Agricultural trench depth sensing systems, methods, and apparatus

An agricultural trench depth sensing system, comprising:

• an agricultural row unit including an opening disc configured to open a trench in a soil surface as the row unit advances in a forward direction of travel through a field;
• and
• a light source disposed above said trench and configured to direct light downwardly toward said trench;
• a receiver disposed at an angle relative to said light source to receive reflected light from said light source reflected from said trench and soil surface;
• a sensor connected to said receiver, said sensor generating an output signal based on said reflected light;
• wherein said light source, said receiver and said sensor are mounted on an appurtenance supported from a frame member of said row unit, said appurtenance extending rearwardly from said opening disc and longitudinally aligned with said trench, and wherein said appurtenance is a seed firmer, said seed firmer having a ground engaging portion disposed in said trench;
• a monitoring system in communication with said sensor, said monitor system configured to generate a data frame based on said sensor output signal, said data frame containing a triangulated line pattern and intensity values of said reflected light along said triangulated line pattern indicative of a measured depth of said trench;
• a GPS receiver in communication with said monitoring system;
• whereby said monitor system is configured to associate GPS coordinates from said GPS receiver with each said data frame.