AGRICULTURAL SYSTEM AND METHOD FOR MONITORING FIELD CHARACTERISTICS OF A FIELD

An agricultural system includes a vehicle configured to perform one or more passes across a field, and a field characteristics sensor supported on the vehicle, spaced apart from a surface of the field during the one or more passes, with the field characteristics sensor being configured to generate data indicative of at least one characteristic of the field below the surface of the field. Further, the agricultural system includes an actuator selectively controllable to move the field characteristics sensor relative to the vehicle. Moreover, the agricultural system includes at least one distance sensor supported on the vehicle and configured to generate distance data indicative of a distance between the field characteristics sensor and the surface of the field. Additionally, the agricultural system includes a computing system configured to receive the distance data and initiate a control action based at least in part on the distance data.

FIELD OF THE INVENTION

The present disclosure relates generally to performing one or more passes across a field with an agricultural vehicle, and, more particularly, to monitoring field characteristics below a surface of the field during the one or more passes using non-contact sensors.

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. Modern 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.

When performing certain tillage operations, it is generally desirable to break up any layers of subsurface soil that have been compacted (e.g., due to vehicle traffic, ponding, and/or the like). As such, during such tillage operations, shanks or other ground-penetrating tools supported on the tillage implement are pulled through the soil to fracture the compaction layer. However, the depth of the compaction layer and other field characteristics, such as moisture content, may vary throughout the field. In this respect, sensing systems have been developed that have sensors that allow compaction layers and other field characteristics to be detected without contacting the ground such that the penetration depths of the shanks or other tools may be adjusted accordingly. While such systems work well, further improvements are needed. Particularly, certain non-contact sensors of the sensing system need to be kept at a certain orientation (e.g., distance and angle) relative to the surface of the field in order to be able to accurately determine field characteristics below the surface of the field. Manually adjusting the sensing system can be time consuming and may not sufficiently account for variations in the terrain.

Accordingly, an improved agricultural system and method for monitoring field characteristics within a field, particularly below a surface of the field, would be welcomed in the technology.

BRIEF DESCRIPTION OF THE INVENTION

In one aspect, the present subject matter is directed to an agricultural system for monitoring field characteristics of a field. The agricultural system may include a vehicle configured to perform one or more passes across a field. The agricultural system may further include a field characteristics sensor supported on the vehicle such that the field characteristics sensor is spaced apart from a surface of the field during the one or more passes across the field, with the field characteristics sensor being configured to generate field characteristics data indicative of at least one characteristic of the field below the surface of the field. Further, the agricultural system may include a sensor actuator coupled between the field characteristics sensor and the vehicle, where the sensor actuator is selectively controllable to move the field characteristics sensor relative to the vehicle. Moreover, the agricultural system may include at least one distance sensor supported on the vehicle, with the at least one distance sensor being configured to generate distance data indicative of a distance between the field characteristics sensor and the surface of the field. Additionally, the agricultural system may include a computing system configured to receive the distance data and initiate a control action based at least in part on the distance data.

In another aspect, the present subject matter is directed to an agricultural method for monitoring field characteristics of a field. The agricultural method may include receiving, with a computing device, field characteristics data indicative of at least one characteristic of a field below a surface of the field, where the field characteristics data is generated by a field characteristics sensor supported on a vehicle performing one or more passes across the field. Further, the agricultural method may include receiving, with the computing device, distance data generated by at least one distance sensor supported on the vehicle performing the one or more passes, with the distance data being indicative of a distance between a surface of the field and the field characteristics sensor. Moreover, the agricultural method may include determining, with the computing device, a position of the field characteristics sensor relative to the surface of the field based at least in part on the distance data. Additionally, the agricultural method may include initiating, with the computing device, a control action based at least in part on the position of the field characteristics sensor relative to the surface of the field.

DETAILED DESCRIPTION OF THE INVENTION

In general, the present subject matter is directed to agricultural systems and methods for monitoring field characteristics of a field during one or more passes across a field. Specifically, the disclosed system may include one or more field characteristics sensors configured to generate field characteristics data indicative of at least one characteristic of the field below the surface of the field (e.g., hard pan layer depth, moisture content, etc.). Particularly, the field characteristics sensor(s) is supported on an agricultural vehicle such that the field characteristics sensor(s) is spaced apart from a surface of a field during the one or more passes across the field with the agricultural vehicle. In some instances, the field characteristics sensor(s) includes a ground penetrating radar (GPR), an electromagnetic induction (EMI) sensor, and/or the like. The field characteristics sensor(s) may be supported such that it is movable relative to the vehicle by a sensor actuator(s). The field characteristics sensor(s) needs to be within a certain operating orientation (e.g., distance and/or angle) relative to the surface of the field to accurately collect data. However, the field characteristics sensor(s) may be spaced apart from the vehicle along (e.g., along a direction of travel or laterally), such that the field characteristics sensor(s) is not always kept at the correct orientation relative to the surface of the field as the vehicle performs the one or more passes.

Thus, in accordance with aspects of the present subject matter, the disclosed system may also include a distance sensor(s) configured to generate distance data indicative of the distance between the field characteristics sensor(s) and the surface of the field. The distance sensor(s) may be a laser line sensor, an infrared sensor, an ultrasonic sensor, a LIDAR sensor, a radar sensor, and/or the like. Based on the distance data, a computing system of the disclosed system may be configured to determine the position or orientation (e.g., distance and/or angle) of the field characteristics sensor(s) relative to the surface of the field, and to initiate a control action based on the orientation. For instance, in some embodiments, the computing system may automatically control the sensor actuator(s) to keep the field characteristics sensor(s) at the correct orientation relative to the surface of the field. In one embodiment, the computing system may control a user interface to indicate the orientation of the field characteristics sensor(s) relative to the surface of the field. As such, the disclosed system and method allow for the position or orientation of the field characteristics sensor(s) to be automatically monitored and for control actions to be performed based on the position/orientation, both of which increase the accuracy of the field characteristic data collected with such field characteristic sensor(s) while reducing the amount of time it takes to keep the field characteristics sensor(s) at the correct orientation relative to the surface of the field.

Referring now to the drawings,FIGS.1and2illustrate differing perspective views of one embodiment of an agricultural implement10in accordance with aspects of the present subject matter. Specifically,FIG.1illustrates a perspective view of the agricultural implement10coupled to a work vehicle12. Additionally,FIG.2illustrates a perspective view of the implement10, particularly illustrating various components of the implement10.

In general, the implement10may be configured to be towed across a field in a direction of travel (e.g., as indicated by arrow14) by the work vehicle12. As shown, the implement10may be configured as a tillage implement, and the work vehicle12may be configured as an agricultural tractor. However, in other embodiments, the implement10may be configured as any other suitable type of implement, such as a seed-planting implement, a fertilizer-dispensing implement, and/or the like. Similarly, 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.

As shown inFIG.1, the work vehicle12may include a pair of front track assemblies16, a pair or rear track assemblies18, and a frame or chassis20coupled to and supported by the track assemblies16,18. An operator's cab22may be supported by a portion of the chassis20and may house various input devices (e.g., one or more user interfaces120) for permitting an operator to control the operation of one or more components of the work vehicle12and/or one or more components of the implement10. Additionally, as is generally understood, the work vehicle12may include an engine24and a transmission26mounted on the chassis20. The transmission26may be operably coupled to the engine24and may provide variably adjusted gear ratios for transferring engine power to the track assemblies16,18via a drive axle assembly (not shown) (or via axles if multiple drive axles are employed).

As shown inFIGS.1and2, the implement10may include a frame28. More specifically, as shown inFIG.2, the frame28may extend longitudinally between a forward end30and an aft end32. The frame28may also extend laterally between a first side34and a second side36. In this respect, the frame28generally includes a plurality of structural frame members38, such as beams, bars, and/or the like, configured to support or couple to a plurality of components. Furthermore, a hitch assembly40may be connected to the frame28and configured to couple the implement10to the work vehicle12. Additionally, a plurality of wheels42(only one of which is shown inFIG.2) may be coupled to the frame28to facilitate towing the implement10in the direction of travel14.

In several embodiments, one or more ground engaging tools may be coupled to and/or supported by the frame28. In such embodiments, the ground engaging tool(s) may, for example, include one or more ground-penetrating tools. More particularly, in certain embodiments, the ground engaging tools may include one or more disk blades46and/or one or more shanks50supported relative to the frame28. In one embodiment, each disk blade46and/or shank50may be individually supported relative to the frame28. Alternatively, one or more groups or sections of the ground engaging tools may be ganged together to form one or more ganged tool assemblies, such as the disk gang assemblies44shown inFIGS.1and2.

As illustrated inFIG.2, each disk gang assembly44includes a toolbar48coupled to the implement frame28and a plurality of disk blades46supported by the toolbar48relative to the implement frame28. Each disk blade46may, in turn, be configured to penetrate into or otherwise engage the soil as the implement10is being pulled through the field. As is generally understood, the various disk gang assemblies44may be oriented at an angle relative to the direction of travel14, such that an axis of rotation of the disks is not perpendicular to the direction of travel14, to promote more effective tilling of the soil. However, it should be appreciated that the disk gang assemblies44may be oriented in any other suitable manner relative to the direction of travel14. In the embodiment shown inFIGS.1and2, the implement10includes four disk gang assemblies44supported on the frame28at a location forward of the shanks50, adjacent to the forward end30of the implement10, such as by including two forward disk gang assemblies44and two rear disk gang assemblies44. However, it should be appreciated that, in alternative embodiments, the implement10may include any other suitable number of disk gang assemblies44, such as more or fewer than four disk gang assemblies44. Furthermore, in one embodiment, the disk gang assemblies44may be mounted to the frame28at any other suitable location, such as adjacent to aft end32of the implement10.

It should be appreciated that, in addition to the shanks50and the disk blades46, the implement frame28may be configured to support any other suitable ground engaging tools. For instance, in the illustrated embodiment, the frame28is also configured to support a plurality of leveling blades52and rolling (or crumbler) basket assemblies54.

Moreover, in several embodiments, the implement10may include a plurality of actuators configured to adjust the positions of the implement10and/or various ground engaging tools coupled thereto. For example, in some embodiments, the implement10may include a plurality of disk gang actuators60(one is shown inFIG.2), with each actuator60being configured to move or otherwise adjust the orientation or position of one or more of the disk gang assemblies44relative to the implement frame28. For example, a first end of each actuator60may be coupled to a toolbar48of the corresponding disk gang assembly44, while a second end of each actuator60may be coupled to the frame28. Each actuator60may be configured to extend and/or retract to adjust the angle of the corresponding disk gang assembly(ies)44relative to a lateral centerline (not shown) of the frame28and/or the penetration depth of the associated disk blades46. Furthermore, each actuator60may be configured to extend and/or retract to adjust a downforce applied by the actuator(s)60to the disk gang assembly(ies)44, and thus the disk blades46.

Further, in some embodiments, the implement10may include a plurality of shank frame actuator(s)62(FIG.2), with each actuator62being configured to move or otherwise adjust the orientation or position of one or more of the shanks50relative to the implement frame28. For example, each actuator62may be coupled between a toolbar49supporting the shank(s)50and the implement frame28. As such the actuator(s)62may be configured to extend and/or retract to adjust the position of the toolbar(s)49and, thus, a penetration depth of the associated shank(s)50. Similarly, in some embodiments, the implement10may include a plurality of basket actuator(s)64, with each actuator64being configured to move or otherwise adjust the orientation or position of one or more of the basket assemblies54relative to the implement frame28. For example, each actuator64may be coupled between one or more of the basket assemblies54and the implement frame28and be configured to extend and/or retract to adjust an aggressiveness of the associated basket assembly(ies)54.

In the illustrated embodiment, each actuator60,62,64corresponds to a fluid-driven actuator, such as a hydraulic or pneumatic cylinder. However, it should be appreciated that each actuator60,62,64may correspond to any other suitable type of actuator, such as an electric linear actuator. It should additionally be appreciated that the implement10may include any other suitable actuators for adjusting the position and/or orientation of the ground-engaging tools of the implement10relative to the ground and/or implement frame28.

In accordance with aspects of the present subject matter, the implement10and/or the work vehicle12may be equipped with different types of sensors for monitoring different conditions during the performance of one or more passes of a field (e.g., during an agricultural operation with the implement10). For instance, at least one sensor assembly100may be supported on the work vehicle12and/or on the implement10. The sensor assembly(ies)100may include at least one field characteristics sensor configured to generate data indicative of a field characteristic (e.g., soil moisture content, depth of compaction layer, etc.) below a surface of the field. For example, in some embodiments, the sensor assembly100includes a first field characteristic sensor102A and a second field characteristic sensor102B. The field characteristics sensors102A,102B may be different types of non-contact sensors configured to generate field characteristics data indicative of the field characteristic(s) below the surface of the field while being spaced apart from the surface of the field. For instance, the first field characteristic sensor102A may be a ground penetrating radar (GPR), while the second field characteristic sensor102B may be an electromagnetic induction (EMI) sensor. However, it should be appreciated that the field characteristics sensors102A,102B may be any other suitable combination of sensors. It should also be appreciated that, in some embodiments, the sensor assembly100includes only one of the field characteristics sensors102A,102B, or includes additional field characteristics sensors.

In one embodiment, the field characteristics sensors102A,102B of each sensor assembly100are supported on a common housing104of the respective sensor assembly100. In one embodiment, the sensor assembly100may be positioned such that the field characteristics may be determined based on the data generated by the field characteristics sensor(s)102A,102B before the implement10has finished passing over the given location. For example, as shown inFIG.1, in one embodiment, the housing104is supported at a front end of the work vehicle12relative to the direction of travel14, extending forward of the work vehicle12. However, in other embodiments, the housing104may be supported at a rear end of the work vehicle12, and/or at a front end of the implement10. Further, in some embodiments, the housing104may extend laterally from the work vehicle12and/or the implement10. The housing104being movably supported relative to the vehicle12and/or the implement10by at least one sensor actuator106of the respective sensor assembly100. The sensor actuator(s)106may be selectively controllable to adjust an orientation of the field characteristics sensors102A,102B relative to vehicle12and/or the implement10, and thus, the surface of the field. For instance, the sensor actuator(s)106may be controllable to raise and lower and/or rotate the field characteristics sensors102A,102B relative to the vehicle12and/or the implement10. In some embodiments, the field characteristics sensors102A,102B are at least partially housed within the housing104. However, it should be appreciated that, in other embodiments, the field characteristics sensors102A,102B may be otherwise supported on the housing104. Moreover, it should be appreciated that, the field characteristics sensors102A,102B may be otherwise movably supported relative to the vehicle12and/or the implement10. For instance, the field characteristics sensors102A,102B may be separately supported relative to the vehicle12and/or the implement10such that they are independently movable relative to the vehicle12and/or the implement10. Additionally, it should be appreciated that, while the housing104is shown as being directly supported relative to the vehicle12by the sensor actuator(s)106, one or more intermediate elements (e.g., a linkage, a frame, and/or the like) may be positioned between the sensor actuator(s)106and the vehicle12and/or between the housing104and the sensor actuator(s)106.

In general, the field characteristics sensor(s)102A,102B need to be kept at a certain orientation relative to the surface of the field in order to accurately generate field characteristic data. For instance, in some embodiments, the field characteristics sensor(s)102A,102B need to be kept within a certain distance range (e.g., less than a first distance threshold and greater than a second distance threshold, the second distance threshold being less than the first distance threshold) from the surface of the field. When the field characteristics sensor(s)102A,102B are spaced apart from the work vehicle12and/or the implement10along the direction of travel14and/or laterally, the field characteristics sensor(s)102A,102B may not be kept at the proper orientation relative to the surface of the field by the movement of the vehicle12and/or the implement10across the field. For instance, when the field characteristics sensor(s)102A,102B are forward of the work vehicle12along the direction of travel14, the field characteristics sensor(s)102A,102B may encounter a slope before the work vehicle12, which means that the distance between the field characteristics sensor(s)102A,102B and the surface of the field changes. Similarly, if the field characteristics sensor(s)102A,102B extend laterally outwardly from the work vehicle12, the field characteristics sensor(s)102A,102B may pass across slopes that the wheels of the work vehicle12are not subject to, thus changing the distance between the field characteristics sensor(s)102A,102B and the surface of the field.

Thus, in accordance with aspects of the present subject matter, the sensor assembly100may also include at least one distance sensor108configured to generate distance data indicative of a distance between the field characteristics sensor(s)102A,102B and the surface of the field. For instance, in one embodiment, the distance sensor108may also be supported on the housing104. In some embodiments, the distance sensor108is at least partially enclosed within the housing104. However, it should be appreciated that, in other embodiments, the distance sensor108may be supported on the housing104in any other suitable way and/or may positioned at any other suitable location on the vehicle12and/or the implement10. Preferably, in some embodiments, the distance sensor is also a non-contact sensor such that the sensor assembly100does not disturb the surface of the field. For example, the distance sensor108may include at least one of a laser line sensor, an infrared sensor, an ultrasonic sensor, a LIDAR sensor, or a radar sensor. However, in other embodiments, the distance sensor may be a contact sensor. As will be described in greater detail below, the distance data may be used to control the sensor actuator(s)106to maintain the field characteristics sensor(s)102A,102B at the desired orientation relative to the surface of the field for generating the field characteristics data accurately.

Similarly, in one embodiment, the field characteristics sensor(s)102A,102B need to be kept within a certain angle range relative to the surface of the field (e.g., within +/−100 of parallel, such as within +/−5° of parallel, and/or the like from the surface of the field) such that the field characteristics sensor(s)102A,102B are substantially parallel to the surface of the field. Thus, depending on the type of distance sensor(s)108used, in some embodiments, the sensor assembly100includes at least two of the distance sensors108such that the angular orientation of the field characteristics sensor(s)102A,102B relative to the surface of the field may be monitored. However, in some embodiments, depending on the type of distance sensor108used, only one distance sensor108is needed to also determine the angular orientation of the field characteristics sensor(s)102A,102B relative to the surface of the field.

In some embodiments, the distance sensor(s)108may further be configured to generate data indicative of at least one field characteristic. For instance, when the distance sensor(s)108is configured as a radar sensor, the distance sensor(s)108may be configured to generate data indicative of coverage and/or thickness of a residue layer on the surface of the field. Particularly, in situations where the particular type of the sensor(s)102A,102B is affected by residue layer thickness, knowing the residue layer thickness from the data generated by the distance sensor(s)108could be used to improve analysis of the data generated by the field characteristics sensor(s)102A,102B. For instance, the data generated by the field characteristics sensor(s)102A,102B corresponding to the residue layer determined based at least in part on the data generated by the distance sensor(s)108may be ignored, areas with thicker residue determined based at least in part on the data generated by the distance sensor(s)108may be weighted less, and/or the like. For example, certain frequencies of ground penetrating radar may be more affected by thicker residue layers, which may lead to less accurate results. As such, adjusting the data generated at particular frequencies of ground penetrating radar may improve the accuracy of the field characteristic monitoring.

It should be appreciated that the configuration of the implement10described above and shown inFIGS.1and2and the work vehicle12described above and shown inFIG.1is provided only to place the present subject matter in an exemplary field of use. Thus, it should be appreciated that the present subject matter may be readily adaptable to any manner of implement and work vehicle configurations.

Referring now toFIG.3, a schematic view is illustrated of one embodiment of a system200for monitoring field characteristics of a field. In general, the system200will be described herein with reference to the implement10and vehicle12described above with reference toFIGS.1and2. However, it should be appreciated that the disclosed system200may generally be utilized with any other suitable implement/vehicle combination having any other suitable implement/vehicle configuration. Additionally, it should be appreciated that, for purposes of illustration, communicative links or electrical couplings of the system200shown inFIG.3are indicated by dashed lines.

In several embodiments, the system200may include a computing system202and various other components configured to be communicatively coupled to and/or controlled by the computing system202, such as the field characteristics sensor(s)102A,102B configured to generate field data indicative of field characteristics (e.g., soil moisture content, compaction layer depth, and/or the like) within the field, the sensor actuator(s)106selectively controllable to adjust an orientation of the field characteristics sensor(s)102A,102B relative to the surface of the field, the distance sensor(s)108configured to generate distance data indicative of the distance between the field characteristics sensor(s)102A,102B and the surface of the field, actuator(s) of the implement10(e.g., implement actuator(s)60,62,64), drive device(s) of the vehicle12(e.g., engine24, transmission26, etc.), and/or a user interface(s) (e.g., user interface(s)120). The user interface(s)120described herein may include, without limitation, any combination of input and/or output devices that allow an operator to provide operator inputs to the computing system202and/or that allow the computing system202to provide feedback to the operator, such as a keyboard, keypad, pointing device, buttons, knobs, touch sensitive screen, mobile device, audio input device, audio output device, and/or the like. Additionally, the computing system202may be communicatively coupled to one or more position sensors122configured to generate data indicative of the location of the implement10and/or the vehicle12, such as a satellite navigation positioning device (e.g., a GPS system, 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).

In general, the computing system202may correspond to any suitable processor-based device(s), such as a computing device or any combination of computing devices. Thus, as shown inFIG.3, the computing system202may 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.

It should be appreciated that the computing system202may correspond to an existing computing device for the implement10or the vehicle12or may correspond to a separate processing device. For instance, in one embodiment, the computing system202may form all or part of a separate plug-in module that may be installed in operative association with the implement10or the vehicle12to allow for the disclosed system and method to be implemented without requiring additional software to be uploaded onto existing control devices of the implement10or the vehicle12.

In several embodiments, the data208may be stored in one or more databases. For example, the memory206may include a sensor database212for storing data generated by the sensors102A,102B,108,122. For instance, the field characteristics sensor(s)102A,102B may be configured to continuously or periodically capture data associated with a portion of the field. Similarly, the distance sensor(s)108may be configured to continuously or periodically capture data associated with the distance between the field characteristics sensor(s)102A,102B and the surface of the field. Additionally, the data from the sensors102A,102B,108may be taken with reference to the position of the implement10and/or the vehicle12within the field based on the position data from the position sensor(s)122. The data transmitted to the computing system202from the sensors102A,102B,108,122may be stored within the sensor database212for subsequent processing and/or analysis. It should be appreciated that, as used herein, the term “sensor data212” may include any suitable type of data received from the sensor(s)102A,102B,108,122that allows for the field characteristics (e.g., moisture content, compaction layer depth, etc.) to be accurately analyzed including GPR data, EMI data, distance data (laser line data, infrared data, ultrasonic data, LIDAR data, radar data, and/or the like), GPS coordinates, and/or other suitable type of data.

The instructions210stored within the memory206of the computing system202may be executed by the processor(s)204to implement a field characteristics module214. In general, the field characteristics module214may be configured to assess the sensor data212deriving from the sensor(s)102A,102B,108,122to determine field characteristics (e.g., moisture content, compaction layer depth, etc.) across the field. For instance, as indicated above, the field characteristics data generated by the field characteristics sensor(s)102A,102B may be indicative of the field characteristics below the surface of the field. The field characteristics module214may use any known correlation (e.g., look-up tables, suitable mathematical formulas, and/or algorithms) between the data generated by the sensor(s)102A,102B and field characteristics to determine the field characteristics. Such known correlations may also be stored within the memory206, or otherwise be accessible to the field characteristics module214. In some embodiments, the field characteristics module214may also determine residue layer thickness based at least in part on the data generated by the distance sensor(s)108and adjust analysis of the data generated by the field characteristics sensor(s)102A,102B based at least in part on the residue layer thickness (e.g., ignore field characteristic data corresponding to residue layer depth, give less weight to field characteristic data generated where residue layer is thick, and/or the like).

In some embodiments, the field characteristics module214may also generate a field characteristics map based at least in part on the field characteristics data generated by the field characteristics sensor(s)102A,102B that correlates the field characteristic(s) below the surface of the field to each location within the field.

It should additionally be appreciated that, in some embodiments, the field characteristics module214may also be configured to control the sensor(s)102A,102B,108,122to generate data. More particularly, the field characteristics module214may also be configured to control the sensor(s)102A,102B, when the sensor(s)102A,102B are GPR sensors, to operate at a plurality of frequencies, such that the data generated by the sensor(s)102A,102B is indicative of the field condition (e.g., moisture content) of the field at a plurality of depths, each of the plurality of depths being associated with one of the plurality of frequencies.

Referring still toFIG.3, in some embodiments, the instructions210stored within the memory206of the computing system202may also be executed by the processor(s)204to implement a control module216. For instance, the control module216may generally be configured to initiate or perform a control action based on the monitored orientation of the field characteristics sensor(s)102A,102B relative to the surface of the field. For instance, the control module216may compare the distance data from the sensor(s)108to at least one distance threshold and/or an angular threshold to determine whether the field characteristics sensor(s)102A,102B are at the proper distance and/or angular orientation relative to the surface of the field. For example, if the distance between the field characteristics sensor(s)102A,102B and the surface of the field determined based at least in part on the distance data generated by the distance sensor(s)108is less than a first distance threshold and greater than a second distance threshold, the field characteristics sensor(s)102A,102B is within a proper distance range from the surface of the field for determining the field characteristics below the surface of the field. Otherwise, the field characteristics sensor(s)102A,102B is not within the proper distance range from the surface of the field for determining the field characteristics below the surface of the field. Similarly, if an angle between the field characteristics sensor(s)102A,102B and the surface of the field determined based at least in part on the distance data generated by the distance sensor(s)108is less than a certain magnitude of angle, the field characteristics sensor(s)102A,102B is at a proper angular orientation relative to the surface of the field for determining the field characteristics below the surface of the field. Otherwise, the field characteristics sensor(s)102A,102B is not at a proper angular orientation relative to the surface of the field for determining the field characteristics below the surface of the field. The distance thresholds and/or the angular magnitude range may be stored within the memory206, or otherwise be accessible to the control module216.

When the control module216determines based on the comparison(s) that the field characteristics sensor(s)102A,102B is not within the proper distance range from the surface of the field and/or that the field characteristics sensor(s)102A,102B is not at a proper angular orientation relative to the surface of the field for determining the field characteristics below the surface of the field, the control module216may perform a control action. For instance, in one embodiment, the control module216may control an operation of the sensor actuator(s)106to adjust an orientation (e.g., distance and/or angle) of the field characteristics sensor(s)102A,102B relative to the surface of the field when the orientation of the field characteristics sensor(s)102A,102B relative to the surface of the field is determined to not be the desired orientation. For example, if the distance between the field characteristics sensor(s)102A,102B and the surface of the field is greater than the first distance threshold, the control module216may control an operation of the sensor actuator(s)106to lower the field characteristics sensor(s)102A,102B. Conversely, if the distance between the field characteristics sensor(s)102A,102B and the surface of the field is less than the second distance threshold, the control module216may control an operation of the sensor actuator(s)106to raise the field characteristics sensor(s)102A,102B. Similarly, if the field characteristics sensor(s)102A,102B is at an angle relative to the surface of the field that has a magnitude greater than an angle threshold, then the control module216may control an operation of the sensor actuator(s)106to adjust the angle of the field characteristics sensor(s)102A,102B relative to the surface of the field. In some embodiments, the control module216may additionally, or alternatively, control an operation of the user interface(s)120to indicate the position or orientation of the field characteristics sensor(s)102A,102B relative the surface of the field based at least in part on the distance data.

It should be appreciated that, in some embodiments, the field characteristics module214may evaluate the field condition data collected when the field condition sensor(s)102A,102B is determined to not be at the proper orientation/position relative to the surface of the field differently than the field condition data collected when the field condition sensor(s)102A,102B is determined to be at the proper orientation/position relative to the surface of the field. For instance, the field characteristics module214may weight the field condition data collected when the field condition sensor(s)102A,102B is not at the proper orientation/position relative to the surface of the field with less weight (e.g., to indicate less confidence) than the field condition data collected when the field condition sensor(s)102A,102B is at the proper orientation/position relative to the surface of the field. Alternatively, the field characteristics module214may ignore the field condition data collected when the field condition sensor(s)102A,102B is not at the proper orientation/position relative to the surface of the field and/or control the field condition sensor(s)102A,102B to not collect data when the field condition sensor(s)102A,102B is not at the proper orientation/position relative to the surface of the field.

Additionally, in some embodiments, the control module216may be configured to perform a control action based at least in part on the monitored field characteristics. For instance, the control action, in one embodiment, includes adjusting the operation of one or more components of the implement10, such as adjusting the operation of one or more of the actuators60,62,64to adjust the penetration depth of the ground engaging tool(s)46,50,52,54and/or adjust the operation of one or more of the drive device(s)24,26to adjust a speed of the implement10and/or the vehicle12based on the monitored field conditions (e.g., soil moisture, compaction layer depth, etc.) to improve performance of the implement10(e.g., prevent plugging and/or reduce compaction). In some embodiments, the control action may include controlling the operation of the user interface120to notify an operator of the field conditions (e.g., soil moisture), and/or the like. Additionally, or alternatively, in some embodiments, the control action may include adjusting the operation of the implement10based on an input from an operator, e.g., via the user interface120.

Additionally, as shown inFIG.3, the computing system202may also include a communications interface218to provide a means for the computing system202to communicate with any of the various other system components described herein. For instance, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface218and the sensor(s)102A,102B,108,122to allow data transmitted from the sensor(s)102A,102B,108,122to be received by the computing system202. Similarly, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface218and the user interface120to allow operator inputs to be received by the computing system202and to allow the computing system202to control the operation of one or more components of the user interface120. Moreover, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface218and the actuator(s)60,62,64,106and/or the drive device(s)24,26to allow the computing system202to control the operation of one or more components of the actuator(s)60,62,64,106and/or the drive device(s)24,26.

Referring now toFIG.4, a flow diagram of one embodiment of a method300for monitoring field characteristics within a field is illustrated in accordance with aspects of the present subject matter. In general, the method300will be described herein with reference to the implement10and the work vehicle12shown inFIGS.1-2, as well as the various system components shown inFIG.3. However, it should be appreciated that the disclosed method300may be implemented with work vehicles and/or implements having any other suitable configurations, and/or within systems having any other suitable system configurations. In addition, althoughFIG.4depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure.

As shown inFIG.4, at (302), the method300may include receiving field characteristics data indicative of at least one characteristic of a field below a surface of the field, the field characteristics data being generated by a field characteristics sensor supported on a vehicle performing one or more passes across the field. For instance, as described above, the computing system202may be configured to receive field characteristics data indicative of at least one characteristic (e.g., moisture content, compaction layer depth, etc.) of a field below a surface of the field, where the field characteristics data is generated by a field characteristics sensor(s)102A,102B supported on the vehicle12and/or on the implement10performing one or more passes across the field.

At (304), the method300may include receiving distance data generated by at least one distance sensor supported on the vehicle performing the one or more passes, the distance data being indicative of a distance between the surface of the field and the field characteristics sensor. For instance, as discussed above, the computing system202may be configured to receive distance data generated by the distance sensor(s)108supported on the vehicle12and/or on the implement10performing the one or more passes, with the distance data being indicative of a distance between the surface of the field and the field characteristics sensor(s)102A,102B.

Moreover, at (306), the method300may include determining a position of the field characteristics sensor relative to the surface of the field based at least in part on the distance data. For example, as discussed above, the computing system202may be configured to determine a position or orientation of the field characteristics sensor relative to the surface of the field based at least in part on the distance data generated by the distance sensor(s)108.

Additionally, at (308), the method300may include initiating a control action based at least in part on the position of the field characteristics sensor relative to the surface of the field. For instance, as described above, the computing system202may be configured to initiate a control action based at least in part on the position of the field characteristics sensor relative to the surface of the field. For example, the computing system202may be configured to control an operation of the sensor actuator(s)106to adjust the position of the field characteristics sensor relative to the surface of the field based at least in part on the determined position of the field characteristics sensor relative to the surface of the field. Alternatively, or additionally, the computing system202may be configured to control an operation of the user interface(s)120to indicate the position of the field characteristics sensor relative to the surface of the field based at least in part on the determined position of the field characteristics sensor relative to the surface of the field.

It is to be understood that the steps of the method300are performed by the computing system202upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disk, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the computing system202described herein, such as the method300, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The computing system202loads 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 computing system202, the computing system202may perform any of the functionality of the computing system202described herein, including any steps of the method300described herein.