer) placed near each seed.

[0353] The device has multiple compartments or containers 111, 112, and 113 for holding multiple individual seed types and one or more fertilizers applied to the ground. Therefore, in this invention, the seeding device includes storage containers 111 and 112 for seeds, and optionally includes a storage container 113 for fertilizers. In some cases, only one type of seed is applied. In some cases, fertilization is performed separately. In these cases, the device may include only a single compartment. Selected material from each compartment is conveyed to a separator 120 to separate bulk seeds or fertilizers into individual particle streams via a bulk supply regulator 121 through a supply pipe 122. The bulk supply regulator may be a valve controlling the orifice of the supply pipe. The bulk supply regulator may include sensors (not shown) to measure bulk parameters, such as mass flow rate or volumetric flow rate. The bulk supply regulator may include means for agitating the bulk material to facilitate bulk flow. The system may also use a shared separation system with a valve on each supply to control the bulk density of each material delivered to the separator.

[0354] The separation device is shown and described in more detail below, but generally includes a conduit 125 through which seeds pass and a disk 123 forming an assembly for rotating the conduit about an axis 124, such that the centrifugal force generated by the rotation acts on the seeds radially outward along the conduit and creates pressure on the seeds against a side wall of the conduit, causing them to slide along the wall. Only one conduit is shown, but multiple separation conduits 125 may exist. Since the separation particle rate of a single conduit of the present invention can be more than ten times higher than that of prior art separators, a single conduit is sufficient for sowing. The rate limiting factor of the present invention is the power required for the ground opening and ground closing tools, not the separation rate.

[0355] This creates a flow of seed or fertilizer granules (collectively referred to as granules) at single or separate locations along the conduit, so that the granules appear one after another at one end of the conduit, thus performing seeding. The granule flow appears at one end of the separating conduit 125 with a radius R from the axis of rotation, and the velocity vector depends on the angular displacement of the separating conduit 125. Figure 6 and 7 The regulating device 128 shown operates on a position-dependent particle stream to direct it toward one or more outlets. At the outlet of the regulating device, the particle stream is guided into a conveying device 129. The conveying device operates to deposit the particle stream onto soil or substrate. In its simplest embodiment, the conveying device may be a conventionally designed seed tube.

[0356] The adjustment device can also be operated to reduce the variation in period between consecutive grains. Specifically, the variation in the average period T and the period is related to the size and shape of the grains, as well as the shape of the separation pipe, friction, and rotational speed. For example, oval seeds like wheat grains are initially arranged in a row in the separator, their long axis typically aligned with the pipe axis. Due to differences in grain size and contact between grains in rows not aligned with their long axes, the centroid spacing varies. The spacing between grains increases proportionally to the initial grain-to-grain distance because the grains are accelerated by inertial forces through the rotation of pipe 125. Therefore, a 10% change in the distance between bulk grains will result in a 10% change in the grain-to-grain period at one end of the separation pipe 125. The change in period is directly due to the same factor causing the seed placement to change. See below for reference. Figure 6 and 7 The regulating device, described in further detail, can reduce the period variation from, for example, 10% to 1% by temporarily buffering the particles before release.

[0357] As shown below, the disk 123 includes a measuring device 126 for detecting one or more parameters of the seeds and a diversion device 127 for extracting a portion of the seeds, thereby applying only a selected portion of the seeds during sowing. A control system 109 is used to receive data from the measuring device and the position system 107. The control system is also used to record seed measurements relative to time and / or record seed measurements relative to ground position.

[0358] The control system can also provide information about the ground via a pre-prepared map associated with the location system 107, or via ground sensors 108, which are used to acquire data on ground conditions in real time. This data is used to determine the actual location of the ground on which seeds are to be applied, so as to select the type or quantity of seeds to be applied based on the information.

[0359] When the seeder is used to select certain seeds from the supply to reduce the quantity or to sow seeds selected from containers 111, 112, the transfer device is operated to transfer the selected seeds off the ground opening device when at least one parameter of the separated seeds is detected, or to transfer those seeds back into the separated stream or back into the storage container that may be the original container.

[0360] Specifically, the system can be operated such that the separation rate is higher than the minimum required rate of seeds to be applied to the ground, thereby obtaining alternative seeds from the flow of one or more other containers, in which case the first seed to be tested does not meet the conditions for continued delivery to the delivery device and is thus discarded.

[0361] Specifically, the first and second separate containers 111, 112 can hold respective seeds having first and second quality parameters, and the control device 109 selects which container to use based at least in part on at least one measured parameter of the seed and / or the ground. Furthermore, the detector 126 can measure seed characteristics, and the control device 109 determines whether the measured seed characteristics match the seed characteristics required for the current planter position within a threshold range. If the characteristics match, the seed continues to the conveyor 129; otherwise, the seed is transferred. For example, this function can be used to detect and discard seeds that have deteriorated during storage.

[0362] Container 113 and its corresponding separation device provide a system for supplying fertilizer granules and / or powders and / or liquid fertilizers, wherein the volume or number of fertilizer granules placed per unit length can be varied to achieve the desired fertilizer concentration at each location.

[0363] based on Figure 2 and 3 The device shown for sorting particles using measurable particle parameters includes a supply pipe 10 that carries the material to be supplied from the feed 10A ( Figure 3 The particles are sorted in a feed system 10A, which supplies a continuous flow of particles via a pipe to a rotating body 11 rotating about an axis 12. In the illustrated embodiment, the rotating body is a flat disk with the axis 12 vertically arranged such that the disk provides an upper horizontal surface to which particles 13 from the flow from the pipe 10 are supplied. The pipe is positioned at the center of the disk, such that the particles are deposited at the center of the disk's rotation but with a very low outward velocity. The particle velocity at this point comes from the flow in the supply pipe 10. The velocity at a point on the disk is v = wr, where w is the angular velocity and r is the radius. If the particles are deposited in an area with excessive velocity variation, they will bounce and the flow will become turbulent. The particles are deposited in the central region to minimize velocity variation.

[0364] One or more pipes 14 are provided on the upper surface of the disk forming the rotating body. Figure 3 Each conduit extends outward from an inner end 15 adjacent to the axis to an outer end 16, with the outer end having a larger outward radial distance from the axis compared to the inner end. In this embodiment, the outer end 16 of the conduit is arranged adjacent to but inwardly spaced from the edge 17 of the disk 11. In this embodiment, each conduit 14 extends from a position immediately adjacent to the center to the periphery 17 of the disk, such that the conduits are arranged side by side in a centered manner, and the conduits radiate outward, such that they are spaced apart around the periphery 17 at the outer end 16.

[0365] Therefore, the inner ends 15 are arranged in an array adjacent to the axis, allowing the supply conduit 10 to deposit particles to be sorted at the inner ends 15, so that the particles to be sorted enter the inner ends. When the inner ends are close to the center of the disk, the particles there form a pile at the center, and this pile of particles is then automatically and uniformly sorted into the pipe openings at its inner ends. Assuming a continuous pile of particles at the center, the rotation of the disk will cause the particles to be uniformly sorted into the individual pipes in the flow defined by the size of the opening relative to the size of the particles. At the beginning of the path along the pipe, the particles will be adjacent or overlapping immediately. However, as the particles are accelerated under the action of centrifugal force, their passage along the pipe causes the particles to disperse one after another, forming a row of particles without overlapping. As the force increases with the radial distance from the axis 12, the particles will accelerate faster and faster, and therefore the distance between the particles will increase along the length of the pipe. The seeds are aligned with the pipe axis in the first part of the pipe, and the seed length defines the initial center-to-center spacing, which varies due to the difference in seed size. At a given radius, the centrifugal acceleration is uniform, but the frictional force among the grain particles differs by approximately 20%. The frictional force is proportional to the Coriolis force F. friction = uN, where u is the coefficient of friction (approximately 0.2-0.25 for wheat grains), and N is the normal force provided to the pipe wall primarily by the Coriolis force. As mentioned above, by bending the pipe along the net force line, the pipe can be shaped to minimize the normal force and friction, as described above. Conversely, the normal force can be increased by bending the pipe to increase it, the particle acceleration can be reduced by bending the pipe to a constant value, or even by reducing the radius, or the coefficient of friction of selected sections of the pipe can be increased by changing the texture and / or material.

[0366] The pipe length can be selected relative to the particle size, allowing the spacing between each particle and the next to be chosen to be proportional to the particle length. The spacing between seeds can be increased by increasing the rotational speed and / or increasing the radial length of the pipe. In the example of a separator used for seeds, the spacing between each seed and the next can be at least equal to the seed length, and is typically 1.5 or 20 times the seed length. This spacing is sufficient for measuring and transferring individual seeds. Larger spacing is possible, but this would reduce the measurement cycle time and increase the impact force during transfer, and is therefore not preferred.

[0367] Therefore, the shape and arrangement of the pipes cause the particles to be accelerated as they pass from the inner end to the outer end, so that the particles line up continuously as they move toward the outer end.

[0368] The outer ends 16 are arranged at angled intervals on the outer periphery of the rotating body, such that a row of particles in each channel is released from the disk outward from the disk axis by centrifugal force. All openings are located in the common radial plane of the disk. The channels can be formed as grooves cut into the upper surface of the thicker disk, or they can be formed in other ways as walls or two-dimensional and / or three-dimensional guides applied to the top surface of the disk.

[0369] An array 20 of particle separation devices 21 is arranged in an annular space at the outer edge 17 of the disk, such that each separation device 21 is arranged at an angled interval around the disk.

[0370] Each separator is operable to guide each particle into one of several paths determined by the operation of the separator. In the example shown, the separator is arranged to guide the particles upward or downward relative to the plane of outlet 16. Figure 2 and Figure 4A As shown, the separation device 21 can occupy an initial intermediate or starting position where the particles have not been separated into one opposite or another direction. Figure 4B As shown, the separating device can move upwards to guide the particles downwards into path 22 for collection within collection chamber 25. Similarly, when the separating device... Figure 4C As the particle moves to the lowered position, it moves upward along path 24 on top of the separator to be collected in chamber 23. The two paths 22 and 24 are separated by guide plate 26, which ensures that the particle moves into one or the other chamber 23, 25.

[0371] To control the separation device 21, a measuring system, generally indicated by 28, is provided. This measuring system measures one or more selected parameters of the particles as they move from one end of the pipe toward the separation device at the edge of the disc. The measuring device is supported on a mounting ring 28A.

[0372] The measurement system can be any suitable type known in the industry, such as an optical measurement system that detects certain optical properties of particles to determine the specific parameters that need to be measured. Since the type of system to be used and the parameters to be selected are not part of this invention, other measurement systems may also be used.

[0373] In a typical example, the analysis of the particles involves the presence of seed degradation due to disease, and this can typically be optically detected, for example, using the system disclosed in the inventors’ prior U.S. Patent 8,227,719, the disclosure of which is incorporated herein by reference or may be consulted for details.

[0374] Each separation device 21 is associated with a corresponding detection device 28, which may include multiple detection components operable to measure parameters of the particles, and in response to the parameters measured by the associated detection device, the corresponding separation device operates to select path 22 or path 24.

[0375] It should be understood that, if necessary, the number of paths can be modified to include more than two paths, depending on the parameters to be measured. The number of paths can be increased by providing a subsequent separation device 21 located downstream of the initial separation. In this way, one or two paths can be divided into two or more sub-paths, all of which are controlled by a single control system 29 that receives data from the measuring device 28.

[0376] Therefore, the disc 11 has a front 30 facing the supply pipe, and the pipe 14 is located in the radial plane of the disc and extends outward from the axis to the periphery 17 of the disc 11.

[0377] like Figure 2 As shown, the conduit 14 is curved such that the outer end 16 is at an angle relative to the inner end 15. This forms a side 14B of each conduit, which is at an angle relative to the counterclockwise rotation direction shown in D. The curvature of the conduit is set to substantially coincide with the Coriolis force and centrifugal force, so that the particles travel along the conduit without exerting excessive pressure on either side wall of the conduit. However, the shape of the conduit is arranged such that the Coriolis force tends to drive the particles against the downstream side 14B of the conduit 14.

[0378] like Figure 2 As clearly shown, the pipes 14 are arranged side-by-side at the inner end 15 adjacent to the axis, with the spacing increasing towards the outer end 16. At the inner end 15, the pipes are arranged side-by-side such that the maximum number of pipes is set by the maximum number of openings 15. In an arrangement not shown, the number of pipes can be increased, wherein the pipes include branches, such that each pipe divides into one or more branches along its length.

[0379] exist Figure 2 and Figure 3 In this embodiment, both the detection device 28 and the separation device 21 are located within the periphery 17 of the disk. In this way, as particles pass through the outer end of the pipe, they are guided to the array of separation devices.

[0380] like Figure 4AAs best shown in 4B and 4C, each separation device includes a separation head 40, the leading edge 41 of which is generally located in the radial plane of the disc 11, thereby causing particles released from the outer end 16 to move toward the leading edge 41. The separation head 40 includes inclined guide surfaces 42 and 43 on the respective sides of the leading edge 41. In this way, the separation head 40 is generally wedge-shaped. The separation head is mounted on a lever 44 mounted inside the tube 45, such that the lever and its actuation mechanism are protected inside the tube located behind and protected by the separation head. An actuator 46 is configured to move the leading edge 41 between a first position and a second position above and below the radial plane 47 defined by the path of the particles 13. Thus, in Figure 4A The text shows the central and neutral positions. Figure 4B In the middle, the leading edge 41 has moved upward, and this leading edge is arranged to guide the particles to one side of the radial plane below the radial plane. Figure 4C As shown, the leading edge moves downward to the second side of the radial plane and is arranged to guide the particles to the first or upper side of the radial plane. This movement of the wedge head and its leading edge requires almost no movement of the leading edge 41, and separation is simply induced by the particles' own momentum simply through sliding on the guiding surfaces 42 and 43. Therefore, the separating head does not need to move to impact the particles or generate lateral forces on the particles, because the separating head only needs to move to a position that allows the particles to generate the required separating force.

[0381] Given the lever's configuration, actuator 46 only needs to produce a very small distance of movement, so it can be moved by a piezoelectric component. Alternatively, movement can be achieved by a small electromagnetic coil. This design allows for the use of components capable of generating the necessary high-speed motion to occupy the position quickly enough. Figure 4B and 4C The actuator 46 is positioned in two locations to accommodate the high-speed movement of the particles. As shown in the figure, the actuator 46 is located outside the separation head and in the radial plane of the separation head.

[0382] Therefore, the apparatus of the present invention provides a system for separating particles (e.g., seeds), wherein the particles are supplied in a feed zone and separated by pipes and pipe inlets to form multiple particle streams.

[0383] like Figure 8 As shown, a seeding system, generally designated 400, is illustrated, comprising a seeding toolbar 401 on which a series of individual seeding devices 402 are mounted. Each seeder 402 is supplied with seeds via a delivery conduit system 403, typically as described above, with seeds supplied from a separator 404, wherein a hopper supplies seeds to the separator.

[0384] Therefore, the measurement and separation system of the present invention is used on a sowing or planting device 400 to classify seeds according to measurement parameters related to survival rate, thereby planting the seeds most likely to produce viable plants and using seeds with lower survival rates for other purposes. The present invention can be used to classify seeds according to size detected by sensor 406 for matching with planting equipment. Sensor 406 can be used to count seeds, thereby allowing a specified number of seeds to be planted or packaged. This arrangement also provides a rapid flow of separated seeds separated by separator 407 of known quality and quantity within the planting equipment. Because the number of seeds separated per second provided by the present invention is much higher than that of the prior art, farmers can sow more acres per hour.

[0385] Similarly, Figure 8 As illustrated, particles can be separated in separator 407 using electrostatic force, wherein the particles are differentially charged according to selected parameters and then transferred to different paths by electric field 412.

[0386] like Figure 5 As shown, there is a simple transfer system in which separated seeds from the flow from pipe 125 on disc 123 are discharged into a container 140 arranged around the disc, so that the seeds flow out from the bottom opening 131 in the separated flow through pipe 129 to the ground junction 104. The system does not provide any measurement values ​​of seed parameters and is only used as a high-speed separator.

[0387] like Figure 6 As shown, seeds from the bottom of pipe 129 are fed into a conveyor component 130 in the form of a conveyor belt 132. This conveyor component has compartments 133 for holding the seeds and transporting them to the ground below a ground opener, in this case, defined by a plow blade. The conveyor belt can be of the type referred to as a brush conveyor belt, where bristles on the conveyor belt form a series of positions or individual containers for the seeds. The conveyor component 130 is used to convey separated seeds to or after the ground opener for placement in the opened ground. In this case, the conveyor defined by the conveyor belt can be operated at different conveying speeds by a motor controller 134 controlled by an encoder 135.

[0388] Therefore, in this arrangement, since the seeds are not accurately conveyed from pipe 125 through pipe 129, the separating device is used to separate seeds of different lengths into intervals. This results in some uncontrolled variations in the intervals.

[0389] To overcome this irregular spacing, the conveying component or conveyor belt operates at different timed intervals to change the difference between the spacings, thereby reducing the difference or intentionally placing the seeds on the substrate at uneven intervals. That is, the conveying device includes a conveyor belt with containers for the seeds, wherein the conveyor belt is driven at different forward speeds to change the spacing. The spacing between the seeds is measured by a sensing system, which can be provided by a measuring device 126 or a simple optical detector through which the seeds flow. This spacing is then transmitted to a controller that controls the speed of the conveyor belt 132.

[0390] Similarly, Figure 6 As shown, the conveyor belt 132 is wound around the drive roller 136, so that the conveyor belt is opposite to the forward movement direction D of the seeder. Thus, the transfer device is arranged such that the seeds leaving the transfer device have approximately equal speeds in magnitude and are opposite in direction to the relative speed between the ground opening device 137 and the ground.

[0391] like Figure 7 As shown, the conveying device, generally indicated by 139, includes a hopper 140 that feeds particles into a slot or gate 141, which feeds the particles into bags 143. The bags 143 are shaped to guide the particles towards the rear wall of the bag by acceleration via an actuator 146. During the process from the feed slot 141 to the outlet 142 via a window 145, the particles are constrained and retained in the bags. The particles or seeds are discharged from the outlet 142 and sown through a seed tube 150. The acceleration of the actuator 146 can be rotary or linear (not shown), as indicated. The rotational speed of the actuator (in revolutions per second) is the particle or seed rate in Hz divided by the number of bags. The angular range of the bags 147 is selected in conjunction with the particle rate, such that separated particles from the channel 125 on the disc 123 fall into different bags. The particles are released from the channel 125 in a sequence with a constant average period, but the phase is random relative to the required particle placement time. As time passes, friction increases the likelihood of a particle reaching slit 141. The function of the conveying device 139 is to reduce the width of the particle probability function and shift the phase to synchronize particle placement, as shown in 149. The seed tube 150 is arranged to translate in two orthogonal directions. The movement of the seed tube and the speed of the actuator are coordinated by a controller (not shown) to deliver the seed to any selected location (within the range of motion) on the ground or growth substrate.

[0392] Figure 9 The diagram provides a flowchart illustrating the logic of each transformation step in the Harvest Sorting System (HSS). For simplicity, circles are used to represent connections to local information storage and external information exchange.

[0393] The HSS shown performs sensor measurements of weather, substrate, crop phenotype, and location at each step. Weather information can be used immediately, for example, to adjust cutter parameters to accommodate changes in straw texture with temperature and humidity. Secondly, weather information can be correlated with crop quality parameters and used to predict optimal harvest conditions for future crops. Substrate sensor information can be compared with substrate information collected during sowing operations to assess changes in substrate composition throughout the growing season. Changes in substrate composition can be used to improve agronomic models and determine fertilizer inputs required for future crops. Phenotypic sensors measure plants directly in front of the harvester unit and analyze the data to provide information on each plant species within the field of view. Information on plant type can be combined with location information from location sensors that read external beacons, such as GPS or local field beacons, to infer location relative to known seed locations with high accuracy.

[0394] Position sensors establish search areas for plant phenotypic patterns and compare these patterns with patterns stored during sowing operations to identify the harvester's position relative to the storage location of each seed, for example, in the following... Figure 10A The system stores the locations shown in 10D and 10E, and identifies the source of each plant from these patterns. That is, the system can use the location within the pattern to locate the characteristics of each seed placed in a previous sowing operation using the system of the present invention. The harvester can retrieve, plant by plant, detailed information about the characteristics of the seeds that produced the plant, the characteristics of the substrate in which the seeds were placed, the phenotypic characteristics of the plant, and the agricultural inputs used for the plant. This information can be combined with weather information during the growing season to improve the agronomic model for subsequent sowing operations. The phenotypic characteristics of each plant can be correlated with the characteristics of the elements harvested from said plant. The harvest can use the correlation to select the apparatus for harvesting each plant. As discussed below ( Figure 21 The harvester can choose an auxiliary harvester to harvest individual plants, or a regular harvester to harvest those plants not individually selected. The characteristics of crop elements in individually harvested plants can be directly correlated with the seeds that produced that plant, plant phenotype, agricultural inputs, weather, and substrate characteristics. At a given harvest time, the characteristics of crop elements in a general harvest can be statistically linked to the characteristics of plants within a general harvest area. These features of the invention are very useful for breeding crop types well-suited to every location in the field. The harvester of the present invention harvests crop material and information.

[0395] Harvesting and sorting systems preferably use Figure 2 , Figure 3The separation and sorting system shown in Figure 4 is used to separate and individually measure each harvested crop element. The harvested crop elements can be transferred to individual bins based on their location in the field and / or the characteristics of the harvested crop elements. The selected harvested crop elements can be used directly for the sowing operation of this invention. Alternatively, the stored crop elements can be guided to the sowing operation at a later date using any type of seeder.

[0396] The customer may have already specified a set of allocation locations from previous planting operations using this invention, and the harvester places crop elements from those allocation locations into one or more separate bins for that customer. The customer can specify a set of characteristic requirements for the harvested crop elements (or harvested plants), and the harvester guides crop elements that meet the customer's requirements into the bins allocated to the customer. The harvester can provide the customer with real-time information regarding the fulfillment of the specified volumes or characteristics via a network connection.

[0397] Figure 9 and 21 The harvesting and sorting system shown can, in principle, provide operators with real-time information about each crop element being harvested. In practice, operators receive statistics on the quantity, volume, or quality of crop grains belonging to attribute categories specified by each operator. Operators can use this information, for example, to adjust category parameters to meet market demands. Operators can coordinate the operations of multiple harvesting units located in geographically separated locations, collecting crop elements that meet the characteristic criteria from each location.

[0398] Figures 10A to 10E A method for growing crops is illustrated, wherein, during sowing, seeds are placed in a growth medium in different patterns, where these patterns define various distinct locations within the growth medium. Any reader can later use this pattern system to accurately identify locations on the growth medium. Thus, GPS can be used to identify a general area approximately 1 meter from the target area, and subsequently used for sowing according to patterns within such defined areas, the system identifying different locations by reading the different patterns.

[0399] The pattern can be one-dimensional in the horizontal or vertical direction, or more preferably two-dimensional in both the horizontal and vertical directions, to determine a specific location in the matrix.

[0400] Figure 10APossible positional coding patterns with two types of plants are shown. One cycle of the waveform is displayed. The upper curve contains only type 1 plants 801, and the lower curve contains type 2 plants 802. The number of type 802 plants and their position in the waveform can be used to distinguish one curve from another transverse to waveform 803. The pattern of type 802 plants can also be used to indicate the phase of the waveform. Sensors on the harvester collect data, and a computing device analyzes this data to generate plants and an internal representation of plant position and phenotype, such as... Figure 10A As shown. The computing device then compares the measured pattern with stored sowing patterns and finds the best match. Next, the computing device assigns seeds from the stored seed locations to each plant in the pattern. The computing device also identifies seeds that failed to germinate by analyzing the missing plant sequences. The computing device can also analyze phenotypic characteristics, associated seed characteristics, and measured location characteristics to provide information to improve the predictive accuracy of the agronomic model.

[0401] Figure 10B This diagram illustrates the area allocated to each seed in a conventional row seeder. The seeds are close together in the row direction but far apart laterally. This means that each plant is crowded in the row direction and needs to extend further to receive sunlight or soil resources laterally. Figure 10C An alternative seeding scheme is shown, which is achieved by the present invention based on hexagonal close packing. Plants in the hexagonal packing scheme can utilize resources more efficiently.

[0402] Figure 10D A schematic diagram of an improved hexagonal close-packed encoding method with two types of plants is shown. The first type is read as A along the indicated axis, and the second type as B. The unique sequence is compared with a stored sequence to find the best match. Once a match is found, the identity of each seed in the sequence can be determined, and the characteristics of each seed can be retrieved for analysis as described above. Furthermore, the identity of the seeds that generate the unique sequence can be determined by counting the number of lattice spacings between the reference plant and the unknown plant along each lattice axis.

[0403] Figure 10EThis illustrates a coding method based on a modified hexagonal close-packing scheme that can be used with a single type of plant. A triangular wave with wavelength λ and two layers extends from A to B, and a second wave with two layers shifts δ from A' to B'. The phase difference δ / λ can be used to distinguish layers perpendicular to the wave axis. The position of each seed is determined solely by its phase within the wave and relative to a reference point. Although the two waves shown in the figure have equal wavelengths, they do not necessarily have to be equal. One way to define the reference point is to arrange plant waves with different wavelengths along a line perpendicular to the wave axis with the same phase. Alternatively, the reference point can be an external marker or beacon.

[0404] like Figure 11 As shown, an arrangement is provided in which separated particles from a separation system are deposited on an intermediate matrix or carrier. The function of the intermediate matrix material is to maintain the spatial relationship between the thus deposited particles. Sensors measure one or more properties of the growing substrate or ground, and a modeler module uses this property information to predict crop characteristics for multiple test particle arrangements and selects a particle arrangement or indication based on input data from the operator. The modeler invokes an agronomic modeler for each test particle arrangement. For example, the operator can specify wheat, canola, and peas to be intercropped and instruct the modeler to select fertilizer inputs and seed locations for each type of seed to maximize the economic value of the combination under average weather conditions. Alternatively, the operator can minimize the impact of floods or droughts by selecting seed types and locations that minimize changes in total crop value under various weather conditions. A control unit generates a signal to a matrix former and places seeds, fertilizers, and other inputs on the intermediate matrix according to the modeler's specifications. The intermediate matrix material can then be deposited a second time on the ground or growing substrate via a ground applicator, in a manner similar to transferring the spatial arrangement of particles from the intermediate matrix to the arrangement of particles on the ground or growing substrate. For example, if seeds are transferred to the intermediate substrate at 10mm intervals, the intermediate substrate is deposited on the soil with the seed intervals also at 10mm intervals. The intermediate substrate is then placed on the ground using a ground applicator.

[0405] Figure 11A matrix sensor can consist of one or more instruments that scan the matrix at spatial resolution over a range of the crop's root or canopy region. Matrix sensors can measure infrared spectra and analyze the raw spectra to provide information about the concentrations of water, nitrogen, and phosphorus compounds in the soil or growing matrix. Matrix sensors can measure the dielectric response of the matrix to provide information about moisture content. Matrix sensors can measure Raman spectroscopy to provide information about minerals in the matrix. Matrix sensors can measure gamma rays from isotopes in the soil and analyze the intensity and energy to infer the concentration of elements in the soil. Radioactive gamma emitters can occur spontaneously or be produced, for example, through neutron activation. Matrix sensors can measure laser-induced breakdown spectroscopy (LIBS) and analyze the spectra to provide information about the concentration of elements in the matrix. Matrix sensors can emit radio waves or sound waves and measure the reflection. Analyzing the reflection provides information about soil structure. Matrix sensors can be cameras, and analyzing the images provides information about the number and size of stones or the quantity and type of crop residue. Agronomic models use information from one or more sensors to predict the nutrients available to plants at that location. Modelers predict plant growth by using different seed types and arrangements, as well as different fertilizers and other agricultural agents at the location, and select the combination that best meets the operator's requirements.

[0406] Figures 12 to 15 The diagram illustrates an arrangement in which a longitudinally continuous matrix of seeds, fertilizer, and other materials (e.g., fungicides) is applied to the ground as strips. The intermediate matrix can be composed, for example, of materials such as polylactic acid, cellulose acetate, or similar materials. Of course, the term fertilizer as used herein can refer to materials that can be used in this system to promote crop growth. The applied materials shown include seeds, fertilizer, and components that control the diffusion of fertilizer to the seeds. Fertilizer reservoirs can be located at locations different from the seed location to allow for the temporary adjustment of fertilizer availability to the seeds using different materials at different locations in certain situations. For example, the distance between the seeds and fertilizer (or the diffusion constant of the material) can vary depending on expected or actual water use efficiency. Intermediate carriers may include diffusion barriers to retain the material within the seed area and define the diffusion path from the fertilizer reservoir and the seeds. Using sensor information from each location, the details of the seed and fertilizer arrangement may vary location-specific, depending on the agronomic model for each location.

[0407] exist Figure 12In this process, the intermediate substrate consists of two layers, 911 and 912, each fed onto a roller 913 equipped with a sprocket to engage with a hole 914. The hole 914 serves as an alignment mark for guiding the intermediate substrate to a designated location on the growth substrate. Seeds 906, fertilizer 903, and other materials 909 (e.g., measuring devices) are placed at their designated positions on the first layer 911, quantified according to an agronomic algorithm based on at least one measured characteristic of the location where the intermediate substrate is to be placed. A second layer 912 is placed on top of the first layer to hold the deposited material in place.

[0408] Figure 13 An arrangement is shown in which seeds 906 and other materials are confined in discrete positions by tubes of variable diameter, the tubes being composed of material 915 continuously woven together to enclose the seeds. This material can be, for example, cellulose or nylon. The chosen intermediate substrate should be one that provides physical protection to the seeds.

[0409] Figure 14 An arrangement is shown in which the intermediate matrix consists of material 917, which increases in viscosity after extrusion from nozzle 916. While the matrix material is in a low-viscosity state and entrained in the flow, seeds 906 and other materials are added. As the viscosity of the intermediate matrix material increases and hardens, the seeds and other materials are held in place to deposit on the growth substrate. The intermediate matrix material can be, for example, a thermosetting polymer, which may be of the type that is UV-cured for rapid operation. Preferably, the polymer is biodegradable. In one embodiment, fertilizers and other materials can be injected in solution form immediately before extrusion at concentrations specific to each seed and location into the intermediate matrix material solution.

[0410] Figure 15 An arrangement is shown in which a strip material 923 with an adhesive coating 924 is dispensed, and seeds 906 and fertilizer 903 or other materials are placed on and held in place by the adhesive material. The strip material can be, for example, cellulose. Each seed or other material can be placed at any position on the strip by, for example, translating the strip and moving the placement device laterally to the direction of movement and perpendicular to the plane of the strip.

[0411] Figure 16 An alternative construction of the intermediate matrix is ​​shown, which is a series of individual plug components applied separately to the ground. Figure 16 and Figure 17A seed plug 180 with a handle 182 and a head 181 is shown. The handle contains a seed 183 and fertilizer 184 separated by a diffusion control material 185. The plugs are supplied to an applicator 186 in the form of a roller 187 having a longitudinal slot, each plug carrying a block 188 that is longitudinally movable within the slot. The block is fitted with the plug and is translated into the desired position within the slot before grounding. As the roller rolls on the ground, it pushes each plug into the ground at the position defined by its support block and then releases the head, leaving the plug on the ground. Computer control of the blocks in the slots in both the longitudinal and radial directions of the roller controls the placement of the plugs in 2D mode. By omitting some plugs in the available slots, placement along the longitudinal direction of movement can be controlled.

[0412] Figure 20A and 20B Seed plug 901 is shown, each having a removable head 902 containing fertilizer 903 abutting the outer diameter of payload tube 904. Payload tube 904 contains a transport conditioning medium 905 adjacent to fertilizer 903, which uses its own controlled nutrient rate to germinate seeds 906. The payload tube shown includes a stop region 910 that limits the depth of penetration into the substrate. In an alternative arrangement, the payload tube may have an adjustable stop. In another alternative arrangement, the payload tube may be without a stop and can be mounted on an XYZ platform for positioning the plug at any location and depth. The payload tube has a loosely packed soil mass 907 located between the seed 906 and piston head 908. Piston head 908 holds the transport conditioning medium, seed, and soil within payload tube 904 and can be used during tube loading to regulate soil compaction, providing good contact between the seed and soil without hindering germination. The requirements differ for each seed type. The transport conditioning medium 905 may contain a hygroscopic substance that attracts and retains soil moisture to aid in the germination and development of seeds 906. The payload may include an optional diagnostic device 909 capable of taking measurements and transmitting the results to an external reader. The diagnostic device may, for example, measure the concentration of nitrogen or phosphorus compounds in the root zone and relay the information via a radio link. The removable head may contain any combination of fertilizers, herbicides, fungicides, pesticides, biological agents, or soil. The order of components within the payload tube is for illustrative purposes only. Components may be placed in any order within the payload tube and the removable head. Figure 20A In this configuration, the head 902 is located outside the tube 904, such that the head has a portion that contacts the outer surface of the tube 904. Figure 20B In the middle, the head is located at the end of the tube and is held in place by the tube.

[0413] Figures 18A to 18E It shows that Figure 20AThe order in which the plugs are inserted into the growth matrix as described herein. The plugs are located in... Figure 18A Above the desired position, and in Figure 18B Insert vertically until the tube stop contacts the substrate surface and the piston head is at the same height as the substrate surface, such as... Figure 18C As shown. In Figure 18D In this process, the piston head is held at a height above the substrate surface, and the payload tube is extracted from the matrix. The matrix then vertically separates from the removable wash head and the contents of the payload tube embedded in the matrix. Finally, as... Figure 19 As clearly shown, the piston head is moved to the top of the payload tube. Figure 18E And reload the payload tube. (Plug) Figure 17 Insert as described above. Alternatively, insertion can begin from the XYZ platform mounted on the seeder. The entire seeder translates in the X direction. The plug is loaded onto the XYZ platform, and the platform translates in the Y direction to set the Y coordinate for plug placement. When the seeder reaches the desired X coordinate for plug placement, the platform translates in the -X direction to minimize relative movement between the ground and the platform, and the plug is inserted by translating along the Z direction. The XYZ platform can alternately move the seed tube and place the seed in the same manner.

[0414] Figure 21 The system illustrates a combine harvester assembly 700, which includes a tractor 701 forming a transport device for moving over the crop to be harvested and mounted on ground wheels 702. The combine harvester assembly includes conventional components including a header 703 with a cutter bar 704 and a reel 705 that feeds the chopped crop into a feed chamber 706. Inside the combine harvester, the fed crop is separated into grain and non-grain materials by a threshing drum 707, a rotor 708, and a sieve 709, with the non-grain material being discharged at 710. The combine harvester is operated by a worker in a cab 711, which contains various control systems 712 for manual control of various operations of the combine harvester. A central processing unit 713 controls the operation of the system and receives signals from a position system 714.

[0415] Therefore, the harvesting system on a combine harvester includes components for collecting crops and separating grains from other discharged crops.

[0416] The separated grains in this system are not directly fed into a storage container in a conventional combine harvester, but are instead fed into a separation, sensing, and separating system 715 that works in conjunction with processor 713 and is arranged to measure at least one characteristic of each separated seed. The construction and operation of the separation, sensing, and separating system 715 are described in more detail below, and the construction and operation of the separation, sensing, and separating system 715 are also shown in the aforementioned PCT disclosure WO 2018 / 018155, which is incorporated herein by reference.

[0417] A separation system 715 is used to sort seeds into individual paths 719, which in this embodiment necessitates multiple individual bins 716, 717, and 718. In this embodiment, bins 716 and 717 serve as storage bins for transporting harvested material, while bin 718 is used to collect the best seeds for use in an additional sowing operation performed by a combine harvester, as shown in 720. The sowing system includes a tank 721 for collecting seeds, a separator 722 (which may be of the type disclosed herein), a ground planting system 723, and a ground planting system 723 for planting the separated seeds. Fertilizer or other auxiliary materials may be added, as shown in 724. Although the number of bins shown is relatively small, it should be understood that the system can include a large number of bins, each containing seeds with different characteristics, so that the sowing system can select from any of such a large number of bins based on the measured characteristics and measurement requirements. The sowing system using this array can be connected to and become part of a harvester, or it can be a separate subsequent sowing operation, but can use the seed array in the bins generated by the system described above. Seeds can be transferred from storage bins on the harvester to supply bins on the seeder, or a stack of bins can be transferred as a structure.

[0418] Regarding the number of containers, the system described in this paper can be used to classify a large number of seeds into two or more containers; however, in some cases, the system will also classify a smaller number of seeds into smaller containers within a larger group. In one example of scale, a group of containers could be 1000 x 1000 or more.

[0419] In addition, each container contains at least one type of seed (for further analysis, i.e., genetics), or each container may contain many seeds (i.e., all seeds harvested from fragments of a particular plant or similar plant for sowing purposes).

[0420] When seeds are sown directly from a large array, the identity of the container from which the seed originated and its planting location are recorded. Sample seeds (the male parent) are preserved in the container for further analysis (genetic analysis) and compared with the resulting seeds. In other words, after crop growth, the system can be redirected to the location of the specific plant in question and the results checked, comparing the "father" seeds with the "son" seeds. This technology could be highly valuable for enhancing and accelerating plant breeding activities.

[0421] Similarly, the system may not initially harvest the seeds in the array. The seeds may come from seed companies that intend to utilize thousands or millions of varieties at a single crop planting site using our container array and plant location system as described above. Although the system will not harvest in this case, it can still measure the properties of the seeds being planted, and the system will track their location (via planting patterns, GPS, field RF tags, or other location methods).

[0422] Figure 21 The diagram also shows an auxiliary harvesting assembly 730, mounted in front of a header 703, for harvesting selected plants individually from the field, rather than feeding them into the general harvest. This is accomplished by analyzing the plants in front of the header using a sensing system 731, such as a camera and an imaging analysis system, moving the system on the header to a desired position relative to the width of the header, and operating the system as the plants to be harvested arrive. This results in the selection of plants with specific characteristics, which are stored separately and can form seeds for planting system 720. Assembly 730 includes a sorting mechanism of the type described above to select the best seeds from the selected plants for sowing or other purposes.

[0423] Figure 21 The arrangement shown and described herein can also be used in methods of harvesting crops, wherein the substrate is used simultaneously for two or more mixed crops of different types planted and harvested at the same time. Thus, machine 700 is used to harvest two or more previously planted crops, and a common threshing system is used to separate the desired seeds of the two or more crops from the other crop material. After co-harvesting, the seeds of one crop are separated from the collected seeds of the other crops. Preferably, the collected elements are separated on the co-harvesting machine using the separation system described in detail herein.

[0424] However, as an alternative (not shown), the collected seeds are transported to a location separate from the harvester and then separated again at the separate location using a stand-alone version of the system described herein.

[0425] Figure 21 The arrangements shown and described herein can also be used in methods for harvesting crops, wherein two or more different crops are planted in a substrate and using Figure 21Harvesting is carried out by machine 700. In this arrangement, during sowing, a sowing system for either the seeder 720 or a separate conventional sowing system can be operated to place different crops at set locations in the pattern or with crop codes associated with different locations in the substrate. Therefore, patterns or codes for type A and type B seeds can be arranged with a unique pattern related to the location where the seeds are applied. During harvesting, the patterns or codes in the crops are then detected, and the locations on the substrate are determined by analyzing the patterns.

[0426] The system described in this paper is used not only to separate A and B, but also to separate different parts of A and B, thus, for example, A+B -> A1, A2, B1, B2.

[0427] The harvester can identify the precise location of individual seeds from previous sowing operations using a combination of GPS, a location transponder, and one or more of the crop location coding systems described herein. This allows the system to correlate parameters of the seeds placed at each location with parameters of the crop and the harvested portion of the crop. Therefore, the system allows many thousands of different seed types to be sown individually at the identified locations. This can be accomplished using a planter with a large number of containers for different seed types, where the planter can take seeds from any container and place the selected seeds at the desired location, recording the resulting data for later analysis. This can be done at harvest or as a separate analysis step (e.g., using a drone). The arrangement in this paper also closes the circle because it allows for the following steps:

[0428] (a) Measure seed parameters during sowing

[0429] (b) Measure location parameters during sowing.

[0430] (c) During sowing, seeds are placed at the measured locations based on (a) and (b).

[0431] (d) Plant phenotypes at the location measured at harvest time

[0432] (e) Harvest the crop by location during the harvest season and separate the seeds from the debris.

[0433] (f) Measure seed parameters during harvest.

[0434] (g) During harvest, guide the seeds to the path according to (f).

[0435] (h) Storing seeds during seed harvesting

[0436] (i) Return to (a)

[0437] Note that the measurements at (a) and (f) may differ because stored seeds lose viability and germination potential due to enzyme depletion and energy reserves. By correlating the changes from (f) to (a) with (d), we can statistically identify markers that predict the germination potential of similar seeds.

[0438] The number of seeds used in sowing operations is more than the number required for the target plant population to compensate for those that fail to germinate. Seed requirements and costs can be reduced by identifying vigor markers.

[0439] Patterns can be detected by measuring harvested crop elements after harvest using detection system 715. Alternatively, or additionally, patterns can be detected by measuring the crop before harvest using sensing system 730.

[0440] As mentioned above and in Figure 2 , 3 The sorting device 715 shown in Figure 4 is installed in a suitable location within the combine harvester to receive the separated grain. For example, this could be located on a typical lifting auger, so that the material lifted from the screen is conveyed upwards, but not into a conventional single bin, but rather into the feed pipe 12 of the separation system.

Claims

1. A method for growing crops in a growth medium, characterized in that, include: The seeds of the crop are sown in the growth medium; The crop is harvested when it is growing on the growing medium; During the sowing period, information about each seed being sown is obtained; During the harvest season, obtain information about the individual seeds being harvested; And to associate information about seeds from each species with information about seeds harvested relative to a specific location on the growth medium.

2. The method according to claim 1, characterized in that, This includes information about the growth medium associated with the location where the seed is placed.

3. The method according to claim 1, characterized in that, Information about the physical characteristics of each seed in a series of seeds placed on a growth medium is stored along with information about the location where the seeds are placed.

4. The method according to claim 3, characterized in that, The stored information about seed quality parameters is related to the quality of plants produced at the stored location, where the relevant information is used to select the best seed for each location.

5. The method according to claim 1, characterized in that, Plants with desired phenotypes and desired seed quality parameters are selected by analyzing information from crop sensors; information about plant location is relayed to an auxiliary harvesting unit, which moves to the selected plant location and extracts the seeds; the seeds are then transferred from the auxiliary harvesting unit to a dedicated sorting unit, which sorts the seeds according to at least one measured quality parameter and forwards them to a storage bin based at least in part on the measured quality parameter.

6. The method according to claim 3, characterized in that, The stored information about seed quality parameters is correlated with the quality of plants produced at the stored locations, thereby selecting the best seeds for each location.

7. The method according to claim 1, characterized in that, The position sensor establishes a search area for plant phenotypic patterns and compares the plant phenotypic patterns within the area with the patterns stored in the sowing operation to identify the position of the harvester relative to the storage location of each seed.

8. The method according to claim 7, characterized in that, The harvester searches for information about each plant, including the characteristics of the seeds that produced the plant, the characteristics of the substrate in which the seeds were placed, the phenotypic characteristics of the plant, and the agricultural inputs used on the plant.

9. The method according to claim 1, characterized in that, The characteristics of individually harvested plants are directly related to the seeds that produced the plant, plant phenotype, agricultural inputs, weather, and substrate characteristics.

10. The method according to claim 1, characterized in that, A device was provided for separating the seed into individual streams for measurement.

11. The method according to claim 1, characterized in that, The seed information is obtained through a sensing system that includes a device that receives flux from the seed to be measured and performs measurement steps, including photons, electrons, neutrons, atoms, ions, molecules, or any combination thereof.

12. The method according to claim 11, characterized in that, The sensing system is a spectrometer that provides information about the composition of the seeds.

13. The method according to claim 11, characterized in that, The sensing system is an imaging system that provides information about the size, shape, and reflectivity of the seed at one or more wavelengths.

14. The method according to claim 11, characterized in that, The sensing system is acoustic and provides information about density changes within the seed.

15. The method according to claim 11, characterized in that, The sensing system operates to obtain information about at least one quality parameter for each seed, and analyzes the obtained information to classify the seeds.

16. The method according to claim 11, characterized in that, The sensing system operates to obtain the time spent processing the seed.

17. The method according to claim 11, characterized in that, The sensing system operates to generate summary statistics for the seeds.

18. The method according to claim 11, characterized in that, The sensing system is configured to generate statistical data on how the parameters of the seeds are spatially correlated as the harvesting system moves from one location to another relative to the growth medium.

19. The method of claim 1, further comprising using a common threshing system to separate the seeds of the harvested crop from other crop material; The seeds are collected from the threshing system as a separate public supply of seeds; Its features are, An apparatus is provided for separating the seeds from the public supply in order to separate each seed from other seeds to form a single stream of the seeds for measurement; A sensing system is used to measure at least one property of each individual seed independently of other seeds when the individual seed is in the single stream.

20. The method according to claim 19, characterized in that, Based on the measured properties, during harvesting, at least some of the separated seeds were separated into paths that were separate from the other separated seeds.

21. A method for growing crops in a growth medium, characterized in that, include: The seeds of the crop are sown in the growth medium; The selected seeds are placed at a known location within the area of ​​the growth medium scattered among the other seeds; When the crop has grown on the growing medium, it is harvested by a harvester that moves back and forth on the growing medium to collect all the crop on the growing medium. During the harvesting period, the crops that grow from the selected seeds at the location are harvested, the harvested crops are separated from other crops in the growing medium, and the harvested seeds of those crops are separated from the seeds of other harvested crops. The separated seeds were then collected.

22. A seeding apparatus for applying seeds onto a growing medium, characterized in that, include: A type of storage container; A supply pipe for conveying seeds from the container; A separation device for separating seeds from each other in a separated stream; A conveying component for conveying the separated seeds to the growth medium; The delivery component includes an intermediate substrate on which the separated seeds are applied, and at least a portion of the separated seeds are applied together with the seeds to the growth medium.

23. A seeding apparatus for applying seeds onto a growing medium, characterized in that, include: A type of storage container; A supply pipe for conveying seeds from the container; A separation device for separating seeds from each other in a separated stream; A control device; as well as A conveying component for conveying separated seeds to the growth medium; wherein the control device uses a growth model to generate at least two schemes for plant growth at each location in the growth medium, the growth model selecting the option most suitable for user requirements from a variety of different seeds, and simultaneously issuing a control signal to place the selected seed at the location.

24. A seeding apparatus for applying seeds onto a growing medium, characterized in that, include: A type of storage container; A supply pipe for conveying seeds from the container; A separation device for separating seeds from each other in a separated stream; A control device; as well as A conveying component for conveying the separated seeds to the growth medium; The control device is at least partially responsive to input from external demands on the product to select the seeds to be sown.

25. A seeding apparatus for applying seeds onto a growing medium, characterized in that, include: A type of storage container; A supply pipe for conveying seeds from the container; A dividing device, comprising: A pipe through which the seed passes; An assembly for rotating the pipe about an axis, such that the centrifugal force generated by the rotation drives the seed along the pipe and applies pressure to the seed against the wall of the pipe to make it slide along the wall of the pipe. And a conveying component for conveying the separated seeds to the growth medium.

26. A seeding apparatus for applying seeds onto a growth medium, characterized in that, include: A type of storage container; A supply pipe for conveying seeds from the container; A separation device for separating seeds from each other in a separated stream; A control device; as well as A conveying component for conveying the separated seeds to the growth medium; The invention provides a plurality of seeding devices installed at intervals, and each seeding device is associated with a corresponding one of a plurality of sensing devices, each sensing device acquiring information relating to the condition of the growth medium at its respective seeding device.

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