System and method for monitoring soil composition at different depths within a field

A system for monitoring soil composition within a field may have a ground-engaging tool configured to engage soil within a field as an implement moves across the field. The system may further have a sensor configured to generate data indicative of a soil composition within the field, where the sensor is movable relative to the ground-engaging tool while the implement moves across the field such that the sensor generates data indicative of the soil composition at different depths within the field. Additionally, the system may have a controller communicatively coupled to the sensor, with the controller being configured to determine the soil composition at the different depths within the field based at least in part on the data received from the sensor.

FIELD OF THE INVENTION

The present disclosure relates generally to monitoring soil composition within the field and, more particularly, to systems and methods for monitoring soil composition at different depths within a field while performing an agricultural operation with an associated agricultural implement.

BACKGROUND OF THE INVENTION

A wide range of agricultural implements have been developed and are presently in use for tilling, cultivating, harvesting, and so forth. Tillage implements, for example, are commonly towed behind tractors and may cover wide swaths of ground that include various types of residue. Accordingly, tillers typically include ground-engaging tools, such as coulters, shanks, tillage points, and/or the like, configured to condition the soil for improved soil composition, such as organic matter, residue, and/or moisture content or distribution while reducing soil compaction from such sources as machine traffic, grazing cattle, and standing water. The ground-engaging tools may be selected depending upon the field conditions and the desired results of the tilling operation. Conventional tillage practices include setting a predetermined penetration depth for the ground-engaging tools of the implement and pulling the implement across a field to till the soil.

The soil composition of the field may affect subsequent operations within the field, such as fertilizing, seeding, planting, etc. For example, the desired penetration depth and/or force applied to furrow-closing tools of a seed-planting implement may be based on the soil composition of the field. Typically, soil sensors provided in association with tillage implements are only configured to generate data indicative of the soil composition at one depth within the field. However, the soil composition at different depths within the field may vary significantly, which may affect the quality of subsequent field operations.

Accordingly, an improved system and method for monitoring the soil composition at different depths within a field would be welcomed in the technology.

BRIEF DESCRIPTION OF THE INVENTION

In one aspect, the present subject matter is directed to a system for monitoring soil composition within a field, where the system includes a ground-engaging tool configured to engage soil within a field as an implement moves across the field. The system further includes a sensor configured to generate data indicative of a soil composition within the field, with the sensor being movable relative to the ground-engaging tool while the implement moves across the field such that the sensor generates data indicative of the soil composition at different depths within the field. Additionally, the system includes a controller communicatively coupled to the sensor. The controller is configured to determine the soil composition at the different depths within the field based at least in part on the data received from the sensor.

In another aspect, the present subject matter is directed to a method for collecting soil composition data within a field as an implement moves across a field, where the implement has a ground-engaging tool. The method includes performing a ground-engaging operation with the ground-engaging tool of the implement as the implement moves across the field. The method further includes moving a sensor relative to the ground-engaging tool during the ground-engaging operation between a raised position and a lowered position, where the sensor is configured to generate data indicative of a soil composition within the field. Moreover, the method includes receiving, with a computing device, the data from the sensor indicative of at least the soil composition at a first depth when the sensor is in the raised position and the soil composition at a second depth when the sensor is in the lowered position. Additionally, the method includes determining, with the computing device, the soil composition within the field based on the received data.

DETAILED DESCRIPTION OF THE INVENTION

In general, the present subject matter is directed to systems and methods for monitoring the soil composition at different depths within a field as an agricultural implement moves across the field. Specifically, in several embodiments, as the agricultural implement is moved across a field to perform an agricultural operation, a controller of the disclosed system may be configured to receive data from a soil sensor positioned behind a ground-engaging tool of the agricultural implement. More particularly, in accordance with aspects of the present subject matter, the soil sensor may be configured to move relative to the ground-engaging tool as the agricultural implement moves across the field to generate data indicative of the soil composition at different depths within the field. For example, in some embodiments, the soil sensor may be movable relative to the ground-engaging tool by an actuator controlled by the controller. In other embodiments, the soil sensor may be moved based on movement of the associated ground-engaging tool while the implement moves across the field. For example, in one embodiment, a cam or an actuating disc may be coupled to a ground-engaging tool for rotation with the ground-engaging tool about a rotational axis as the implement is towed across the field, where rotation of the cam or the actuating disc about the rotational axis causes movement of the sensor relative to the ground-engaging tool. As such, the controller may be configured to determine the soil composition at different depths within the field across which the implement is moved based on the received data. In some embodiments, the controller may further be configured to generate a field map identifying the soil composition at a plurality of locations and depths within the field.

Referring now to the drawings,FIG.1illustrates a perspective view of one embodiment of an agricultural implement12in accordance with aspects of the present subject matter. In the illustrated embodiment, the agricultural implement12corresponds to a tillage implement configured to be towed across a field in a direction of travel (e.g., as indicated by arrow14). However, in other embodiments, the agricultural implement12may be configured as any other suitable implement (e.g., planter, seeder, fertilizer, and/or the like.

As shown inFIG.1, the implement12may include a frame16. More specifically, the frame16may extend along a longitudinal direction18between a forward end20and an aft end22. The frame16may also extend along a lateral direction24between a first side26and a second side28. In this respect, the frame16generally includes a plurality of structural frame members30, such as beams, bars, and/or the like, configured to support or couple to a plurality of components. Furthermore, a hitch assembly32may be connected to the frame16and configured to couple the implement12to a work vehicle for towing. Additionally, a plurality of wheel assemblies may be coupled to the frame16, such as a set of centrally located wheels34(one of which is shown) to facilitate towing the implement12in the direction of travel.

In several embodiments, the frame16may support a plurality of row units40having a plurality of ground-engaging tools configured to till or otherwise break the soil over which the implement12travels to create a seedbed. In this respect, each row unit40may include a coulter42which rotates about a rotational axis44as the implement12moves across the field in the direction of travel14. The coulter42may be supported relative to the frame16by a support arm50in a manner that permits the penetration depth of the coulter42to be adjusted. Similarly, in some embodiments, each row unit40may include a shank46, which is pulled through the soil as the implement12moves across the field in the direction of travel14to create a trench in the soil. Additionally, in some embodiments, each row unit40may include a closing assembly (e.g., pair of closing wheels48) configured to roll over and at least partially close the trench created by the associated shank46. The shanks46and closing wheels48may similarly be supported relative to the frame16in a manner that permits the penetration depth of the shanks46and closing force of the closing wheels48to be adjusted.

Additionally, it should be appreciated that the implement12may, in some embodiments, include any number of suitable actuators (e.g., hydraulic actuators, electric linear actuators, and/or the like) (not shown) for automatically adjusting the relative positioning, penetration depth, and/or force associated with the various ground-engaging tools of the implement12(e.g., ground-engaging tools42,46,48). It should further be appreciated that, in some embodiments, the implement12may include any other suitable number of row units40, such as more or less than the number of row units40illustrated.

It should also be appreciated that the configuration of the implement12described above is provided only to place the present subject matter in an exemplary field of use. Thus, it should be appreciated that the present subject matter may be readily adaptable to any manner of implement having any suitable ground-engaging tools (e.g., disk openers, and/or the like) for any suitable field of use, such as agriculture, construction, and/or the like.

Referring now toFIGS.2A-2B, various views of a portion of a ground-engaging tool of an agricultural implement and one embodiment of a sensing assembly for monitoring the soil composition within a field are illustrated in accordance with aspects of the present subject matter. More particularly,FIG.2Aillustrates a side view of the ground-engaging tool and the sensing assembly while a portion of the sensing assembly is in a first position. Additionally,FIG.2Billustrates another side view of the ground-engaging tool and the sensing assembly following actuation of the sensing assembly relative to the ground-engaging tool from the first position shown inFIG.2A.

In accordance with aspects of the present subject matter, a sensing assembly100may be associated with one of the ground-engaging tools of an agricultural implement (e.g., the implement12shown inFIG.1) for monitoring the soil composition at different depths within a field as the implement12moves across the field. For example, as shown inFIGS.2A and2B, the sensing assembly100may be associated with the coulter42of the row unit40described above.

The sensing assembly100may include a soil sensor102configured to generate data indicative of the soil composition within the field as the implement12moves across the field. The sensor102is positioned rearward or aft of the coulter42along the direction of travel14(e.g., within a trench or cut formed by the coulter42) and supported relative to the coulter42by a sensor arm104. More particularly, the sensor arm104is movable relative to the coulter42such that the sensor102moves relative to the coulter42to generate data indicative of the soil composition at different depths within the field. For instance, the sensor arm104may be rotatably mounted to the support arm50used to mount or support the coulter42relative to the implement frame16(FIG.1). In one embodiment, the sensor arm104may be mounted to the support arm50for rotation relative to the coulter42about the coulter's rotational axis44. However, in other embodiments, the sensor arm104may be rotatable about a separate rotational axis from the coulter42. It should be appreciated that the sensor arm104may be otherwise supported relative to the coulter42such that the sensor102has an adjustable depth relative to the coulter42. For instance, the sensor arm104may be slidably mounted to the support arm50.

The sensing assembly100may further include an actuator106configured to actuate the sensor arm104relative to the support arm50such that the sensor102moves relative to the coulter42. For instance, the actuator106may be configured to move the sensor arm104relative to the support arm50such that the sensor102moves relative to the coulter42between a raised position (FIG.2A) and a lowered position (FIG.2B). For example, in one embodiment, the actuator106may rotate the sensor arm104about the rotational axis44to move the sensor102between the raised and lowered positions. When the sensor102is in the raised position (FIG.2A), the sensor102is configured to generate data indicative of the soil composition at a first depth108below the field surface. When the sensor102is in the lowered position (FIG.2B), the sensor102is configured to generate data indicative of the soil composition at a second depth110below the field surface, where the second depth110is deeper than the first depth108. In some embodiments, the second depth110corresponds to the penetration depth of the coulter42. However, in other embodiments, the second depth110may correspond to any other distance below the field surface. It should be appreciated that the actuator106may be configured as any suitable device capable of moving the sensor arm104relative to the coulter42, such as a linear actuator, such as a pneumatic or fluid driven actuator, a rotary actuator, and/or the like. It should further be appreciated that the actuator106may move the sensor arm104such that the sensor102may be positioned at any position between the raised and lowered positions to generate data indicative of the soil composition of the field at an associated depth(s) between the first and second depths108,110.

The depth at which the sensor102generates the data indicative of the soil composition may be monitored based on the actuation (e.g., extension, retraction, and/or rotation) of the actuator106or using a separate depth sensor150(FIG.6). In one embodiment, the depth sensor150may be configured as a rotational sensor configured to monitor the rotation of the sensor arm104about the rotational axis44. However, it should be appreciated that the depth sensor150may be configured as any other suitable sensor for monitoring the depth of the sensor102.

It should be appreciated that the sensor arm104may include any suitable number of soil sensors102. For example, in one embodiment, the sensor arm104may only include one soil sensor102. However, in other embodiments, the sensor arm104may include a plurality of soil sensors102. In such an embodiment, several soil sensors102may be installed at different locations along the sensor arm104such that the soil composition at multiple depths may be taken at one position of the sensor arm104.

Referring now toFIGS.3A-3Bvarious views of a portion of a ground-engaging tool of an agricultural implement and another embodiment of a sensing assembly for monitoring the soil composition within a field are illustrated in accordance with aspects of the present subject matter. More particularly,FIG.3Aillustrates a side view of the ground-engaging tool and the sensing assembly while a portion of the sensing assembly is in a first position. Additionally,FIG.3Billustrates another side view of the ground-engaging tool and the sensing assembly following actuation of the sensing assembly relative to the ground-engaging tool from the first position shown inFIG.3A.

In the embodiment shown, a sensing assembly100′ is provided relative to the coulter42, with the sensing assembly100′ being configured substantially similar to the sensing assembly100. For instance, the sensing assembly100′ includes a sensor102′ configured the same as or substantially similar to the sensor102described above. The sensor102′ is positioned rearward or aft of the coulter42along the direction of travel14(e.g., within a trench or cut formed by the coulter42) and is supported relative to the coulter42by a sensor arm104′. The sensor arm104′ is movable relative to the coulter42such that the sensor102′ moves relative to the coulter42to generate data indicative of the soil composition at different depths within the field. For instance, the sensor arm104′ is mounted to the support arm50for rotation about a second rotational axis116′ spaced apart from the rotational axis44of the coulter42. It should be appreciated that the sensor arm104′ may be otherwise supported relative to the coulter42such that the sensor102′ has an adjustable depth relative to the coulter42. For instance, the sensor arm104′ may be as slidably mounted to the support arm50.

Unlike the sensing assembly100shown inFIGS.2A-2B, the sensing assembly100′ ofFIGS.3A-3Bincludes a cam actuator118′ (hereafter referred to simply as “cam118”). In one embodiment, the cam118′ is rotationally fixed to the coulter42for rotation about the rotational axis44as the implement12moves across a field. However, in other embodiments, the cam118′ may be configured to rotate relative to the coulter42about the rotational axis44(e.g., using a gear train, and/or the like). The cam118′ has an outer profile120′ which extends generally parallel to the rotational axis44and which supports the sensor arm104′. The outer profile120′ of the cam118′ has varying distances from the rotational axis44such that, as the cam118′ rotates, the distance between the sensor arm104′ and the rotational axis44of the cam118′ changes. For instance, the sensor102′ is in a raised position (FIG.3A) when the cam118′ is at a first rotational position corresponding to the longest distance between the rotational axis44and the contact location of the sensor arm104′ on the outer profile120′ of the cam118′. Similarly, the sensor102′ is in a lowered position (FIG.3B) when the cam118′ is at a second rotational position corresponding to the shortest distance between the rotational axis44and the contact location of the sensor arm104′ on the outer profile120′ of the cam118′. As the cam118′ rotates, the sensor102′ is moved cyclically between such raised and lowered positions.

In some embodiments, the sensing assembly100further includes a biasing element configured to keep the sensor arm104′ in contact with the cam118′. For instance, in the embodiment shown, the sensing assembly100further includes a biasing element122′ coupled between the support arm50and the sensor arm104′. The biasing element122′ is configured, in one embodiment, as a helical compression spring. However, the biasing element122′ may be configured as any other suitable biasing element configured to keep the sensor arm104′ in contact with the cam118′. For example, the biasing element122′ may instead be configured as a pneumatic spring valve, a tension spring, a torsion spring, and/or the like coupled between any suitable elements of the sensing assembly100and/or elements of the row unit40. It should also be appreciated that, in some embodiments, the weight of the sensor arm104′ and the sensor102′ is sufficient to keep the sensor arm104′ in contact with the cam118′. As such, in some embodiments, a biasing element, such as the biasing element122′, is not necessary.

When the sensor102′ is in the raised position (FIG.3A), the sensor102′ is configured to generate data indicative of the soil composition at a first depth108′ below the field surface. When the sensor102′ is in the lowered position (FIG.3B), the sensor102′ is configured to generate data indicative of the soil composition at a second depth110′ below the field surface, where the second depth110′ is deeper than the first depth108′. In some embodiments, the second depth110′ corresponds to the penetration depth of the coulter42. However, in other embodiments, the second depth110′ may correspond to any other distance below the field surface. It should be appreciated that the outer profile120′ of the cam118′ may be configured such that the cam118′ may move the sensor arm104′ such that the sensor102′ may be positioned at any position between the raised and lowered positions to generate data indicative of the soil composition of the field at an associated depth(s) between the first and second depths108′,110′.

The depth at which the sensor102′ generates the data indicative of the soil composition may be monitored using a depth sensor(s)150′ (FIG.6). In one embodiment, the depth sensor(s)150′ may be configured as a rotational sensor configured to monitor the rotation of the cam118′ about the rotational axis44and/or of the sensor arm104′ about the second rotational axis116′. However, it should be appreciated that the depth sensor(s)150′ may be configured as any other suitable sensor for monitoring the depth of the sensor102′.

It should also be appreciated that the sensor arm104′ may include any suitable number of soil sensors102′. For example, in one embodiment, the sensor arm104′ may only include one soil sensor102′. However, in other embodiments, the sensor arm104′ may include a plurality of soil sensors102′. In such an embodiment, several soil sensors102′ may be installed at different locations along the sensor arm104′ such that the soil composition at multiple depths may be taken at one position of the sensor arm104′.

Referring now toFIGS.4A-4Bvarious views of a portion of a ground-engaging tool of an agricultural implement and yet another embodiment of a sensing assembly for monitoring the soil composition within a field are illustrated in accordance with aspects of the present subject matter. More particularly,FIG.4Aillustrates a side view of the ground-engaging tool and the sensing assembly while a portion of the sensing assembly is in a first position. Additionally,FIG.4Billustrates another side view of the ground-engaging tool and the sensing assembly following actuation of the sensing assembly relative to the ground-engaging tool from the first position shown inFIG.4A.

In the embodiment shown, a sensing assembly100″ is provided relative to the coulter42, with the sensing assembly100″ being configured substantially similar to the sensing assembly100,100′. For instance, the sensing assembly100″ includes a soil sensor102″ configured the same as or substantially similar to the sensor102,102′ described above. The sensor102″ is positioned rearward or aft of the coulter42along the direction of travel14(e.g., within a trench or cut formed by the coulter42) and is supported relative to the coulter42by a sensor arm104″. The sensor arm104″ is movable relative to the coulter42such that the sensor102″ moves relative to the coulter42to generate data indicative of the soil composition at different depths within the field. For instance, the sensor arm104″ is mounted to the support arm50by a linkage assembly124″. In particular, the linkage assembly124″ includes a support extension arm126″ that is fixed to the support arm50. The sensor arm104″ is rotatably coupled to the support extension arm126″ about a second rotational axis128″ spaced apart from the rotational axis44of the coulter42. The sensor arm104″ further comprises a slot130″ configured to receive a pin132″ of an actuating disc134″, where the actuating disc134″ is rotationally coupled to the coulter42for rotation about the rotational axis44of the coulter42. The pin132″ is spaced apart from the rotational axis44of the coulter42such that, as the actuating disc134″ rotates with the coulter42as the implement12moves across the field, the pin132″ moves in a generally circular path and slides within the slot130″ of the sensor arm104″.

The sliding of the pin132″ within the slot130″ causes the sensor arm104″ to rotate about the second rotational axis128″ such that the sensor102″ translates substantially (almost completely or completely) in the vertical direction. For instance, the sensor102″ is in a raised position (FIG.4A) when the actuating disc134″ is at a first rotational position corresponding to when the pin132″ is vertically above the rotational axis44. Similarly, the sensor102″ is in a lowered position (FIG.4B) when the actuating disc134″ is at a second rotational position corresponding to when the pin132″ is vertically below the rotational axis44. As the actuating disc134″ rotates, the sensor102″ is moved cyclically between such raised and lowered positions.

When the sensor102″ is in the raised position (FIG.4A), the sensor102″ is configured to generate data indicative of the soil composition at a first depth108″ below the field surface. When the sensor102″ is in the lowered position (FIG.4B), the sensor102″ is configured to generate data indicative of the soil composition at a second depth110″ below the field surface, where the second depth110″ is deeper than the first depth108″. In some embodiments, the second depth110″ corresponds to the penetration depth of the coulter42. However, in other embodiments, the second depth110″ may correspond to any other distance below the field surface. It should be appreciated that the actuating disc134″ and the associated pin132″ and/or the slot132″ within the sensor arm104″ may be configured such that the pin132″ may move the sensor arm104″ such that the sensor102″ may be positioned at any position between the raised and lowered positions to generate data indicative of the soil composition of the field at an associated depth(s) between the first and second depths108″,110″.

The depth at which the sensor102″ generates the data indicative of the soil composition may be monitored using a depth sensor(s)150″ (FIG.6). In one embodiment, the depth sensor(s)150″ may be configured as a rotational sensor configured to monitor the rotation of the actuating disc134″ or coulter42about the rotational axis44and/or of the sensor arm104″ about the second rotational axis128″. However, it should be appreciated that the depth sensor(s)150″ may be configured as any other suitable sensor for monitoring the depth of the sensor102″.

It should also be appreciated that the sensor arm104″ may include any suitable number of soil sensors102″. For example, in one embodiment, the sensor arm104″ may only include one soil sensor102″. However, in other embodiments, the sensor arm104″ may include a plurality of soil sensors102″. In such an embodiment, several soil sensors102″ may be installed at different locations along the sensor arm104″ such that the soil composition at multiple depths may be taken at one position of the sensor arm104″.

Referring now toFIG.5, a rear view of the sensing assembly100,100′,100″ along the direction of travel14is shown, particularly illustrating the sensor102,102′,102″ and the sensor arm104,104′,104″ of the sensing assembly100,100′,100″ in accordance with aspects of the present subject matter. In one embodiment, the sensor102,102′,102″ may be configured as a multi-spectral sensor which emits an output signal(s) (e.g., as indicated by arrow112) for reflection off of the soil and receives the reflected output signals as a return signal(s) (e.g., as indicated by arrow114), with such return signals114being indicative of the soil composition at the depth of the sensor102,102′,102″. The sensor102,102′,102″ may be mounted or positioned on the sensor arm104,104′,104″ in any suitable manner that permits the sensor102,102′,102″ to emit the output signal(s)112towards a lateral side of a cut Cl formed in the field by the coulter42and receive the reflected return signal(s)114. For example, in the illustrated embodiment, the sensor102,102′,102″ may be positioned within a cavity104C of the sensor arm104,104′,104″ having an opening/window W1such that the output signal(s)112emitted by the sensor102,102′,102″ and the reflected return signal(s)114detected by the sensor102,102′,102″ may pass through the opening/window W1. In some embodiments, the opening/window W1has a transparent or translucent covering that prevents soil/moisture from entering the cavity104C of the sensor arm104,104′,104″, while still allowing emitted output signal(s)112to exit and reflected return signal(s)114to enter the cavity104A. However, in alternative embodiments, the sensor102,102′,102″ may be mounted to any other suitable portion of the sensor arm104,104′,104″, such as on an outer surface of the sensor arm104,104′,104″.

It should be appreciated that the soil sensor102,102′,102″ may generally correspond to any suitable sensing device configured to function as described herein. For example, in one embodiment, the sensor102,102′,102″ may include an emitter(s) configured to emit an electromagnetic radiation signal(s), such as an ultraviolet radiation signal(s), a near-infrared radiation signal(s), a mid-infrared radiation signal(s), or a visible light signal(s) for reflection off of the soil. The soil sensor102,102′,102″ may also include a receiver(s) configured to receive the reflected electromagnetic radiation signal(s). One or more spectral parameter(s) (e.g., the amplitude, frequency, and/or the like) of the reflected electromagnetic radiation signal(s) may, in turn, be indicative of the soil composition. In this regard, the emitter(s) may be configured as a light-emitting diode (LED(s)) or other electromagnetic radiation-emitting device(s) and the receiver(s) may be configured as a photo resistor(s) or other electromagnetic radiation-receiving device(s). However, in alternative embodiments, the sensor102,102′,102″ may have any other suitable configuration and/or components.

Referring now toFIG.6, a schematic view of one embodiment of a system200for monitoring the soil composition at different depths within a field as an agricultural implement moves across the field is illustrated in accordance with aspects of the present subject matter. In general, the system200will be described herein with reference to the implement12described above with reference toFIG.1, as well as the ground-engaging tool and the associated system components described above with reference toFIGS.2A-5. However, it should be appreciated by those of ordinary skill in the art that the disclosed system200may generally be utilized with agricultural implements having any other suitable implement configuration and/or any other suitable ground-engaging tools. Additionally, it should be appreciated that, for purposes of illustration, communicative links or electrical couplings of the system200shown inFIG.6are indicated by dashed lines.

In several embodiments, the system200may include a controller202and various other components configured to be communicatively coupled to and/or controlled by the controller202, such as a sensing assembly (e.g., the sensing assembly100,100′,100″) having one or more sensors that are used to detect one or more parameters associated with the soil composition within the field (e.g., soil sensor(s)102,102′,102″, depth sensor(s)150,150′,150″, and/or the like) and having one or more actuators (e.g., actuator(s)106,118′,134″) configured to actuate the associated sensor(s)102,102′,102″. The system200may further include a user interface (e.g., user interface210). The user interface210described herein may include, without limitation, any combination of input and/or output devices that allow an operator to provide inputs to the controller202and/or that allow the controller202to provide feedback to the operator, such as a keyboard, keypad, pointing device, buttons, knobs, touch sensitive screen, mobile device, audio input device, audio output device, and/or the like.

In general, the controller202may comprise any suitable processor-based device known in the art, such as a computing device or any suitable combination of computing devices. Thus, in several embodiments, the controller202may include one or more processor(s)204, and associated memory device(s)206configured to perform a variety of computer-implemented functions. As used herein, the term “processor” refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic circuit (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s)206of the controller202may generally comprise memory element(s) including, but not limited to, a computer readable medium (e.g., random access memory RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disk-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disk (DVD) and/or other suitable memory elements. Such memory device(s)206may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s)204, configure the controller202to perform various computer-implemented functions, such as one or more aspects of the methods and algorithms that will be described herein. In addition, the controller202may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control bus and/or the like.

It should be appreciated that, in several embodiments, the controller202may correspond to an existing controller of the agricultural implement12and/or of the work vehicle to which the implement12is coupled. However, it should be appreciated that, in other embodiments, the controller202may instead correspond to a separate processing device. For instance, in one embodiment, the controller202may form all or part of a separate plug-in module that may be installed within the agricultural implement12to allow for the disclosed system and method to be implemented without requiring additional software to be uploaded onto existing control devices of the agricultural implement12.

In some embodiments, the controller202may be configured to include a communications module or interface208to allow for the controller202to communicate with any of the various system components described herein. For instance, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface208and the sensor(s)102,102′,102″,150,150′,150″ to allow data to be transmitted from the sensor(s)102,102′,102″,150,150′,150″ to the controller202. Similarly, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface208and the actuator(s)106to allow the controller202to control the operation of one or more components of the actuator(s)106. Additionally, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface208and a user interface (e.g., user interface210) to allow operator inputs to be received by the controller202and/or to allow the controller202to control the operation of one or more components of the user interface210.

As described above, the soil sensor(s)102,102′,102″ may be configured to emit output signal(s)112for reflection off of the soil within cuts formed within the field by the associated ground-engaging tool (e.g., coulter42). Moreover, the soil sensor(s)102,102′,102″ may be configured to detect the reflected output signal(s) as a return signal(s)114, with one or more parameters of the return signal(s)114being indicative of the soil composition at the depth of the sensor(s)102,102′,102″ within the field. In this regard, the controller202may be configured to receive data from the soil sensor(s)102,102′,102″, and optionally from the depth sensor(s)150,150′,150″, associated with the detected return signal(s)114. In some embodiments, the sensor(s)102,102′,102″ may be configured to continuously or periodically capture data associated with a portion of the field. In such embodiments, the data transmitted to the controller202from the sensor(s)102,102′,102″ may be stored within the memory206of the controller202and/or be transmitted to a remote device (e.g., a Smartphone, a tablet, a PC, a database server, and/or the like) for subsequent processing and/or analysis.

In some embodiments, such as the embodiment described with reference toFIGS.2A-2B, the controller202may be configured to control the depth of the sensor(s)102relative to the associated coulter42while the implement12moves across the field. For instance, in such embodiments, each sensing assembly100includes an actuator(s) (e.g., the actuator(s)106) associated with the sensor arm104. In such embodiments, the controller202may be configured to control the actuator(s)106to move the sensor arm(s)104such that the sensor(s)102moves between the raised and lowered positions108,110relative to the coulter42while the implement12moves across the field. In some embodiments, the controller202may control the actuator(s)106such that the sensor(s)102cyclically move between the raised and lowered positions108,110to generate data indicative of the soil composition at multiple depths within the field. However, the controller202may be configured to control the actuator(s)106to move the sensor(s)102in any other suitable pattern or manner. For instance, in some embodiments, the controller202may control the actuator(s)106to adjust the position of the sensor arm(s)104to move the sensor(s)102between the raised and lowered positions108,110based on a depth input received from an operator of the implement12(e.g., via the user interface210) indicative of adjusting the depth of the sensor102. As indicated above, the depth at which the sensor(s)102generates the data indicative of the soil composition may, in such embodiment, be simultaneously monitored based on the actuation (e.g., extension, retraction, rotation, and/or the like) of the actuator(s)106and/or using a separate depth sensor (e.g., depth sensor(s)150).

In other embodiments, such as the embodiment described with reference toFIGS.3A-4B, the sensor(s)102may be moved automatically with movement of the implement12across the field, without active control of the associated actuator. For instance, in the embodiment shown inFIGS.3A-3B, each sensing assembly100′ includes an actuator (e.g., cam118′) configured to rotate with the coulter42about the rotational axis44in a manner that moves the associated sensor arm104′ such that the sensor(s)102′ moves between the raised and lowered positions108′,110′ relative to the coulter42while the implement12moves across the field. Similarly, in the embodiment shown inFIGS.4A-4B, each sensing assembly100″ includes an actuator (e.g., actuating disc134″) configured to rotate with the coulter42about the rotational axis44in a manner that moves the associated sensor arm104″ such that the sensor(s)102″ moves between the raised and lowered positions108″,110″ relative to the coulter42while the implement12moves across the field. The depth at which the sensor(s)102′,102″ generate the data indicative of the soil composition may, in such embodiment, be simultaneously monitored using the depth sensor(s)150′,150″ described above.

The controller202may be configured to analyze/process the received data to determine the soil composition within the field. For instance, the controller202may include a look-up table(s), suitable mathematical formula, and/or algorithms stored within its memory206that correlates the received data to the soil composition at the associated depth within the field. The controller202may store the determined soil composition within its memory206and/or transmit the determined soil composition of the field to a remote device (e.g., a Smartphone, a tablet, a PC, a database server, and/or the like). Such soil composition data may, in turn, be used in planning and/or performing subsequent agricultural operations.

It should be appreciated that the determined soil composition of the field may provide an indication of the amounts and/or concentrations of one or more constituents or components of the soil at an associated depth within the field. For example, in one embodiment, the determined soil composition may provide an indication of the amount and/or concentration of organic matter, nutrients (e.g., nitrogen, phosphorous, potassium, iron, magnesium, calcium, sulfur, and/or the like), residue, and/or moisture within the soil at the associated sensor depth, which may further be an indicator of soil type (e.g., loam, clay, silt, sand, and/or the like). However, in alternative embodiments, the determined soil composition may provide an indication any other suitable constituent or component of the soil at the associated sensor depth.

Additionally, the controller202may be configured to generate a field map (e.g., a graphical field map) identifying the soil composition at a plurality of locations and depths within the field. More specifically, in several embodiments, the data generated by the sensor(s)102,102′,102″ may be geo-referenced or may otherwise be stored with corresponding location data associated with the specific location at which such data was collected within the field. In one embodiment, the data may be correlated to a corresponding position within the field based on location data received from one or more positioning devices. For instance, the controller202may be communicatively coupled to a positioning device(s)212, such as a Global Positioning System (GPS) or another similar positioning device, configured to transmit a location corresponding to a position of the sensor(s)102,102′,102″ within the field when the data is collected by the sensor(s)102,102′,102″.

Thus, the controller202may be configured to execute one or more algorithms stored within its memory206that generate the field map based on the data received from the soil sensor(s)102,102′,102″ and the positioning device(s)212. In some embodiments, the controller202may be configured to extrapolate the soil composition for different depths at each position in the field from the data generated by the sensor(s)102,102′,102″. Additionally, in some embodiments, the controller202may be configured to transmit instructions to the user interface210instructing the user interface210to display the generated field map (e.g., a graphical field map).

It should be appreciated that, while the system200has generally been described herein with reference to monitoring the soil composition of a field using a sensor102,102′,102″ that is movable relative to a coulter42of an agricultural implement12, the system200may be configured to be associated with any other ground-engaging tools or ground-engaging assemblies of any suitable implement.

Referring now toFIG.7, a flow diagram of one embodiment of a method300for monitoring the soil composition at different depths within a field as an agricultural implement moves across the field is illustrated in accordance with aspects of the present subject matter. In general, the method300will be described herein with reference to the implement12shown inFIG.1, as well as the sensing assembly100,100′,100″ shown inFIGS.2A-5and the various system components shown inFIG.6. However, it should be appreciated that the disclosed method300may be implemented with work vehicles and/or implements having any other suitable configurations, with sensing assemblies having any other suitable configurations, and/or within systems having any other suitable system configuration. In addition, althoughFIG.7depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure.

As shown inFIG.7, at (302), the method300may include performing a ground engaging operation with a ground engaging tool of an implement as the implement moves across a field. For instance, as indicated above, the implement12may be moved across the field while one or more ground-engaging tools (e.g., coulters42, shanks46, and/or the like) engage the soil within the field.

Further, at (304), the method300may include moving a sensor relative to the ground engaging tool during the ground engaging operation between a raised position and a lowered position. For example, as provided above, a soil sensor102,102′,102″ may be supported relative to one of the ground-engaging tools (e.g., coulter42) such that it is movable relative to the associated ground-engaging tool between a raised position (FIG.2A,FIG.3A, orFIG.4A) and a lowered position (FIG.2B,FIG.3B, orFIG.4B). The soil sensor102,102′,102″ may be configured to generate data indicative of the soil composition at different depths within the field depending on the position of the sensor102,102′,102″. In some embodiments, the controller202may be configured to control the associated actuator (e.g., actuator106) to move the sensor102relative to the ground-engaging tool. However, in other embodiments, the sensor102′,102″ may move automatically, without active control of the associated actuator (e.g., actuators118′,134″), relative to the ground-engaging tool.

Moreover, at (306), the method300may include receiving data from the sensor indicative of at least a composition of the soil at a first depth when the sensor is at the raised position and a composition of the soil at a second depth when the sensor is at the lowered position. For instance, when the sensor102,102′,102″ is in its raised position (FIG.2A,FIG.3A, orFIG.4A), the controller202may receive data indicative of the soil composition of the field at a first depth108,108′,108″ below the field surface from the sensor102,102′,102″. Similarly, when the sensor102,102′,102″ is in its lowered position (FIG.2B,FIG.3B, orFIG.4B), the controller202may receive data indicative of the soil composition of the field at a second depth110,110′,110″ below the field surface from the sensor102,102′,102″, where the second depth110,110′,110″ is further below the field surface than the first depth108,108′,108″.

Additionally, at (308), the method300may include determining the composition of the soil within the field based on the received data. For example, as indicated above, the received data may be geo-referenced or otherwise stored with corresponding location data associated with the specific location at which such data was collected within the field such that the controller202may determine the soil composition of the field at different locations and associated depths within the field based at least in part on the data received from the sensor102,102′,102″.

It should be appreciated that, while the method300has generally been described herein with reference to monitoring the soil composition of a field using a sensor102that is movable relative to a coulter42of an agricultural implement12, the method300may be configured to be used in association with any other ground-engaging tools or ground-engaging assemblies of any suitable implement.

It is to be understood that the steps of the method300are performed by the controller202upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disk, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the controller202described herein, such as the method300, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The controller202loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the controller202, the controller202may perform any of the functionality of the controller202described herein, including any steps of the method300described herein.