SYSTEMS AND METHODS FOR AN AGRICULTURAL IMPLEMENT

An agricultural system includes an implement including a frame assembly. A leveler is operably coupled with the frame assembly. A leveler actuator is operably coupled with the leveler and the frame assembly. The leveler actuator is configured to alter a position of the leveler relative to the frame assembly. A computing system is communicatively coupled to the leveler actuator and configured to receive soil data indicative of a soil type, receive levelness data indicative of a measured levelness of a field, receive a defined soil levelness, and determine a defined leveler actuator position based at least partially on the soil type, the measured levelness of the field, and the defined soil levelness.

FIELD OF THE INVENTION

The present subject matter relates generally to tillage implements that may be operated within an agricultural field.

BACKGROUND OF THE INVENTION

In some cases, to increase agricultural performance from a field, a farmer may cultivate the soil, typically through a tillage operation. For instance, tillage operations may be performed by pulling a tillage implement behind an agricultural work vehicle, such as a tractor. Tillage implements can include one or more ground-engaging tools configured to engage the soil as the implement is moved across the field. For example, in certain configurations, the implement may include one or more harrow discs, leveling discs, rolling baskets, shanks, tines, and/or the like. Such ground-engaging tool(s) loosen and/or otherwise agitate the soil to prepare the field for subsequent planting operations.

During tillage operations, various levelers may be used to backfill the soil created by a ground-engaging tool thereby forming ridges and/or valleys within the field. The various ridges of soil settle over time due to the soil being loosened. In various cases, different soil types settle differently. Accordingly, an improved system and method for developing ridges or mounds of soil would be welcomed in the technology.

BRIEF DESCRIPTION OF THE INVENTION

In some aspects, the present subject matter is directed to an agricultural system that includes an implement including a frame assembly. A leveler is operably coupled with the frame assembly. A leveler actuator is operably coupled with the leveler and the frame assembly. The leveler actuator is configured to alter a position of the leveler relative to the frame assembly. A computing system communicatively is coupled to the leveler actuator. The computing system includes a processor and associated memory. The memory stores instructions that, when implemented by the processor, configure the computing system to receive soil data indicative of a soil type, receive levelness data indicative of a measured levelness of a field, receive a defined soil levelness, and determine a defined leveler actuator position based at least partially on the soil type, the measured levelness of the field, and the defined soil levelness.

In some aspects, the present subject matter is directed to a method for operating an agricultural system. The method includes receiving, with a computing system, soil data indicative of a soil type. The method also includes receiving, with the computing system, levelness data indicative of a measured levelness of a field. The method further includes receiving, with the computing system, a defined soil levelness. Lastly, the method includes determining, with the computing system, a defined leveler actuator position based at least partially on the soil type, the measured levelness of the field, and the defined soil levelness.

In some aspects, the present subject matter is directed to an agricultural system that includes an implement including a frame assembly. A field sensor is configured to capture data indicative of one or more conditions of a field. A leveler is operably coupled with the frame assembly. A leveler actuator is operably coupled with the leveler and the frame assembly, the leveler actuator configured to alter a position of the leveler relative to the frame assembly. A computing system is communicatively coupled to the leveler actuator and the field sensor. The computing system includes a processor and associated memory. The memory stores instructions that, when implemented by the processor, configure the computing system to receive soil data indicative of a soil type, receive levelness data indicative of a measured levelness of a field, and determine a defined leveler actuator position based at least partially on the soil type and the measured levelness of the field.

DETAILED DESCRIPTION OF THE INVENTION

As used herein, the terms “first,” “second,” and “third” may be used interchangeably to distinguish one component from another and are not intended to signify a location or importance of the individual components. The terms “coupled,” “fixed,” “attached to,” and the like refer to both direct coupling, fixing, or attaching, as well as indirect coupling, fixing, or attaching through one or more intermediate components or features, unless otherwise specified herein. The terms “upstream” and “downstream” refer to the relative direction with respect to an agricultural product within a fluid circuit. For example, “upstream” refers to the direction from which an agricultural product flows, and “downstream” refers to the direction to which the agricultural product moves. The term “selectively” refers to a component's ability to operate in various states (e.g., an ON state and an OFF state) based on manual and/or automatic control of the component.

Furthermore, any arrangement of components to achieve the same functionality is effectively “associated” such that the functionality is achieved. Hence, any two components herein combined to achieve a particular functionality can be seen as “associated with” each other such that the desired functionality is achieved, irrespective of architectures or intermedial components. Likewise, any two components so associated can also be viewed as being “operably connected” or “operably coupled” to each other to achieve the desired functionality, and any two components capable of being so associated can also be viewed as being “operably couplable” to each other to achieve the desired functionality. Some examples of operably couplable include, but are not limited to, physically mateable, physically interacting components, wirelessly interactable, wirelessly interacting components, logically interacting, and/or logically interactable components.

Moreover, the technology of the present application will be described in relation to exemplary embodiments. The word “exemplary” is used herein to mean “serving as an example, instance, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments. Additionally, unless specifically identified otherwise, all embodiments described herein should be considered exemplary.

In general, the present subject matter is directed to an agricultural system that includes an implement including a frame assembly. A leveler can be operably coupled with the frame assembly levelers and may be used to backfill the soil created by a ground-engaging tool thereby forming ridges and/or valleys within the field. A leveler actuator can be operably coupled with the leveler and the frame assembly. The leveler actuator can be configured to alter a position of the leveler relative to the frame assembly.

A computing system can be communicatively coupled to the leveler actuator. The computing system can be configured to receive soil data indicative of a soil type, receive levelness data indicative of a measured levelness of a field, receive a defined soil levelness, and determine a defined leveler actuator position based at least partially on the soil type, the measured levelness of the field, and the defined soil levelness. The computing system may further be configured to generate instructions to alter a position of the leveler through actuation of the leveler actuator when a detected leveler position varies from the defined leveler actuator position.

In some instances, a field sensor(s) can be configured to capture data indicative of one or more conditions of the field. For instance, the soil data is indicative of the soil type is provided by the field sensor. Additionally or alternatively, the levelness data is indicative of the measured levelness of the field. Additionally or alternatively, a user interface, the soil data is provided to the computing system through the user interface. Additionally or alternatively, the soil data can be based at least partially on a position of the implement within the field, as determined by a location device and a correlated soil map.

In various cases, the system provided herein may allow for ridges of soil to be formed that accounts for the settling and/or leveling of the soil and allow the field to generally level itself due to the settling of the soil.

Referring now to drawings,FIGS.1-3respectively illustrate a front perspective view, a rear perspective view, and a partial rear perspective view of an agricultural machine10in accordance with various aspects of the present subject matter. As shown, the agricultural machine10can include a work vehicle12and an associated agricultural implement14. In general, the work vehicle12is configured to tow the implement14across a field16in a direction of travel (e.g., as indicated by arrow18inFIG.1). In the illustrated examples, the work vehicle12is configured as an agricultural tractor and the implement14is configured as an associated tillage implement. However, in other embodiments, the work vehicle12may be configured as any other suitable type of vehicle, such as an agricultural harvester, a self-propelled sprayer, and/or the like. Similarly, the implement14may be configured as any other suitable type of implement, such as a planter. Furthermore, the agricultural machine10may correspond to any suitable powered and/or unpowered agricultural machine10(including suitable vehicles and/or equipment, such as only a work vehicle or only an implement). Additionally, the agricultural machine10may include two or more associated vehicles, implements, and/or the like (e.g., a tractor, a planter, and an associated air cart).

As shown inFIGS.1-3, the work vehicle12includes a pair of front track assemblies20, a pair of rear track assemblies22, and a frame or chassis24coupled to and supported by the track assemblies20,22. An operator's cab26may be supported by a portion of the chassis24and may house various input devices140for permitting an operator to control the operation of one or more components of the work vehicle12and/or one or more components of the implement14. Additionally, the work vehicle12may include a power plant28and a transmission30mounted on the chassis24. The transmission30may be operably coupled to the power plant28and may provide variably adjusted gear ratios for transferring power to the track assemblies20,22via a drive axle assembly (or via axles if multiple drive axles are employed).

Additionally, as shown inFIGS.1-3, the implement14may generally include a carriage frame assembly32configured to be towed by the work vehicle12via a pull hitch or tow bar34in the direction of travel18of the vehicle12. The carriage frame assembly32may be configured to support a plurality of ground-engaging tools, such as a plurality of shanks, disk blades, levelers (e.g., leveling blades), basket assemblies42, tines, spikes, and/or the like. For example, the carriage frame assembly32may be configured to support various gangs of disc blades36, a plurality of ground engaging shanks38, a plurality of levelers40(e.g., leveling blades), and a plurality of crumbler wheels or basket assemblies42. However, in alternative embodiments, the carriage frame assembly32may be configured to support any other suitable ground-engaging tools and/or a combination of ground-engaging tools. In several embodiments, the various ground-engaging tools may be configured to perform a tillage operation or any other suitable ground-engaging operation across the field16along which the implement14is being towed. It should be understood that, in addition to being towed by the work vehicle12, the implement14may also be a semi-mounted implement connected to the work vehicle12via a two-point hitch or the implement14may be a fully mounted implement (e.g., mounted the work vehicle's three-point hitch).

As illustrated inFIG.3, a leveler support arm44may be coupled between the frame assembly32and each leveler40or a set of levelers40to support the levelers40relative to the frame assembly32. In some cases, the levelers40may be configured to form a terrain variation in the soil which may be numerically quantified as soil levelness and may be generally characterized by a valley (e.g., a void within a portion of a field16below a nominal height of the soil surface having at least a predefined volume), a ridge (e.g., an amount of soil that extends above a nominal height of the soil surface within a portion of a field16having at least a predefined volume), or other surface irregularities that extend above or below a nominal height of the soil surface or other reference point or plane by a given height. For example, when the soil is uniform, there are generally no terrain variations across the soil surface and may be referred to as generally level. However, as terrain variations occur in localized areas, the height of the ridge is generally greater than the nominal height of the soil surface, and/or the depth of the valley generally exceeds the nominal height of the soil surface and may be referred to as non-level. In some instances, the levelers40are used to backfill the soil created by various ground-engaging tools. The ridge of soil settles over time due to the soil being loosened. As such, the ridge of soil may be formed to account for the leveling and allow the field16to generally level itself due to the settling of the soil.

Additionally, as shown inFIG.3, in some examples, a leveler actuator46(e.g., a hydraulic or pneumatic cylinder) may be respectively coupled to each leveler support arm44to allow the downforce or down pressure applied to each leveler40to be adjusted. In various instances, different soil types can settle differently (e.g., an amount of settling, a time to settle, etc.). As such, the ridge height and/or valley depth defined by the levelers40may be adjusted based at least in part on the soil type. The leveler support arm44may also allow the levelers40to be raised off the ground, such as when the implement14is being operated within its transport mode.

Similarly, one or more basket support arms48may be coupled between the frame assembly32and an associated basket assembly42. Additionally, as shown inFIG.3, in various examples, a basket actuator50(e.g., a hydraulic or pneumatic cylinder) may be coupled to each basket support arm48to allow the downforce or down pressure applied to each basket assembly42to be adjusted. The basket actuators50may also allow the basket assemblies42to be raised off the ground, such as when the implement14is making a headland turn and/or when the implement14is being operated within its transport mode.

It will be appreciated that the configuration of the agricultural machine10described above and shown inFIGS.1-3is provided only to place the present subject matter in an example field of use. Thus, it will be appreciated that the present subject matter may be readily adaptable to any manner of machine configuration, including any suitable work vehicle configuration and/or implement configuration. For example, in an alternative embodiment of the work vehicle12, a separate frame or chassis may be provided to which the engine, transmission, and drive axle assembly are coupled, a configuration common in smaller tractors. Still other configurations may use an articulated chassis to steer the work vehicle12or rely on tires/wheels in lieu of the track assemblies20,22. Similarly, as indicated above, the carriage frame assembly32of the implement14may be configured to support any other suitable combination of type of ground-engaging tools.

Furthermore, in accordance with aspects of the present subject matter, the agricultural machine10may include one or more field sensor(s)52coupled thereto and/or supported thereon. Each field sensor(s)52may, for example, be configured to capture data indicative of one or more conditions of the field16along which the machine10is being traversed. For example, in several embodiments, the field sensor(s)52may be used to collect data associated with one or more features of the field16, such as soil data indicative of the soil type provided by the field sensor(s)52, levelness data is indicative of the measured levelness of the field16(e.g., ridges and/or valleys), data indicative of crop residue, data indicative of soil clods, and/or any other data indicative of a condition within the field16.

In some cases, the field sensor(s)52may be provided in operative association with the agricultural machine10such that the field sensor(s)52has a field of view directed towards a region(s)66(FIG.3) of the field16adjacent to the work vehicle12and/or the implement14, such as a region(s)66of the field16disposed in front of, behind, and/or along one or both of the sides of the work vehicle12and/or the implement14. For example, as shown inFIG.1, in some embodiments, a field sensor(s)52may be provided at a forward end portion54of the work vehicle12to allow the field sensor(s)52to capture images and related data of a section of the field16disposed in front of the work vehicle12. Such a forward-located field sensor(s)52may allow pre-tillage images of the field16to be captured for monitoring or determining surface conditions of the field16(e.g., soil clods) prior to the performance of a tillage operation. Similarly, as shown inFIGS.1-3, a second field sensor(s)52may be provided at or adjacent to an aft end portion56of the implement14to allow the field sensor(s)52to capture images and related data of a section of the field16disposed behind the implement14. Such an aft-located field sensor(s)52may allow post-tillage images of the field16to be captured for monitoring or determining surface conditions of the field16(e.g., soil clods) after the performance of a tillage operation.

Additionally or alternatively, the field sensor(s)52may be installed at any other suitable location(s) on the work vehicle12and/or the implement14. In addition, the agricultural machine10may only include a single field sensor(s)52mounted on either the work vehicle12or the implement14or may include more than two field sensor(s)52mounted on the work vehicle12and/or the implement14. Moreover, it will be appreciated that each field sensor(s)52may be configured to be mounted or otherwise supported relative to a portion of the agricultural machine10using any suitable mounting/support structure. For instance, each field sensor(s)52may be directly or indirectly mounted to a portion of the work vehicle12and/or the implement14.

In some embodiments, a suitable mounting structure58(e.g., mounting arms, brackets, trays, etc.) may be used to support each field sensor(s)52behind the implement14(e.g., in a cantilevered arrangement) to allow the field sensor(s)52to obtain the desired field of view, including the desired orientation of the device's field of view relative to the field16.

Referring further toFIGS.1-3, in general, the field sensor(s)52may correspond to any suitable device(s) or other assembly configured to capture data of the field16. For instance, in several embodiments, the field sensor(s)52may correspond to a Light Detection and Ranging (lidar) system60, which may be used for three-dimensional imaging. The lidar system60can include one or more radiation sources62, such as laser sources, operative to emit a pulse of radiation64, which may be positioned within a housing65. The pulse of radiation64may be directed towards a region66of the field16, and/or in any other direction. A portion68of the pulse of radiation64is reflected off of the region66of the field16(and/or objects within the region66of the field16) toward a photodetector70, which may also be within, or separated from, the housing65. The photodetector70is configured to receive and detect the portion68of the pulse of radiation64reflected off of the region66of the field16(and/or objects within the region66of the field16).

The pulse of radiation64may be of a short duration, for example, 100 ns pulse width. The lidar system60further includes componentry configured to determine a time of flight of the pulse of radiation64from emission to detection. Since the pulse of radiation64travels at the speed of light, a distance between the lidar system60and the region66of the field16may be determined based on the determined time of flight. By determining the time of flight for each pulse of radiation64emitted at a respective emission location, the distance from the lidar system60to an upper surface of each segment may be determined. Based on the emission location, the location of the scanned region66of the field16may also be determined based on the location and the distance to the lidar system60. Thus, a three-dimensional image of the field16may be constructed based on the measured distances from the lidar system60to various segments. In some embodiments, a three-dimensional image point cloud, e.g., a set of X, Y, and Z coordinates of the segments may be generated.

It will be appreciated that, in addition to a lidar assembly or as an alternative thereto, the agricultural machine10may include any other suitable type of field sensor(s)52. For instance, suitable field sensor(s)52may also include an ultrasonic sensor, a radio detection and ranging (RADAR) sensor, a sound navigation and ranging (SONAR) sensor, a vision-based sensor, and/or any other practicable sensor.

Referring now toFIG.4, a schematic view of a system100for an agricultural machine10is illustrated in accordance with aspects of the present subject matter. In several embodiments, the disclosed system100is configured for detecting soil clods within an agricultural field16. The system100will generally be described herein with reference to the agricultural machine10described above with reference toFIGS.1-3. However, the disclosed system100may generally be utilized with agricultural machines having any other suitable machine configuration.

As shown inFIG.4, the system100may include one or more field sensor(s)52configured to capture data indicative of various conditions of a region(s)66of the field16disposed adjacent to the work vehicle12and or the implement14. Additionally, the system100may include or be associated with one or more components of the agricultural machine10described above with reference toFIGS.1-3, such as one or more components of the work vehicle12and/or the implement14.

The system100may further include a computing system102communicatively coupled to the field sensor(s)52. In several embodiments, the computing system102may be configured to receive and process the data captured by the field sensor(s)52. For instance, the computing system102may be configured to receive soil data indicative of a soil type and execute one or more suitable data processing algorithms for detecting the soil type. Additionally or alternatively, a soil type may be provided to the computing system102through any other manner, such as through a soil map and/or through inputted soil data. In turn, the computing system102may determine a defined position of the one or more levelers40based in part on the determined soil type. In some cases, as the soil type within the field16varies, the position of each leveler40may be adjusted through the leveler actuator46.

The computing system102may further be configured to receive levelness data indicative of a measured levelness of a field16and execute one or more suitable data processing algorithms for determining the measured soil levelness. In addition, the computing system102can be configured to receive a defined soil levelness. In some cases, the defined soil levelness may be provided by a user interface104. In turn, the computing system102can be configured to determine a defined leveler actuator46position based at least partially on the soil type, the measured levelness of the field16, and the defined soil levelness.

In general, the computing system102may include any a suitable processor-based device, such as a computing device or any suitable combination of computing devices. Thus, in several embodiments, the computing system102may include one or more processors106and associated memory108configured 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 controller (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory108of the computing system102may 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 disc-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disc (DVD) and/or other suitable memory elements. Such memory108may generally be configured to store suitable computer-readable instructions that, when implemented by the processors106, configure the computing system102to perform various computer-implemented functions, such as one or more aspects of the data processing algorithm(s) and/or related method(s) described below. In addition, the computing system102may 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 will be appreciated that, in several embodiments, the computing system102may correspond to an existing controller of the agricultural machine10, or the computing system102may correspond to one or more separate processing devices. For instance, in some embodiments, the computing system102may form all or part of a separate plug-in module or computing device(s) that is installed relative to the work vehicle12or implement14to allow for the disclosed system100and method to be implemented without requiring additional software to be uploaded onto existing control devices of the work vehicle12or implement14.

In several embodiments, the memory108of the computing system102may include one or more databases110for storing information received and/or generated by the computing system102. For instance, as shown inFIG.4, the memory108may include a field sensor(s) database112storing data associated with the field data captured by the field sensor(s)52, including the captured data and/or data deriving from the captured data (e.g., disparity maps, depth images generated based on the captured data by the field sensor(s)52, etc.). Additionally, the memory108may include a stored data database114storing data acquired from various sources. For instance, as indicated above, the stored data can include a soil map116(FIG.5) that is generated through any method, such as with a previous agricultural operation, user-entered information, from the one or more field sensor(s)52, and/or other systems.

Additionally or alternatively, as shown inFIG.4, the memory108may also include a location database118, which may be configured to store location data generated by a location device120that is stored in association with the field data for later use in geo-locating the field data relative to the field16. In some embodiments, the location device120may be configured as a satellite navigation positioning device (e.g. a GPS, a Galileo positioning system, a Global Navigation satellite system (GLONASS), a BeiDou Satellite Navigation and Positioning system, a dead reckoning device, and/or the like) to determine the location of the machine10.

Moreover, as shown inFIG.4, in several embodiments, the memory108may also include instructions122that may be executed by the processors106to implement a data analysis module124. In general, the data analysis module124may be configured to process/analyze the captured data received from the field sensor(s)52, the stored data, and/or the location data. In several embodiments, the data analysis module124may be configured to execute one or more data processing algorithms to determine a soil type and a position of the one or more levelers40. In turn, the computing system102may determine a defined position of the one or more levelers40based in part on the determined soil type. In some cases, as the soil type within the field16varies, the defined position of each leveler40may be adjusted through the leveler actuator46.

Referring still toFIG.4, in some embodiments, the instructions122stored within the memory108of the computing system102may also be executed by the processors106to implement a control module126. In general, the control module126may be configured to electronically control the operation of one or more components of the agricultural machine10. For instance, in several embodiments, the control module126may be configured to control the operation of the agricultural machine10based on the monitored soil type of the field16. Such control may include controlling the operation of one or more components of the work vehicle12, such as the power plant28and/or the transmission30of the vehicle12to automatically adjust the ground speed of the agricultural machine10. In addition (or as an alternative thereto), the control module126may be configured to electronically control the operation of one or more components of the implement14. For instance, the control module126may be configured to adjust the operating parameters (e.g., penetration depth, downforce/pressure, etc.) associated with one or more of the ground-engaging tools of the implement14(e.g., the disc blades36, shanks38, levelers40(e.g., leveling blades), and/or basket assemblies42) to proactively or reactively adjust the operation of the implement14in view of the monitored surface condition(s).

In instances in which one or more operating parameters are adjusted, actuation of one or more complement components may be based on data from one or more implement sensor(s)128. For example, the one or more implement sensor(s)128can include a position sensor130operably coupled with the machine10may detect the change in position. In some examples, the position sensor130may be configured as an inertial measurement unit (IMU) that measures a specific force, angular rate, and/or an orientation of the implement14using a combination of accelerometers, gyroscopes, magnetometers, and/or any other practicable device. The accelerometer may correspond to one or more multi-axis accelerometers (e.g., one or more two-axis or three-axis accelerometers) such that the accelerometer may be configured to monitor the movement of the implement14in multiple directions, such as by sensing the implement acceleration along three different axes. It will be appreciated, however, that the accelerometer may generally correspond to any suitable type of accelerometer without departing from the teachings provided herein.

In some instances, the computing system102may determine a defined position of the levelers40based on the soil type and an actual position of the levelers40based on data from the position sensor130. When there is a variation between the defined position and the actual position, the control module126can generate instructions122for the leveler actuator46to activate and move the leveler so that the actual position and the defined position are generally common with one another.

In several embodiments, the computing system102may also include a transceiver132to allow for the computing system102to communicate various components. For instance, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the transceiver132and the user interface104, an electronic device134, and/or any other device.

The user interface104may be housed within the cab26of the work vehicle12or at any other suitable location. The user interface104may be configured to provide feedback to the operator of the agricultural machine10. Thus, the user interface104may include one or more feedback devices, such as display screens, speakers, warning lights, and/or the like, which are configured to communicate such feedback. In addition, some embodiments of the user interface104may include one or more input devices, such as touchscreens, keypads, touchpads, knobs, buttons, sliders, switches, mice, microphones, and/or the like, which are configured to receive user inputs from the operator.

The electronic device134may include a variety of computing systems136including a processor and memory and/or a display138for displaying information to a user. For instance, the electronic device134may display one or more user interfaces and may be capable of receiving remote user input. In addition, the electronic device134may provide feedback information, such as visual, audible, and tactile alerts, and/or allow the operator to alter or adjust one or more components of the agricultural machine10through the usage of the remote electronic device134. For example, the electronic device134may be a cell phone, mobile communication device, key fob, wearable device (e.g., fitness band, watch, glasses, jewelry, wallet), apparel (e.g., a tee shirt, gloves, shoes, or other accessories), personal digital assistant, headphones and/or other devices that include capabilities for wireless communications and/or any wired communications protocols.

It will be appreciated that, although the various control functions and/or actions will generally be described herein as being executed by the computing system102, one or more of such control functions/actions (or portions thereof) may be executed by a separate computing system or may be distributed across two or more computing systems (including, for example, the computing system102and a separate computing system). For instance, in some embodiments, the computing system102may be configured to acquire data from the field sensor(s)52for subsequent processing and/or analysis by a separate computing system (e.g., a computing system associated with a remote server). In other embodiments, the computing system102may be configured to execute the data analysis module124to determine and/or monitor one or more surface conditions within the field16, while a separate computing system (e.g., a vehicle computing system102associated with the agricultural machine10) may be configured to execute the control module126to control the operation of the agricultural machine10based on data and/or instructions122transmitted from the computing system102that are associated with the monitored surface condition(s).

Referring toFIG.6, various components of the system100are illustrated in accordance with various aspects of the present disclosure. As shown, the data analysis module124may receive data from various components of the system100, such as via the field sensor(s)52, the implement sensor(s)128, and/or one or more input devices140, and, in turn, the control module126can alter or manipulate various components of the implement14, such as the leveler actuator(s)46. As provided herein, the data analysis module124can receive various inputs and calculate a defined position for each leveler actuator46based at least in part on a soil type and/or a current position of each leveler.

As illustrated, the data analysis module124may receive various implement settings from one or more implement sensor(s)128configured to detect one or more implement settings associated with the implement14. In addition, the data analysis module124can receive a measured soil levelness from one or more field sensor(s)52. The data analysis module124may also receive data indicative of a soil type within the field16from the field sensor(s)52and/or one or more input devices140. In various cases, the one or more input devices140can include one or more user interfaces104for allowing operator inputs to be provided to the computing system102(e.g., buttons, knobs, dials, levers, joysticks, touch screens, and/or the like), one or more other internal data sources142associated with the agricultural machine10(e.g., other devices, stored data, databases, etc.), one or more external data sources144(e.g., a remote computing device or server), and/or any other suitable input devices140. Further, the data analysis module124may receive a defined soil levelness from the input devices140. In some cases, the defined soil levelness can be a numerical value that defines a desired ridge-to-valley terrain of the field16.

The data analysis module124can compare the defined soil levelness to the measured soil levelness. If a variation exists between the defined soil levelness to the measured soil levelness, the data analysis module124can generate an amount of movement of the one or more levelers40through the actuation of the respective leveler actuators46. In response, the control module126may generate instructions122to alter a position of the leveler through actuation of the leveler actuator46when a detected leveler position varies from the defined leveler actuator position. Additionally or alternatively, the control module126may generate display instructions122for one or more displays138, which may be incorporated within the user interface104and/or be remote from the user interface104. For instance, the display138may illustrate information related to at least one of the soil type, the measured levelness of the field16, and the defined soil levelness.

During operation, data may be sequentially collected by the field sensor(s)52and/or the implement sensor(s)128, which may be provided as subsequent inputs to the data analysis module124so that additional alterations to one or more leveler actuators46may be made, if needed. In addition, the data analysis module124may alter one or more subsequent outputs based on a result of a previous instruction. As such, the data analysis module124may learn from the results of previous instructions to alter subsequent instructions.

Referring now toFIG.7, a flow diagram of a method200for method for operating an agricultural system is illustrated in accordance with aspects of the present subject matter. In general, the method200will be described herein with reference to the agricultural machine10shown inFIG.1-3and the various system components shown inFIGS.4and6. However, it will be appreciated that the disclosed method200may be implemented with agricultural machines having any other suitable machine 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 illustrated, at (202), the method200can include receiving soil data indicative of a soil type with a computing system. As provided herein, the soil data may be received through various sources. For instance, the sources can include a field sensor(s) configured to capture data indicative of one or more conditions of the field, a user interface in which the soil data can be provided to the computing system through the user interface, a location device in which the soil data can be based at least partially on a position of the implement within the field, as determined by the location device, and a correlated soil map, and/or through any other manner.

At (204), the method200can include receiving levelness data indicative of a measured levelness of a field with the computing system. The measured levelness of the field may be determined based on data provided by a field sensor(s) configured to capture data indicative of one or more conditions of the field and/or through any other manner.

At (206), the method200can include receiving a defined soil levelness with the computing system. In various examples, the defined soil levelness may be received through the user interface, predetermined lookup tables, other machines, remote sources, and/or through any other manner.

At (208), the method200can include receiving one or more implement settings associated with an implement operably supporting a leveler and a leveler actuator. In various examples, the leveler actuator can be operably coupled with the leveler and configured to alter a position of the leveler relative to a frame assembly with the computing system.

At (210), the method200can include determining a defined leveler actuator position based at least partially on the soil type, the measured levelness of the field, the defined soil levelness, and/or one or more implement settings with the computing system. Moreover, at (212), the method200can include determining a detected position of a leveler actuator with a position sensor.

At (214), the method200can include generating instructions to alter a position of the leveler through actuation of the leveler actuator when the detected leveler position varies from the defined leveler actuator position with the computing system. Additionally or alternatively, at (216), the method can include generating an information control for illustrating information related to at least one of the soil type, the measured levelness of the field, and the defined soil levelness on a display with the computing system.

In various examples, the method200may implement machine learning methods and algorithms that utilize one or several machine learning techniques including, for example, decision tree learning, including, for example, random forest or conditional inference trees methods, neural networks, support vector vehicles, clustering, and Bayesian networks. These algorithms can include computer-executable code that can be retrieved by the computing system and/or through a network/cloud and may be used to evaluate and update the boom deflection model. In some instances, the machine learning engine may allow for changes to the boom deflection model to be performed without human intervention.

It is to be understood that the steps of any method disclosed herein may be performed by a computing system upon loading and executing software code or instructions that 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 disc, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the computing system described herein, such as any of the disclosed methods, may be implemented in software code or instructions that are tangibly stored on a tangible computer-readable medium. The computing system loads 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 controller, the computing system may perform any of the functionality of the computing system described herein, including any steps of the disclosed methods.