Sensor assembly for an agricultural implement and related systems and methods for monitoring field surface conditions

A system for monitoring field surface conditions includes a support arm and a housing coupled to the support arm such that the housing is supported adjacent to a surface of a field, with the housing extending over a portion of the surface such that a shielded surface area is defined underneath the housing. The system also includes a light source configured to illuminate at least a portion of the shielded surface area defined underneath the housing such that a shadow is created adjacent a surface feature positioned within the shielded surface area and an imaging device configured to capture an image of the surface feature and the adjacent shadow created by the surface feature. Moreover, the system includes a controller configured to estimate a parameter associated with the surface feature based at least in part on an analysis of the adjacent shadow depicted within the image.

FIELD OF THE INVENTION

The present subject matter relates generally to agricultural implements, such as tillage implements, and, more particularly, to a sensor assembly for an agricultural implement that allows for one or more surface conditions of a field to be monitored during the performance of an agricultural operation, as well as related systems and methods for monitoring the surface condition(s) using the sensor assembly.

BACKGROUND OF THE INVENTION

It is well known that to attain the best agricultural performance from a piece of land, a farmer must cultivate the soil, typically through a tillage operation. Common tillage operations include plowing, harrowing, and sub-soiling. Farmers perform these tillage operations by pulling a tillage implement behind an agricultural work vehicle, such as a tractor. Depending on the crop selection and the soil conditions, a farmer may need to perform several tillage operations at different times over a crop cycle to properly cultivate the land to suit the crop choice.

For example, modern farm practices demand a smooth, level field with small clods of soil in the fall and spring of the year. In this regard, residue must be cut, sized and mixed with soil to encourage the residue to decompose and not build up following subsequent passes of machinery. To achieve such soil conditions, it is known to utilize rolling baskets, such as crumbler reels, to produce smaller, more uniform clod sizes and to aid in the mixing of residue. However, the ability of an operator to assess the effectiveness of a tillage operation in breaking down soil clods and/or otherwise providing desired surface conditions for the field is quite limited. Typically, the operator is required to stop the current operation and visually assess the field following a tillage pass to determine soil clod sizing and other surface condition characteristics.

Accordingly, a sensor assembly for an agricultural implement that allows for one or more surface conditions of a field to be monitored during the performance of an agricultural operation, as well as related systems and methods for monitoring the surface condition(s) 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 field surface conditions during the performance of an agricultural operation. The system includes a support arm configured to be coupled to a frame of an agricultural implement and a housing coupled to the support arm such that the housing is supported adjacent to a surface of a field, with the housing extending over a portion of the surface such that a shielded surface area is defined underneath the housing across said portion of the surface. The system also includes a light source supported relative to the housing, with the light source configured to illuminate at least a portion of the shielded surface area defined underneath the housing such that a shadow is created adjacent a surface feature positioned within the shielded surface area due to light from the light source being blocked by the surface feature. Additionally, the system includes an imaging device positioned within the housing such that the imaging device has a field of view directed towards the at least a portion of the shielded surface area, with the imaging device configured to capture an image of the surface feature and the adjacent shadow created by the surface feature. Moreover, the system includes a controller communicatively coupled to the imaging device, with the controller configured to estimate a parameter associated with the surface feature based at least in part on an analysis of the adjacent shadow depicted within the image.

In another aspect, the present subject matter is directed to a sensor assembly for agricultural implements. The sensor assembly includes a support arm extending between a proximal end and a distal end, with the proximal end configured to be coupled to a frame of an agricultural implement. The sensor assembly also includes a support wheel coupled to the support arm, with the support wheel being configured to engage a surface of a field. Additionally, the sensor assembly includes a housing coupled to the support arm between the proximal and distal ends such that the housing is supported adjacent to the surface of the field when the support wheel is contacting the surface, with the housing extending over a portion of the surface such that a shielded surface area is defined underneath the housing across said portion of the surface. Moreover, the sensor assembly includes a light source supported relative to the housing and an imaging device positioned within the housing such that the imaging device has a field of view directed towards the at least a portion of the shielded surface area. The light source is configured to illuminate at least a portion of the shielded surface area defined underneath the housing such that a shadow is created adjacent a surface feature positioned within the shielded surface area due to light from the light source being blocked by the surface feature. The imaging device is configured to capture an image of the surface feature and the adjacent shadow created by the surface feature.

In a further aspect, the present subject matter is directed to a method for monitoring field surface conditions. The method includes illuminating a portion of a surface of a field located relative to an agricultural implement as the agricultural implement is moved across the field during the performance of an agricultural operation and receiving, with a computing device, an image of both a surface feature positioned relative to the illuminated portion of the surface of the field and an adjacent shadow created by the surface feature. The method also includes analyzing, with the computing device, the image to determine a parameter associated with the adjacent shadow and estimating, with the computing device, a parameter of the surface feature based at least in part on the determined parameter of the adjacent shadow.

DETAILED DESCRIPTION OF THE INVENTION

In general, the present subject matter is directed to a sensor assembly and related systems and methods for monitoring surface conditions of a field during the performance of an agricultural operation. As will be described below, the sensor assembly may include an imaging device configured to capture images of a portion of the field surface and an associated light source configured to illuminate the portion of the field surface being imaged. Additionally, a controller may be configured to analyze the images captured by the imaging device to evaluate or assess the surface conditions within the field. For instance, the controller may be configured to execute one or more image processing algorithms and/or computer vision techniques (e.g., an edge-finding algorithm) to identify and assess any surface features and adjacent shadows depicted within the images of the illuminated portions of the field surface. Specifically, in one embodiment, the controller may be configured to assess the overall size of soil clods depicted within the images by determining the dimensional parameters of the imaged clods both directly and indirectly (via the adjacent shadows cast by the soil clods).

Referring now to the drawings,FIGS. 1 and 2illustrate differing perspective views of one embodiment of an agricultural machine in accordance with aspects of the present subject matter. Specifically,FIG. 1illustrates a perspective view of the agricultural machine including a work vehicle10and an associated agricultural implement12. Additionally,FIG. 2illustrates a perspective view of the agricultural machine, particularly illustrating various components of the implement12.

In the illustrated embodiment, the agricultural machine corresponds to the combination of the work vehicle10and the associated agricultural implement12. As shown inFIGS. 1 and 2, the vehicle10is an agricultural tractor configured to tow the implement12, namely a tillage implement (e.g., a cultivator), across a field in a direction of travel (e.g., as indicated by arrow14inFIG. 1). However, in other embodiments, the agricultural machine may correspond to any other suitable combination of a work vehicle (e.g., an agricultural harvester, a self-propelled sprayer, and/or the like) and agricultural implement (e.g., such as a seeder, fertilizer, sprayer (a towable sprayer or a spray boom of a self-propelled sprayer), mowers, and/or the like). In addition, it should be appreciated that, as used herein, the term “agricultural machine” may refer not only to combinations of agricultural implements and vehicles, but also to individual agricultural implements and/or vehicles.

As shown inFIG. 1, the vehicle10may include a frame or chassis16configured to support or couple to a plurality of components. For example, a pair of front track assemblies18(only one of which is shown) and a pair of rear track assemblies20may be coupled to the frame16. The track assemblies18,20may, in turn, be configured to support the vehicle10relative to the ground and move the vehicle10in the direction of travel14across the field. Furthermore, an operator's cab22may be supported by a portion of the frame16and may house various input devices for permitting an operator to control the operation of one or more components of the vehicle10and/or the implement12. However, in other embodiments, the vehicle10may include wheels (not shown) in place of the front and/or rear track assemblies18,20. Furthermore, the vehicle10may include one or more devices for adjusting the speed at which the vehicle10and implement12move across the field in the direction of travel14. Specifically, in several embodiments, the vehicle10may include an engine24and a transmission26mounted on the frame16.

As shown inFIGS. 1 and 2, the implement12may include an implement frame28. More specifically, the frame28may extend along a lengthwise direction30between a forward end32and an aft end34. The frame28may also extend along a lateral direction36between a first side38and a second side40. In this respect, the frame28generally includes a plurality of structural frame members42, such as beams, bars, and/or the like, configured to support or couple to a plurality of components. Furthermore, a hitch assembly43may be connected to the frame28and configured to couple the implement12to the vehicle10. Additionally, a plurality of wheel assemblies may be coupled to the frame28, such as a set of centrally located wheels44and a set of front pivoting wheels46, to facilitate towing the implement12in the direction of travel14.

In several embodiments, the frame28may support a cultivator48, which may be configured to till or otherwise break the soil over which the implement12travels to create a seedbed. In this respect, the cultivator48may include a plurality of ground engaging shanks50, which are pulled through the soil as the implement12moves across the field in the direction of travel14. In one embodiment, the ground engaging shanks50may be configured to be pivotally mounted to the frame28in a manner that permits the penetration depths of the ground engaging shanks50to be adjusted.

Moreover, as shown inFIGS. 1 and 2, the implement12may also include one or more harrows52. Specifically, in several embodiments, each harrow52may include a plurality of ground engaging tines54configured to engage to the surface of the soil within the field in a manner that levels or otherwise flattens any windrows or ridges in the soil created by the cultivator48. As such, the ground engaging tines54may be configured to be pulled through the soil as the implement12moves across the field in the direction of travel14. It should be appreciated that the implement12may include any suitable number of harrows52.

Further, in one embodiment, the implement12may include one or more baskets or rotary firming wheels56. In general, the basket(s)56may be configured to reduce the number of clods in the soil and/or firm the soil over which the implement12travels. As shown, each basket56may be configured to be pivotally coupled to one of the harrows52. Alternatively, the basket(s)56may be configured to be pivotally coupled to the frame28or any other suitable location of the implement12. It should be appreciated that the implement12may include any suitable number of baskets56.

Additionally, the implement12may also include any number of suitable actuators (e.g., hydraulic cylinders) for adjusting the relative positioning, penetration depth, and/or down force associated with the various ground engaging tools of the implement12(e.g., ground engaging tools50,54,56). For instance, the implement12may include one or more first actuators60(FIG. 2) coupled to the frame28for raising or lowering the frame28relative to the ground, thereby allowing the penetration depth and/or the down pressure of the shanks50and ground engaging tines54to be adjusted. Similarly, the implement12may include one or more second actuators62(FIG. 2) coupled to the baskets56to allow the baskets56to be moved relative to the frame28such that the down pressure on the baskets56is adjustable.

Additionally, in accordance with aspects of the present subject matter, the implement12may also include a sensor assembly100supported at or adjacent to the aft end34of the implement frame28. For instance, as shown inFIGS. 1 and 2, the sensor assembly100may include a support arm102coupled to a portion of the rearwardmost toolbar or frame member42of the frame28and extending outwardly therefrom in a direction opposite the forward travel direction14of the implement12such that portions of the sensor assembly100are supported aft of or behind the rearwardmost ground-engaging tools of the implement12(e.g., the baskets56). For instance, as shown in the illustrated embodiment, the sensor assembly100may include a support wheel104and a sensor housing106supported aft of the rearwardmost ground-engaging tools. As will be described below with reference toFIGS. 3-5, the sensor housing106may be configured to support various components for monitoring one or more surface conditions of the field as the implement12is being towed across the field during the performance of an agricultural operation.

It should also be appreciated that the configurations of the work vehicle10and agricultural implement12described above and shown inFIGS. 1 and 2are 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 vehicle and/or implement configuration.

Referring now toFIGS. 3-5, several views of one embodiment of the sensor assembly100described above with reference toFIGS. 1 and 2, as well as components of one embodiment of a related system200for monitoring the surface conditions of a field using the sensor assembly100, are illustrated in accordance with aspects of the present subject matter. Specifically,FIG. 3illustrates a schematic, side view of the sensor assembly100as coupled to the aft end34of the implement frame28described above, with many of the various components positioned at the rear of the implement12(e.g., the harrows52and baskets56) being removed for purposes of illustration. Additionally,FIG. 4illustrates a cross-sectional view of a portion of the sensor housing106of the sensor assembly100shown inFIG. 3taken about line4-4. Additionally,FIG. 5illustrates a top-down view of a portion of the field surface disposed directly below the sensor housing106as viewed from the perspective indicated by line5-5inFIG. 4. It should be appreciated that, in general, the sensor assembly100will be described herein with reference to the implement12shown inFIGS. 1 and 2. However, those of ordinary skill in the art should appreciate that the disclosed sensor assembly100may be utilized with agricultural implements having any other suitable implement configuration.

As particularly shown inFIG. 3, the sensor assembly100may generally include one or more support arms102configured to support one or more surface-engaging support wheels104and one or more associated sensor housings106relative to a surface108of the field (FIGS. 3 and 4), In general, the support arm102may be configured to extend lengthwise between a proximal end110and a distal end112, with the proximal end10configured to be pivotally coupled to a portion of the aftmost toolbar(s) or frame member42of the implement frame28. For example, as shown inFIG. 3, a suitable mounting bracket114may be secured between the proximal end110of the support arm102and the frame member42to allow the support arm102to be pivotally coupled to the frame member42, Such a pivotal connection between the support arm102and the implement frame28may allow the support arm102to pivot relative to the frame28as the support wheel104rides along the surface108of the ground during the performance of an agricultural operation. Additionally, as shown inFIG. 3, the support arm102may be configured to extend from its proximal end110outwardly from the frame member42such that the distal end112of the support arm102is spaced apart from the frame member42in a direction opposite the forward travel direction14of the implement12. As indicated above with reference toFIGS. 1 and 2, such extension of the support arm102may allow the support wheel104and associated sensor housing106of the sensor assembly100to be supported aft of or behind the rearwardmost tools of the implement12(e.g., baskets56).

As shown inFIG. 3, the support wheel104of the sensor assembly100may be coupled to a portion of the support arm102so that the wheel104is allowed to roll across or otherwise engage the soil surface108during the performance of an agricultural operation, such as by coupling the support wheel104to the distal end112of the support arm102. It should be appreciated that, as used herein, the term “wheel” is used broadly and is intended to cover various embodiments of rolling support devices, including a wheel with or without a tire provided in associated therewith. For example, in several embodiments, the term “wheel” may correspond to a wheel configured to directly contact or engage the field surface108around its outer perimeter or the term “wheel” may correspond to a wheel configured to contact or engage the field surface108via a tire or suitable inflatable member installed around its outer perimeter.

In several embodiments, the support Wheel104may be supported for rotation relative to the adjacent support arm102about a rotational axis116via a support bracket118. For instance, the support bracket118may correspond to a wheel fork or other similar structure such that the support bracket118includes side portions extending along either side of the wheel104that receive a shaft or pin defining the rotational axis116of the wheel104. Additionally, as shown inFIG. 3, the support bracket118may, in turn, be coupled to the distal end112of the support arm102via a corresponding mounting bracket120. In one embodiment, the support bracket118may be cantered or otherwise pivotally coupled to the mounting bracket120to allow the wheel104to pivot or swivel relative to the mounting bracket120(and, thus, relative to the support arm102). Thus, as the implement12is turned as it is being towed by the associated work vehicle10, the wheel104may be allowed to swivel or pivot such that the orientation of the rotational axis116of the wheel104can vary relative to the support arm102. Such swiveling or pivoting of the wheel104allows the wheel104to follow the implement12without sliding side-to-side.

Moreover, as indicated above, the sensor assembly100may also include a sensor housing106configured to be coupled to the support arm102. For instance, as shown inFIG. 3, the sensor housing106is coupled to the support arm102(e.g., via a mounting arm122) at a location between the arm's proximal and distal ends110,112, such as at a location forward of the support wheel104relative to the forward direction of travel14of the implement12. In general, the sensor housing106may be configured to be supported relative to the field such that a bottom end124of the housing106is located adjacent to the field surface108when the support wheel104is in contact with the surface108.

As shown in the illustrated embodiment, the sensor housing106has a box-like configuration. For instance, in one embodiment, the sensor housing106may have a rectangular-shaped box-like configuration having an open bottom end124facing the surface108of the field, Specifically, as shown inFIGS. 3 and 4, the sensor housing106includes a top wall126and a plurality of housing walls128,130,132,134extending vertically from the top wall126to the open bottom end124of the housing106. The housing walls include, for example, front and rear walls128,130(FIG. 3) spaced apart from each other across a length136of the housing106(e.g., as defined in the lengthwise direction30), and first and second sidewalk132,134(FIG. 4) spaced apart from each other across a width138of the housing106(e.g., as defined in the lateral direction36), With such a configuration, the sensor housing106may be configured to shield or shroud a portion of the field surface108located directly underneath the housing106from direct sunlight. For instance, in the illustrated embodiment, a shielded surface area140may be defined directly underneath the housing106that generally has a length and width equal to the length136and the width138of the housing106. Thus, as the implement12is towed across the field during the performance of an agricultural operation, the portion of the field surface108currently located underneath the housing106may be substantially shielded from sunlight across the shielded surface area140.

It should be appreciated that, in other embodiments, the sensor housing106may have any other suitable shape or configuration that allows it to function as described herein. Specifically, the shape or profile of the housing106may be adapted in any manner that allows it support one or more associated components of the sensor assembly100(e.g., as described below) while shielding a portion of the field surface108from direct sunlight.

Referring still toFIGS. 3-5, the sensor assembly100may also include one more sensor or sensor-related components for detecting one or more surface conditions of the field, including one or more characteristics associated with the monitored surface condition(s). Specifically, in several embodiments, the sensor assembly100may include an imaging device150configured to capture images of a portion of the field surface108and an associated light source160configured to illuminate the portion of the field surface108being imaged. As particularly shown in theFIGS. 3 and 4, in one embodiment, the imaging device150and light source160may be coupled to the sensor housing106at a location within the interior of the housing106. For instance, as shown inFIG. 4, the imaging device150is mounted to the top wall126of the housing106within the housing's interior such that the imaging device150has a field of view152directed towards the portion of the field surface108positioned directly below the housing106, namely at the portion of the field surface108extending across the shielded surface area140created underneath the housing106. Additionally, as shown inFIG. 4, the light source160is mounted to one of the housing walls (e.g., the first sidewall132) to allow the light source160to illuminate the interior of the sensor housing106, as well as illuminate the shielded surface area140defined across the portion of the field surface108currently positioned underneath the housing106.

In several embodiments, the light source160may be configured to be positioned within the housing106at a location at or adjacent to its bottom end124, thereby allowing the light source160to be disposed generally adjacent to the field surface108. For instance, as shown inFIG. 4, the light source160is mounted to a lower portion of the first sidewall132at a location adjacent to the bottom end124of the housing106. As a result, the light source may be configured to direct light (indicated by arrow162) across the shielded surface area140defined underneath the housing at a relatively acute lighting angle164defined relative to a horizontal reference plane166(e.g., a plane extending generally parallel to the field surface108). Such an acute lighting angle164allows the light162transmitted from the light source160to be directed across the shielded surface area140in a manner that generates shadows along the opposed sides of any surface feature(s) located on the field surface108. For instance, as shown in the illustrated embodiment, the light162transmitted from the light source160may be directed towards the adjacent side of one or more soil clods180A,180B disposed on the field surface108, thereby allowing a corresponding shadow (indicated by hatched area182A,182B inFIG. 5) to be created or cast along the field surface adjacent the opposed side of each soil clod180A,180B (i.e., the side facing away from the light source160).

By positioning the imaging device150within the housing106such that it has a field of view152directed towards the shielded surface area140defined underneath the housing106and by configuring the light source160to illuminate the shielded surface area140in a manner that casts shadows behind any surface feature(s) located within the shielded surface area140, the images captured by the imaging device150can be used to assess the surface condition(s) of the field underneath the housing106based on an analysis of the detected surface feature(s) and corresponding shadow(s) within each image. Specifically, in several embodiments, each image can be analyzed to determine one or more dimensional parameters of the surface feature(s) depicted within the image that are visible, viewable, or otherwise detectable within the field of view152of the imaging device (e.g., dimensions or related dimensional parameters viewable within a two-dimensional extending perpendicular to the field of view152). In addition, each image can be analyzed to determine one or more dimensional parameters of each shadow depicted therein image that are visible, viewable, or otherwise detectable within the field of view152(e.g., dimensions or related dimensional parameters viewable within a two-dimensional extending perpendicular to the field of view152). The viewable dimensional parameter(s) determined for each shadow can then be used to estimate or infer an additional dimensional parameter of the corresponding surface feature(s) that is not visible, viewable, or otherwise detectable within the field of view152(e.g., dimensions or related dimensional parameters aligned with or extending parallel to the field of view152).

For instance, in the illustrated embodiment, the light162transmitted from the light source160is being directed towards two soil clods180A,180B located on the field surface108within the shielded surface area140, thereby creating two corresponding shadows182A182B cast along the opposed sides of the soil clods180A,180B. In such an embodiment, the imaging device150may be configured to capture images (e.g., from the perspective shown inFIG. 5) of the soil clods180A,180B and the adjacent shadows182A,182B. The images captured by the imaging device150may then be analyzed (e.g., using suitable image processing algorithms and/or computer-vision techniques) to identify relevant dimensional parameters of the soil clods1804,180B. For instance, in the illustrated embodiment, given the field of view152of the imaging device150, the images captured of the soil clods1804,180B, themselves, can be used to assess the dimensional parameters of such clods1804,180B that are visible, viewable, or otherwise detectable within the field of view152, such as the dimensional parameters located within two-dimensional plane extending perpendicular to the field of view152. Specifically, the view of the soil clods180A,180B shown inFIG. 5may allow a length184A,184B and a width186A,186B of each soil clod180A,180B to be detected (or any other dimension across the visible detection plane), as well as the area of each soil clod180A,180B across the visible detection plane. However, in the illustrated embodiment, the height188A,188B (FIG. 4) of each soil clod180A,180B is not detectable from the field of view152of the imaging device150. Thus, in accordance with aspects of the present subject matter, the images may be further analyzed to identify each shadow182A,182B depicted within a given image and determine an associated dimensional parameter(s) of the identified shadow182A,182B. For instance, each image may be analyzed to determine the total area of each shadow182A,182B depicted therein (e.g., based on the number of pixels covered by the shadow) or any other suitable dimensional parameter associated with each shadow182A,182B that is viewable within the visible detection plane, such as a length190A,190B and/or width192A,192B of each shadow182A182B. The dimensional parameter(s) determined for each shadow182A,182B may then be used to estimate or infer a corresponding dimensional parameter of the surface feature casting such shadow. For instance, in the illustrated embodiment, the area and/or length/width190,192of each shadow182A,182B may be used to infer or estimate the corresponding height188A,188B of the respective soil clod182A,182B. As a result, based on the images captured by the imaging device104and the resulting image analysis, surface features of the field, such as soil clods182A,182B positioned on the field surface108, can be assessed in a three-dimensional space, thereby allowing the overall size or volume (referred to simply as “size” for sake of simplicity and without intent to limit) of each surface feature to be more accurately estimated or determined.

It should be appreciated that the lighting angle164at which the light source160directs light162across the shielded surface area140defined underneath the housing106will generally vary across the width138or the length136of the housing106, depending on the position of a given surface feature(s) within the shielded surface area140relative to the light source160. However, in general, the configuration of the light source160and/or the positioning of the light source160relative to the housing106may be selected such that the lighting angle164is generally maintained at an angle defined relative to the horizontal reference plane166that is less than 25 degrees, such as less than 20 degrees, or less than 15 degrees, or less than 10 degrees.

It should also be appreciated that the lighting angle164at which the light source160directs light162across the shielded surface area140will also vary as a function of the positioning or height of the light source160relative to the field surface108. In this regard, as the implement12is being towed across the field, the relative positioning between the light source160and the field surface108will change as the sensor assembly100moves relative to the surface108(e.g., due to bouncing or relative movement of the support wheel104), which impacts the effective lighting angle164of the light source160and, thus, the resulting shadows cast by the surface features. For instance, as the distance between the light source160and the field surface108increases, the lighting angle164will similarly increase, thereby resulting in smaller shadows being created. In contrast, as the distance between the light source160and the field surface108decreases, the lighting angle164will similarly decrease, thereby resulting in larger shadows being created. Such variations in the effective lighting angle164can, thus, significantly impact the dimensional parameter(s) being estimated or inferred for a given surface feature(s) based on the depicted shadow (e.g., the height188of the soil clods180described above).

To monitor such variations in the effective lighting angle164, the sensor assembly100may include a height or position sensor170(e.g., an optical range sensor, such as laser-based distance sensor, a radar-based range sensor, a sonar-based range sensor, and/or the like) configured to provide data indicative of the position of the light source160relative to the field surface108, which can then be used to determine the effective lighting angle164for the light source160. For instance, as shown inFIG. 4, a position sensor170is mounted to the sensor housing106(e.g., to the second sidewall134) at a height above the field surface108generally corresponding to the height of the light source160above the surface108. As such, by continuously detecting the distance or height defined between the sensor170and the field surface108, the associated height or position of the light source160relative to the surface108can be monitored, thereby allowing the effective lighting angle164of the light source160to be determined.

As indicated above,FIGS. 3-5also illustrate components of one embodiment of a system200for monitoring the surface conditions of a field. In general, the system200may include any combination of the various vehicle, implement, and/or assembly components and/or features described above, such as the various components of the sensor assembly100shown inFIGS. 3 and 4. In addition, the system200may include a controller202configured to analyze the images captured by the imaging device150to evaluate or assess the surface conditions within the field. For instance, as will be described below, the controller202may include suitable software or computer-readable instructions that allow the controller202to execute one or more image processing algorithms and/or computer vision techniques (e.g., an edge-finding algorithm) for identifying and assessing any surface features and adjacent shadows depicted within the images. Specifically, in several embodiments, the controller202may utilize the image processing algorithms and/or computer vision techniques to assess the overall size of soil clods depicted within the images by determining the dimensional parameters of the imaged clods both directly and indirectly (via the shadows). In doing so, the controller202may also utilize data from the associated position sensor170to determine the effective lighting angle164of the light source160at the instant at which each image is captured, thereby allowing the controller202to take into account the lighting angle164when analyzing the dimensional parameter(s) of the shadows depicted within the images.

It should be appreciated that the imaging device150described above may generally correspond to any suitable sensing device configured to detect or capture image or image-like data indicative of the surface conditions of the field. For instance, in several embodiments, the imaging device150may correspond to any suitable camera(s), such as single-spectrum camera or a multi-spectrum camera configured to capture images, for example, in the visible light range. Alternatively, the imaging device(s)150may correspond to any other suitable image capture device(s) and/or other vision sensor(s) capable of capturing “images” or other image-like data of the field.

Similarly, it should be appreciated that the light source160described above may generally correspond to any suitable light emitting device. For example, in several embodiments, the light source160may correspond to one or more light emitting diodes (LEDs). However, in alternative embodiments, the light source169may correspond to halogen light emitting device(s), incandescent light emitting device(s), and/or the like.

Additionally, it should be appreciated that, although the sensor assembly100and related system200are shown and described above as only including a single imaging device150, a single light source160, and a single position sensor170, the present subject matter may generally incorporate any number of imaging devices150, light sources160, and/or position sensors170. Moreover, although only a single sensor assembly100has been shown and described herein as being coupled to an associated implement12, the disclosed system200may include or incorporate any number of sensor assemblies100. For instance, in one embodiment, multiple sensor assemblies100may be coupled to the implement frame28at its aft end34for monitoring surface conditions of the field behind the implement12.

Referring now toFIG. 6, a schematic view of one embodiment of a system200for monitoring the surface conditions of a field is illustrated in accordance with aspects of the present subject matter. In general, the system100will be described with reference to the implement12shown inFIGS. 1 and 2and the sensor assembly100and associated system components shown inFIGS. 3-5. However, in other embodiments, the disclosed system200may be utilized to monitor the surface conditions of a field in association with any other suitable agricultural implement having any other suitable implement configuration, with any other suitable sensor assembly having any other suitable configuration, and/or using system components having any other suitable component configuration(s).

As indicated above, in several embodiments, the system200may include one or more components of the disclosed sensor assembly100, such as the imaging device150, the light source160, and the position sensor160. Additionally, as indicated above, the system200may also include a controller202communicatively coupled to the imaging device150, the position sensor170, and (optionally) the light source160. In general, the controller202is configured to analyze the images captured by the imaging device150to evaluate or assess the surface conditions within the field, such as by evaluating or assessing the size of soil clods behind an agricultural implement12during the performance of an agricultural operation. Additionally, the controller202may also be configured to execute one or more control actions in response to the assessment or evaluation of the field surface conditions. For instance, in one embodiment, the controller202may notify the operator of one or more parameters associated with the surface conditions being monitored, such as the size of the soil clods results from the current agricultural operation. In addition to notifying the operator (or as an alternative thereto), the controller202may be configured to execute one or more automated control actions adapted to adjust the monitored surface conditions, such as by increasing the downforce or downpressure on the tines54and/or the baskets56of the implement12when it is determined that the clod sizes are too large (e.g., the determined size or average size of the soil clods exceeds a given threshold or falls outside a desired range) in an attempt to reduce the clod sizing.

In general, the controller202may correspond to any suitable processor-based device(s), such as a computing device or any combination of computing devices. Thus, as shown inFIG. 6, the controller202may generally include one or more processor(s)204and associated memory devices206configured to perform a variety of computer-implemented functions (e.g., performing the methods, steps, algorithms, calculations and the like disclosed herein). 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 memory206may generally comprise memory element(s) including, but not limited to, computer readable medium (e.g., random access memory (RAM)), 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 memory206may generally be configured to store information accessible to the processor(s)204, including data208that can be retrieved, manipulated, created and/or stored by the processor(s)204and instructions210that can be executed by the processor(s)204.

In several embodiments, the data208may be stored in one or more databases. For example, the memory206may include an image database212for storing image data received from the imaging device150, For example, the imaging device150may be configured to continuously or periodically capture images of the portion of the field extending across the shielded surface area140(FIGS. 3 and 4) defined underneath the sensor housing106as an agricultural operation is being performed with the field. In such an embodiment, the images transmitted to the controller202from the imaging device150may be stored within the image database212for subsequent processing and/or analysis. It should be appreciated that, as used herein, the term image data may include any suitable type of data received from the imaging device150that allows for the surface conditions of a field to be analyzed, including photographs and other image-related data (e.g., scan data and/or the like).

Additionally, as shown inFIG. 6, the memory206may include a surface condition parameter database214for storing information related to one or more parameters of the field surface condition(s) being monitored. For instance, when the controller202is configured to monitor the size of soil clods within the field based on the images captured by the imaging device150, the determined size of each analyzed soil clod, including the determined volume of each clod, may be stored within the surface condition parameter database214. In such an embodiment, the stored clod size data may be used to assess the effectiveness of the current agricultural operation being performed within the field and/or to make decisions regarding adjustments to be made to one or more operating parameters of the implement12. For instance, the stored clod size data may be used to determine a mean or average clod size resulting from the performance of the agricultural operation. This mean or average clod size may then be compared to a predetermined or desired clod size range to assess the performance of the implement. In the event that the mean or average clod size does not fall within the target range, a suitable notification may be transmitted to the operator and/or a suitable corrective action may be performed in attempt to adjust the mean or average clod size resulting from the performance of the agricultural operation.

Referring still toFIG. 6, in several embodiments, the instructions210stored within the memory206of the controller202may be executed by the processor(s)204to implement a data capture module216. In general, the data capture module216may be configured to control the operation of one or more of the components of the sensor assembly100to allow images to be captured by the imaging device150and subsequently transmitted to the controller202. For instance, in one embodiment, the light source160may be configured to be continuously activated (i.e., continuously turned on such that light source160is constantly illuminating the interior of the sensor housing106and adjacent portion of the field surface108. In such an embodiment, the controller202may, for example, be configured to control the operation of the imaging device202to allow images of the field surface108to be captured periodically or continuously. Alternatively, the light source160may only be configured to be activated (i.e., turned on) immediately before or simultaneously with an image captured by the imaging device150. In such an embodiment, the controller202may be configured to control the operation of the light source160such that activation of the light source160coincides with or is based upon the timing and frequency at which images are being captured by the imaging device150. For instance, in a particular embodiment, the controller202may be configured to activate the light source160in advance of an image capture by a predetermined time period (e.g., 100-500 milliseconds before each image capture) to ensure that the surface108of the field is properly illuminated for capturing images of any surface features located within the shielded surface area140, as \veil as any adjacent shadows generated by such surface features.

Additionally, the instructions210stored within the memory206of the controller202may be executed by the processor(s)204to implement an image analysis module218. In general, the image analysis module218may be configured to analyze the images received from the imaging device150using one or more image processing algorithms and/or computer vision techniques to assess one or more surface conditions depicted within the images, such as the size of soil clods depicted within the images. Such image processing algorithms and/or computer vision techniques may include, for example, an edge-finding routine in which the edges of each surface feature and each adjacent shadow depicted within an image are identified. By identifying the perimeter or outline of each surface feature and each associated shadow depicted within a given image via the edge-finding algorithm, one or more dimensional parameters of each surface feature and each associated shadow can be determined based on the number of pixels contained within the identified perimeter and/or extending across the identified perimeter in a given direction. For instance, the area of a soil clod may be determined by counting the total number of pixels contained within the perimeter of the soil clod (as identified via the edge-finding algorithm), while the length and width of the soil clod may be determined by counting the number of pixels extending across the perimeter of the soil clod in the lengthwise and widthwise directions, respectively. A similar analysis may be performed to determine, for example, the area, length, and width of the adjacent shadow formed by the soil clod.

Moreover, when assessing one or more of the dimensional parameters of the shadows depicted within each image, the image analysis module218may be configured to correct or adjust the determined dimensional parameter(s) based on the effective lighting angle164of the light source160. For instance, as indicated above, the controller202may be communicatively coupled to the position sensor170of the sensor assembly100to allow height or position data indicative of the position of the light source160relative to the field surface108to be received by the controller202. In such an embodiment, the image analysis module218may, for example, include a look-up table correlating the relative position between the light source160and the field surface108to the effective lighting angle164of the light source160. The determined lighting angle may then be used to correct or adjust the determined dimensional parameter(s) for each shadow, as necessary.

For instance, based on the configuration of the sensor assembly100, the apparent or visible dimensional parameter(s) of the shadows within each image may be relatively accurate when the effective lighting angle164is within a desired or optimal angular range. However, if the image analysis module218determines that the effective lighting angle164for the light source160is currently outside the desired angular range, the image analysis module218may be configured to adjust the determined dimensional parameter(s) of each shadow to account for the light source160being further away from or closer to the field surface108than expected or desired. For instance, if the effective lighting angle164for the light source160exceeds the maximum value of the desired angular range (thereby indicating that the light source160is further away from the field surface108than expected or desired), the image analysis module218may be configured to increase the determined dimensional parameter(s) of each shadow by a correction factor or value determined as a function of the lighting angle164given that the size of the shadow (as depicted) will be smaller due to the increased lighting angle164. Similarly, if the effective lighting angle164for the light source160drops below the minimum value of the desired angular range (thereby indicating that the light source160is closer to the field surface108than expected or desired), the image analysis module218may be configured to decrease the determined dimensional parameter(s) of each shadow by a correction factor or value determined as a function of the lighting angle164given that the size of the shadow (as depicted) will be larger due to the reduced lighting angle164.

Referring still toFIG. 6, the instructions210stored within the memory206of the controller202may also be executed by the processor(s)204to implement a control module220. In general, the control module220may be configured to initiate a control action when it is determined that the monitored surface condition(s) does not fall within a desired range or does not meet or satisfy an associated threshold. As indicated above, in one embodiment, the control module220may be configured to provide a notification to the operator of the vehicle/implement10/12indicating that the monitored surface condition is not at a desired level, such as when the determined clod size exceeds a desired clod/size range. For instance, in one embodiment, the control module220may cause a visual or audible notification or indicator to be presented to the operator via an associated user interface222provided within the cab22of the vehicle10.

In other embodiments, the control module220may be configured to execute an automated control action designed to adjust the operation of the implement12. For instance, in one embodiment, the controller220may be configured to increase or decrease the operational or ground speed of the implement12in an attempt to adjust the monitored surface condition(s). In addition to the adjusting the ground speed of the implement12(or as an alternative thereto), the controller202may also be configured to adjust an operating parameter associated with the ground-engaging tools of the implement12. For instance, as shown inFIG. 6, the controller202may be communicatively coupled to one or more control valves224configured to regulate the supply of fluid (e.g., hydraulic fluid or air) to one or more corresponding actuators60,62of the implement12. In such an embodiment, by regulating the supply of fluid to the implement actuator(s)60,62, the controller202may automatically adjust the down force or down pressure applied to the tines54and/or baskets56of the implement12in a manner, for example, adapted to adjust the size of the resulting soil clods.

Moreover, as shown inFIG. 6, the controller202may also include a communications interface226to provide a means for the controller202to communicate with any of the various other system components described herein. For instance, one or more respective communicative links or interfaces228,230,232(e.g., one or more data buses) may be provided between the communications interface226and the imaging device150, position sensor160, and light source170to allow data and/or control commands to be transmitted between the controller202and such components. Similarly, one or more communicative links or interfaces234(e.g., one or more data buses) may be provided between the communications interface226and the user interface222, the control valves224, and/or the like to allow the controller202to control the operation of and/or otherwise communicate with such system components.

Referring now toFIG. 7, a flow diagram of one embodiment of a method300for monitoring surface conditions of a field is illustrated in accordance with aspects of the present subject matter. In general, the method300will be described herein with reference to the agricultural implement12, the sensor assembly100, and the system200described above with reference toFIGS. 1-6. However, it should be appreciated by those of ordinary skill in the art that the disclosed method300may generally be implemented with any agricultural implement having any suitable implement configuration, any sensor assembly having any suitable configuration, and/or any system having any 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, anchor adapted in various ways without deviating from the scope of the present disclosure.

As shown inFIG. 7, at (302), the method300may include illuminating a portion of a surface of a field located relative to an agricultural implement as the agricultural implement is moved across the field during the performance of an agricultural operation. For instance, as indicated above, the disclosed sensor assembly100may include light source104configured to illuminate a portion of the field surface108, such as the portion of the field surface108extending across the shielded surface area140defined directly underneath the sensor housing106of the sensor assembly100.

Additionally, at (304), the method300may include receiving an image of both a surface feature positioned relative to the illuminated portion of the surface of the field and an adjacent shadow created by the surface feature, Specifically, as indicated above, an imaging device150of the sensor assembly100may be used to capture images of the illuminated portion of the field surface108located beneath the sensor housing108. The images captured by the imaging device150may then be transmitted to and received by the controller202for subsequent processing and/or analysis.

Moreover, at (306), the method300may include analyzing the image to determine a parameter associated with the adjacent shadow. For instance, as indicated above, the controller202may be configured to analyze the images received from the imaging device150using one or more imaging processing algorithms and/or computer-vision techniques to determine one or more dimensional parameters of each shadow cast by a surface feature depicted within a Oven image.

Referring still toFIG. 6, at (308), the method300may include estimating a parameter of the surface feature based at least in part on the determined parameter of the adjacent shadow. For instance, as indicated above, the controller106may be configured to estimate or infer a dimensional parameter of surface feature that is not viewable or detected within the image based at least in part on the determined dimensional parameter of the adjacent shadow, such as the height188of the soil clods180described above. This estimated dimensional parameter may then be used assess the overall size of the image soil clod, such as by using the estimated dimensional parameter with one or more detectable dimensional parameters associated with the soil clod to determine the overall size of the clod.

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 disc, 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.