Patent Publication Number: US-10765056-B2

Title: System and method for controlling an agricultural system based on soil analysis

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application is a divisional of U.S. patent application Ser. No. 14/695,454, entitled “System and Method for Controlling an Agricultural System Based on Soil Analysis,” filed Apr. 24, 2015, which claims priority from and the benefit of U.S. Provisional Application Ser. No. 61/984,471, entitled “System for Mounting an Agricultural Soil Analyzer to Agricultural Implement,” filed Apr. 25, 2014. Each of the foregoing applications is hereby incorporated by reference. 
    
    
     BACKGROUND 
     The invention relates generally to agricultural systems and, more particularly, to a system and method for controlling an agricultural system based on soil analysis. 
     Certain agricultural operators may conduct soil analysis before beginning planting operations in agricultural fields. Soil analysis may facilitate in planning of planting operations, thereby increasing yield and/or planting efficiency. For example, an analysis identifying specific areas having a rough or uneven soil surface may influence soil conditioning operations in the specific areas. In addition, operators may reduce waste and save time by limiting planting and/or conditioning to desirable areas of an agricultural field. Moreover, unwanted compaction of the soil may be reduced by performing fewer passes in the agricultural field. Furthermore, reducing the time between analysis and conditioning may improve surface quality. However, typical soil analysis may be time consuming, expensive, and data intensive. 
     BRIEF DESCRIPTION 
     In one embodiment, an agricultural system includes a ground engaging tool configured to engage an agricultural field. The agricultural system also includes an agricultural soil analyzer positioned forward of the ground engaging tool relative to a direction of travel of the agricultural system. The agricultural soil analyzer is configured to output a first signal indicative of a parameter of soil forward of the ground engaging tool relative to the direction of travel. Also, the agricultural system includes a controller communicatively coupled to the agricultural soil analyzer. The controller is configured to receive the first signal from the agricultural soil analyzer. Moreover, the controller is configured to determine a target speed of the agricultural system based on the first signal and to output a second signal indicative of the target speed, to determine a target pressure of the ground engaging tool based on the first signal and to output a third signal indicative of the target pressure, to determine a target penetration depth of the ground engaging tool based on the first signal and to output a fourth signal indicative of the target penetration depth, or a combination thereof. 
     In another embodiment, a method of controlling an agricultural system, includes receiving a first signal from a soil analyzer indicative of a surface roughness of soil forward of a soil conditioner relative to a direction of travel of the agricultural system. The soil conditioner is configured to apply a pressure to a surface of a field. The method also includes determining a target pressure of the soil conditioner based on the first signal. The method further includes outputting a second signal to a soil conditioner controller indicative of the target pressure. The soil conditioner controller is configured to adjust the pressure of the soil conditioner based on the target pressure. 
     In another embodiment, an agricultural system includes an agricultural soil analyzer positioned forward of a ground engaging tool relative to a direction of travel of the agricultural system. The agricultural soil analyzer is configured to output a first signal indicative of a parameter of soil forward of the soil conditioner relative to the direction of travel. The agricultural system also includes a controller communicatively coupled to the agricultural soil analyzer. The controller is configured to receive the first signal from the agricultural soil analyzer. Furthermore, the controller is configured to determine a target parameter of the agricultural system based on the first signal and to output a second signal indicative of the target parameter. 
    
    
     
       DRAWINGS 
       These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein: 
         FIG. 1  is a side view of an embodiment of an agricultural system, including a tow vehicle, a soil analyzer assembly, and an agricultural implement; 
         FIG. 2  is a side view of another embodiment of an agricultural system, including a soil analyzer mounted forward of a tow vehicle and an agricultural implement mounted rearward of the tow vehicle. 
         FIG. 3  is a perspective view of an embodiment of an agricultural implement, including a soil analyzer assembly; 
         FIG. 4  is a perspective view of an embodiment of a soil analyzer assembly that may be utilized to adjust a position of a soil analyzer. 
         FIG. 5  is a perspective view of the soil analyzer assembly of  FIG. 5 , in which a mounting assembly is positioned between a stored position and an operation position; 
         FIG. 6  is a perspective view of the soil analyzer assembly of  FIG. 5 , in which the mounting assembly is positioned in the operation position; 
         FIG. 7  is a block diagram of an embodiment of a control system for controlling an agricultural system; and 
         FIG. 8  is a flow chart of an embodiment of a method for controlling an agricultural system. 
     
    
    
     DETAILED DESCRIPTION 
     One or more specific embodiments of the present disclosure will be described below. In an effort to provide a concise description of these embodiments, all features of an actual implementation may not be described in the specification. It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers&#39; specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure. 
     When introducing elements of various embodiments of the present disclosure, the articles “a,” “an,” “the,” and “said” are intended to mean that there are one or more of the elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements. Any examples of operating parameters and/or environmental conditions are not exclusive of other parameters/conditions of the disclosed embodiments. 
     The embodiments described herein relate to a system and method for controlling an agricultural system based on soil roughness data from a soil analyzer. In certain embodiments, the soil analyzer may be a soil analyzer configured to emit acoustic waves against the soil surface and receive backscattered or reflected waves. Thereafter, a processor may evaluate the returned acoustic waves to determine a parameter of the soil, such as the roughness of the soil surface. Based on the surface roughness, a controller may send a signal to a ground engaging tool (e.g., a soil conditioner, a tillage implement, etc.) to adjust an operating parameter (e.g., to increase the pressure a rolling basket applies to the soil surface) to enhance soil preparation. In other embodiments, the controller may send a signal to the agricultural system to control the speed of the agricultural system based on the surface roughness. In certain embodiments, the soil analyzer is mounted on a mounting assembly configured to move the soil analyzer between a stored position and an operation position. While in the stored position, the analyzer may be located proximate to a front end or a rear end of a tow vehicle. However, in the operation position, the analyzer extends longitudinally in front of or behind the tow vehicle and proximate to the soil surface. Accordingly, the soil analyzer is in front of the soil conditioner. An operator may lower the soil analyzer into the operation position, thereby enabling the soil analyzer to determine surface roughness. The control system may then adjust the operating pressure of the soil conditioner and/or adjust the speed of the agricultural system to enhance field preparation. 
     Soil analysis may be conducted in a variety of ways. For example, soil samples may be removed from an agricultural field and analyzed in a laboratory setting. Additionally, non-contact and/or soil surface sensors may be used to obtain various soil properties while reducing disturbance of the agricultural field. Typically, when using non-contact sensors, operators conduct soil analysis separately from planting, fertilizing, and/or tillage operations. For example, one pass may be used to conduct soil analysis, in which the operator tows equipment over the agricultural field to obtain data for evaluation. The data may then be evaluated to generate soil maps or yield maps indicating a variety of field properties. The soil maps may be used to direct future planting, fertilizing, and/or tillage operations. Then, subsequent passes may be used to condition the soil, fertilize the soil, and/or deposit seeds into the soil. During the planting, fertilizing, and/or tillage process, the operator may consult the soil maps to adjust planting rates, fertilizing rates, and/or tillage operations based on the properties obtained from the soil analysis. Using multiple passes increases the cost and the time it takes for operators to condition, fertilize, and plant the field. Combining the soil analysis and conditioning processes obviates at least one field pass that operators may make when preparing fields for planting. Moreover, by conducting soil analysis closer to actual planting operations, current data related to soil conditions is generated, such as roughness, salinity, cation exchange capacity, clay content, or the like. As a result, efficiency may be increased, along with yields. 
       FIG. 1  is a side view of an agricultural system  10 . The agricultural system  10  includes a tow vehicle  12 , a soil analyzer assembly  14  (e.g., assembly, analyzer assembly, etc.), and an agricultural implement  16 . The tow vehicle  12  may be any vehicle suitable for towing the agricultural implement  16 , such as a tractor, off-road vehicle, work vehicle, and the like. Additionally, although the illustrated implement is a stand-alone soil conditioner, the agricultural implement  16  may be any implement, such as a ground engaging implement (e.g., the soil conditioner, a tillage implement, a fertilizer implement, a planter, etc.), suitable for agricultural use. 
     In the illustrated embodiment, the soil analyzer assembly  14  is coupled to the tow vehicle  12  via a hitch  18 . Furthermore, as described in detail below, the agricultural implement  16  is attached to the tow vehicle  12  via a frame  20 . The agricultural system  10  travels over a surface  22 , such as the ground, a road, a field, or another surface. The tow vehicle  12  is configured to drive the agricultural implement  16  in a direction of travel  24 . Moreover, in certain embodiments, the soil analyzer assembly  14  may be mounted to the front of the tow vehicle  12  and/or to the front of the agricultural implement  16 . As will be discussed in detail below, by mounting the assembly  14  in front of the agricultural implement  16 , conditioning of the undisturbed field (e.g., untilled, unconditioned, etc.) may be obtained and used to modify operating parameters of the agricultural implement  16 . For example, in certain embodiments, a controller may receive data acquired by the soil analyzer and relay operating instructions to the agricultural implement  16  to enhance field preparations based on the data. For instance, a pressure applied by a rolling basket mounted to the agricultural implement  16  may be adjusted based on a roughness of the soil surface forward of the rolling basket. Additionally, the penetration depth of tillage discs may be adjusted based on the data acquired by the soil analyzer. Moreover, in certain embodiments, a speed of the tow vehicle  12  may be adjusted based on the roughness of the soil surface forward of the tow vehicle  12  and/or forward of the rolling basket. 
       FIG. 2  is a perspective view of an alternative embodiment of the soil analyzer assembly  14  coupled to the front end of the tow vehicle  12 . As shown, the hitch  18  is mounted on a front end of the tow vehicle  12 . It will be appreciated that while the foregoing embodiments depict the soil analyzer assembly  14  as an attached implement with wheels, in certain embodiments the assembly  14  may be coupled to the hitch  18  and/or to the agricultural implement  16  with a different support structure (e.g., wheels, a sled, a frame, etc.). For example, as will be discussed below, the assembly  14  may include a support wheel or a sled to support the weight of the assembly  14  as the assembly  14  is moved through a field. However, in certain embodiments, a separate support structure may be omitted. For instance, the assembly  14  may be coupled to and supported by the tow vehicle  12  and/or agricultural implement  16 . For example, the assembly  14  may include at least one soil analyzer positioned on a front end of the agricultural implement  16 . The soil analyzer may be fully supported by the agricultural implement  16 , and as a result the analyzer assembly  14  may include the soil analyzer without additional support structures. Moreover, as described above, in certain embodiments, the soil analyzer may be coupled directly to the tow vehicle  12  without additional support structures. 
       FIG. 3  is a perspective view of an embodiment of the soil analyzer assembly  14  coupled between the tow vehicle  12  and the agricultural implement  16 . In the illustrated embodiment, the soil analyzer assembly  14  includes a mounting assembly  26  coupled to the hitch  18 . As shown, the frame  20  of the soil analyzer assembly  14  has a generally quadrilateral shape. However, it will be appreciated that other shapes may be utilized to support the mounting assembly  26  and a soil analyzer  28  (e.g., probe, meter, detector, analyzer, etc.) while enabling movement of the mounting assembly  26  from a stored position to an operation position. As will be discussed in detail below, the frame  20  includes an opening or gap to enable the mounting assembly  26  to lower the soil analyzer  28  toward the surface  22  of an agricultural field  30 . In other words, the frame  20  of the soil analyzer assembly  14  is configured to support the mounting assembly  26  while the mounting assembly  26  is in the stored position and in the operation position. Furthermore, the frame  20  of the assembly  14  is configured to enable the agricultural implement  16  to couple to the assembly  14  (e.g., via a hitch). 
     As mentioned above, in certain embodiments, the mounting assembly  26  may be coupled to a hitch at the front end of the tow vehicle  12 . The mounting assembly  26  is configured to support the soil analyzer  28 . However, as mentioned above, in certain embodiments, the soil analyzer  28  may be coupled directly to the agricultural implement  16  (e.g., without the frame  20  and the mounting assembly  26 ). In the illustrated embodiment, the soil analyzer  28  includes an acoustic transducer (e.g., acoustic wave emitter and receiver) configured to interrogate the surface  22  of the agricultural field  30  with acoustic waves at a desired frequency. Acoustic waves may be “backscattered” or “bounced” off of the surface  22  back toward the analyzer  28 . Accordingly, the soil analyzer  28  may receive and record the waves returned from the surface  22 . However, in other embodiments, the soil analyzer  28  may be a camera, a chemical analyzer, an optical analyzer, an electromagnetic analyzer, or the like. As will be described in detail below, the data received by the soil analyzer  28  may be analyzed by a controller to determine the roughness of the surface  22  and to generate two-dimensional or three-dimensional soil maps of the agricultural field. In certain embodiments, the data may be analyzed in real-time or near real-time to control field conditioning operations. For example, the data received by the soil analyzer  28  may be used to control a pressure applied by a rolling basket the surface  22  during soil preparation operations. Additionally, in other embodiments, the data received by the soil analyzer  28  may be used to control the pressure (e.g., aggressiveness) of a row cleaner. In certain embodiments, multiple soil analyzers  28  may be utilized to control the pressure applied by multiple rolling baskets. For example, each rolling basket may be associated with one soil analyzer  28 , which is configured to control operation of the respective rolling basket. Additionally, each rolling basket may be associated with multiple soil analyzers  28 . Moreover, in certain embodiments, each soil analyzer  28  may be associated with multiple rolling baskets. By employing multiple soil analyzers, better resolution of soil conditions may be obtained by individually analyzing different swaths of soil. In addition, by utilizing individually controllable rolling baskets, each swatch may be conditioned based on the particular soil conditions of the swath. 
     The soil analyzer  28  is a non-contact analyzer (e.g., soil surface sensor; low disruption or compaction sensor, etc.) that is configured to be positioned proximate (e.g., proximal) to the agricultural field  30  while obtaining data. As used herein, proximate refers to above or at the soil surface. In certain embodiments, proximate may refer to a distance that does not contact the surface  22  but is close enough to facilitate accurate measurements. For example, the analyzer  28  may be six inches, twelve inches, twenty four inches, or any suitable distance from the surface  22  as long as the emitted acoustic waves are able to reach the surface  22  and the resulting backscattered waves are able to return to the analyzer  28 . However, in other embodiments, the analyzer  28 , or components coupled to the analyzer  28 , may contact the surface  22 . Moreover, as discussed in detail below, the analyzer  28  includes integrated electronic/software components or systems including a global positioning system (GPS), data acquisition software, and the like. 
     As will be described in detail below, the mounting assembly  26  is configured to extend and retract between a first position (e.g., a stored position) and a second position (e.g., an operation position). In the illustrated embodiment, the analyzer  28  is in the first position longitudinally proximate to the rear end of the tow vehicle  12 . However, while in the second position, the analyzer  28  is positioned longitudinally rearward of the first position, relative to the direction of travel  24  of the agricultural system  10 . Moreover, while in the second position, the analyzer  26  is positioned proximate to the surface of the agricultural field  30 . In certain embodiments, as described above, the analyzer  28  may be mounted to the front of the tow vehicle  12 . Accordingly, the analyzer may be longitudinally proximate to the front end of the tow vehicle  12  while in the first position and longitudinally forward of the first position, relative to the direction of travel  24 , while in the second position. 
     In the illustrated embodiment, the agricultural implement  16  is coupled to the soil analyzer assembly  14  via a hitch assembly  32 . As shown, the agricultural implement  16  is a stand-alone soil conditioner. However, in alternative embodiments, the agricultural implement  16  may be a field cultivator, a fertilizer applicator, a planter, or the like (e.g., including a ground engaging implement). The implement  16  is configured to be towed behind the tow vehicle  12 , in the direction of travel  24 . The implement  16  includes wheels  34  which are used to guide the implement  16  along the surface  22  of the agricultural field  30 . As mentioned above, the implement  16  is attached to the soil analyzer assembly  14  via the hitch assembly  32 . However, in certain embodiments, the soil analyzer  28  of the soil analyzer assembly  14  may be directly coupled to the implement  16 . In certain embodiments, the hitch assembly  32  is connected via bolts or other suitable couplings to an implement frame  21 . The implement frame  21  includes a front tool bar  36  supporting multiple tines  38 , in the illustrated embodiment. The tines  38  are configured to contact the agricultural field  30  to condition the soil and prepare the agricultural field  30  for planting. 
     The structural members of the agricultural implement  16 , such as the frame  21  and the hitch assembly  32 , may be made of any suitable material, such as structural steel. In addition, leveling bars  42  are coupled to the implement frame  21 , in the illustrated embodiment. The leveling bars  42  are configured to smooth the surface  22  of the agricultural field  30  in preparation for planting. Further, the implement  16  includes rolling baskets  44 . The rolling baskets  44  are configured to condition the soil in preparation for planting via contact with the soil surface  22 . In the illustrated embodiment, the rolling baskets  44  include a control system configured to selectively increase and decrease the force applied to the surface  22  via the rolling baskets  44 . For example, as will be described below, an implement control system may send a signal to the rolling basket control system to increase the pressure applied by the rolling baskets  44 . As a result, a hydraulic cylinder of the rolling basket control system may apply a greater force to the rolling baskets  44 , thus inducing the rolling baskets to apply a greater pressure to the surface  22 . 
       FIG. 4  is a perspective view of an embodiment of the mounting assembly  26  of the soil analyzer assembly  14 , in which the mounting assembly is in a stored position  46 . As will be described in detail below, the mounting assembly  26  is foldable or collapsible and configured to position the analyzer  28  proximate to the surface  22  of the agricultural field  30 . The mounting assembly  26  includes a frame assembly  48 , in the illustrated embodiment. Moreover, the frame assembly  48  includes frame members  50 , as described in detail below. In the stored position  46 , the analyzer  28  is deactivated. That is, data acquisition does not begin until the analyzer  28  is proximate to the surface  22  of the agricultural field  30 . Moreover, a first support arm  52  (e.g., frame member  50 ) of the mounting assembly  26  is substantially perpendicular to the agricultural field  30  while the mounting assembly  26  is in the stored position  46 . As shown, the first support arm  52  is rotatably coupled to the hitch  18  at a base  54 . The base  54  is configured to secure the mounting assembly  26  to the hitch  18  or to any other suitable structure. In the illustrated embodiment, the first support arm  52  is coupled to the base  54  at a first end  56  of the first support arm  52 . As mentioned above, the mounting assembly  26  is in the stored position  46  in  FIG. 4 . As a result, the first support arm  52  is in a substantially vertical orientation relative to the ground. However, the first support arm  52  is configured to rotate about a first axis  58 . As discussed in detail below, rotation of the first support arm  52  about the first axis  58  transitions the mounting assembly  26  between the stored position  46  and an operation position in which the analyzer  28  is positioned rearward of the tow vehicle  12  and proximate to the soil surface. However, as mentioned above, in embodiments in which the assembly  14  is mounted forward of the tow vehicle  12 , moving the mounting assembly  26  to the operation position places the analyzer  28  in front of the tow vehicle  12  (e.g., moves the analyzer  28  in the direction of travel  24  relative to the tow vehicle  12 ). 
     As mentioned above, the first support arm  52  rotates about the first axis  58  to transition the mounting assembly  26  between the stored position  46  and an operation position. In the illustrated embodiment, an actuator  60  drives the first support arm  52  to rotate about the first axis  58 . As shown, the actuator  60  is a hydraulic cylinder configured to extend and retract a piston rod coupled to the first support arm  52  to drive rotation about the first axis  58 . For example, when the piston rod is retracted, the first support arm  52  is driven toward the stored position  46  and when the piston rod is extended the first support arm  52  is driven toward the operation position. However, it should be appreciated that alternative linear actuators (e.g., screw drives, electromechanical actuators, etc.) may be employed in alternative embodiments. In further embodiments, a rotary actuator (e.g., hydraulic, electrical, etc.) may be used. In certain embodiments, a gear and pulley system may be utilized to drive rotation of the first support arm  52 . Moreover, as will be discussed in detail below, a control system may be included to control operation of the actuator  60 . 
     The mounting assembly  26  also includes a rotation member  62  rotatably coupled to the first support arm  52  at a second end  64 . In the illustrated embodiment, the rotation member  62  is configured to rotate about a second axis  66 . Moreover, the rotation member  62  is coupled to a second support arm  68  at a first end  70  of the second support arm  68 . The second support arm  68  is configured to rotate about the second axis  66  relative to the first support arm  52 . That is, the second support arm  68  rotates about the second axis  66  with the rotation member  62 . The second support arm  68  is configured to support the analyzer  28  at a second end  72  of the second support arm  68 . As a result of this configuration, the analyzer  28  is moved toward the position rearward of the tow vehicle  12  and proximate to the soil surface  22  as the first support arm  52  and the second support arm  68  are moved to the operation position. As mentioned above, in embodiments where the mounting assembly  26  is mounted on the front of the tow vehicle  12 , the analyzer is moved toward the position forward of the tow vehicle  12  and proximate to the soil surface  22  as the first support arm  52  and the second support arm  68  are moved to the operation position. 
     In the illustrated embodiment, an actuator  74  drives the second support arm  68  to rotate about the second axis  66 . As shown, the actuator  74  includes cables  76  extending from the base  54  to the rotation member  62 . However, in certain embodiments alternative linear actuators (e.g., screw drives, electromechanical actuators, etc.) may be employed. For instance, a hydraulic cylinder may be coupled to the second support arm  68  to drive rotation about the second axis  66 . In further embodiments, a rotary actuator (e.g., hydraulic, electrical, etc.) may be used. In certain embodiments, a gear and pulley system may be utilized to drive rotation of the first support arm  52 . Moreover, as will be discussed in detail below, a control system may be included to control operation of the actuator  74 . The cables  76  drive the rotation member  62  to rotate about the second axis  66  as the first support arm  52  rotates about the first axis  58 . That is, tension in the cables  76  increases as the first support arm  52  rotates about the first axis  58 , and that tension is applied to the rotation member  62  to drive the rotation member  62  to rotate about the second axis  66 . As a result, the second support arm  68  also rotates about the second axis  66 . Furthermore, the cables  76  may be straps, ropes, or any suitable structure capable of applying force to the rotation member  62  and/or to the second support arm  68 . Therefore the load placed on the tow vehicle  12  is reduced. Moreover, the mechanical connections of the cables  76  provide reliable operation while enabling relatively simple maintenance. 
     In the illustrated embodiment, a support wheel  78  is rotatably coupled to the second support arm  68 . The support wheel  78  is positioned on the second support arm  68  such that the support wheel  78  is in a retracted position  80  while the mounting assembly  26  is in the stored position  46  and in a lowered position while the mounting assembly  26  is in the operation position. Accordingly, the position of the support wheel  78  corresponds to the position of the second support arm  68 . As discussed below, the support wheel  78  is configured to distribute the weight of the second support arm  68  and the analyzer  28  while the mounting assembly  26  is in the operation position. Moreover, the support wheel  78  is sized to place the analyzer  28  proximate to the surface  22  of the agricultural field  30  while the mounting assembly  26  is in the operation position. As a result, the support wheel  78  enables the analyzer  28  to monitor the soil without contacting the surface  22  of the agricultural field  30 . Moreover, the support wheel  78  distributes the weight of the second support arm  68  and actuator  74 , thereby enabling longer lengths of the first support arm  52  and second support arm  68 . It is appreciated that while one support wheel  78  is shown in the illustrated embodiment, the second support arm  68  and/or the first support arm  52  may include additional support wheels  78  in alternative embodiments. Moreover, as described below, multiple sleds or other support devices may be included in certain embodiments. Furthermore, in certain embodiments, support structures are not included. 
       FIG. 5  is a perspective view of the mounting assembly  26  in an intermediate position between the stored position  46  and the operation position. In the illustrated embodiment, the first support arm  52  rotates about the first axis  58  via the actuator  60  in a first direction  82 , thereby moving the second end  64  of the first support arm  52  in a longitudinal direction  84  that is opposite the direction of travel  24  of the agricultural implement  16 . As the first support arm  52  rotates about the first axis  58 , the second end  64  of the first support arm  52  moves closer to the surface  22  of the agricultural field  30 . Moreover, in the illustrated embodiment, the second support arm  68  is driven to rotate about the second axis  66  in a second direction  86  by the actuator  74  (e.g., cables  76 ). As shown, the second direction  86  is opposite the first direction  82 . Rotation in the second direction  86  drives the second end  72  of the second support arm  68  to move in the longitudinal direction  84 . As a result, the mounting assembly  26  is elongated as the mounting assembly  26  transitions to the operation position, thereby moving the agricultural soil analyzer  28  rearwardly. However, as mentioned above, in certain embodiments the mounting assembly  26  may be positioned at the front of the tow vehicle  12  or in front of the agricultural implement  16 , and therefore the transition to the operation position moves the agricultural soil analyzer  28  in the same direction as the direction of travel  24  (e.g., opposite the longitudinal direction  84 ). 
     As mentioned above, the second support arm  68  includes the support wheel  78  configured to transition between the retracted position  80  while the mounting assembly  26  is in the stored position  46  and a lowered position  88  while the mounting assembly  26  is in the operation position. In the illustrated embodiment, the support wheel  78  is rotated about a wheel axis  90  as the second support arm  68  rotates about the second axis  66  in the second direction  86 . The support wheel  78  is mounted to the second support arm  68  such that gravity pulls the support wheel to the lowered position  88  as the mounting assembly  26  transitions to the operation position. Additionally, the support wheel  78  rotates back to the retracted position  80  as the mounting assembly  26  transitions toward the stored position  46 . 
       FIG. 6  is a perspective view of the mounting assembly  26  in an operation position  92 . As described above, the first support arm  52  is driven about the first axis  58  in the first direction  82  by the actuator  60 . In the operation position  92 , the first support arm  52  is substantially parallel to the surface  22  of the agricultural field  30 . Moreover, the second support arm  68  is driven about the second axis  66  in the second direction  86  by the actuator  74 . As a result, the second support arm  68  is oriented substantially parallel to the surface  22  of the agricultural field  30 . Furthermore, the support wheel  78  contacts the surface  22  of the agricultural field  30  to support the weight of the mounting assembly  26  in the operation position  92 . 
     As shown, in the illustrated embodiment, the analyzer  28  is proximate to the surface  22  of the agricultural field  30  while the mounting assembly  26  is in the operation position  92 . As a result, the analyzer  28  is positioned to emit and/or receive acoustic energy into/from the soil without contacting the surface  22  of the agricultural field  30 . Furthermore, in the illustrated embodiment, the mounting assembly  26  extends in the longitudinal direction  84 . As illustrated, the mounting assembly  26  extends from the soil analyzer assembly  14  in a rearward direction relative to the direction of travel  24  of the tow vehicle  12 . Moreover, additional support wheels  78  may be coupled to the first support arm  52  and/or to the second support arm  68  to support the mounting assembly  26  in embodiments having assemblies that extend farther distances from the tow vehicle  12 . Furthermore, multiple mounting assemblies  26  and analyzers  28  may be coupled to the agricultural implement  16 . For example, mounting assemblies  26  may be mounted across the front end of the tow vehicle  12 , the rear end of the tow vehicle  12 , and/or the agricultural implement  16 , such that the analyzers  28  span the length of the agricultural implement  16 . Additionally, while the illustrated embodiment shows one analyzer  28  coupled to the mounting assembly  26 , it is understood that multiple analyzers  28  may be coupled to the mounting assembly  26  at various locations along the first support arm  52  and/or the second support arm  68 . Furthermore, in certain embodiments, the mounting assembly  26  may include additional frame members  50  mounted perpendicular to the direction of travel  24 . That is, the frame members  50  may extend across the width of the tow vehicle  12 . As a result, multiple analyzers  28  may be mounted across the width of the tow vehicle  12  and/or the implement  16  via the additional frame members  50 . Moreover, as mentioned above, in certain embodiments the mounting assembly  26  may extend in a forward direction relative to the direction of travel  24  of the tow vehicle  12 . 
     In other embodiments, the mounting assembly  26  may include a ramp to move the analyzer  28  rearwardly and proximate to the surface of the agricultural field  30 . For example, the analyzer  28  may be coupled to an analyzer member that rolls down the ramp, which is coupled to the hitch  18 . A wheel or sled may support the analyzer member against the surface of the agricultural field  30  while the analyzer  28  is positioned proximate to the surface  22  of the agricultural field  30 . The analyzer member may be coupled to the ramp via a cord, and a pulley system may be used to drive the analyzer  28  and analyzer member up the ramp for storage and transportation. Moreover, in another embodiment, the analyzer  28  may be coupled to the end of a linear actuator (e.g., hydraulic cylinder). The linear actuator may include a wheel or sled configured to contact the surface of the agricultural field  30  when the actuator is extended. Extension of the actuator may move the analyzer  28  away from the tow vehicle  12  and/or the agricultural implement  16  to the operation position. In a further embodiment, the mounting assembly  26  may include a single arm configured to rotate about the first axis  58 . An actuator may transition the single arm between the stored position and the operation position. 
     Moreover, in alternative embodiments, the support wheel  78  may be replaced by a sled coupled to the second support arm  68  via a parallel linkage. That is, the sled may contact the surface  22  of the agricultural field  30  to support the second support arm  68  as the analyzer  28  is transitioned to the operation position  92 . Furthermore, the sled may be configured to block contact between the analyzer  28  and the surface  22 . It will be appreciated that other mechanisms may be employed to support the second support arm  68  while blocking contact between the analyzer  28  and the surface  22 . For instance, the second support arm  68  may include support arms that contact the frame  20  of the soil analyzer assembly  14  to suspend the analyzer  28  above the surface  22  of the agricultural field  30 . Moreover, in certain embodiments, the soil analyzer assembly  14  may include a support structure to suspend the analyzer  28  over the surface  22  of the agricultural field  30  without movement between the stored position  46  and the operation position  92 . For instance, the soil analyzer assembly  14  may include cross braces between frame members of the frame  21  to support the weight of the analyzer  28 . 
     As discussed above, the analyzer  28  may be supported and moved into the operation position  92  by the mounting assembly  26 . Moreover, the mounting assembly  26  may support the analyzer  28  in the stored position  46  during transportation or non-analysis conditions. Furthermore, the mounting assembly  26  is configured to position the analyzer  28  proximate to the surface  22  of the agricultural field  30 , thereby enabling data collection via emission and/or reception of acoustic waves. Additionally, as mentioned above, the mounting assembly  26  is configured to be positioned either in front of the tow vehicle  12 , behind the tow vehicle  12 , or in front of the agricultural implement  16 , thereby enabling control of soil conditioning operations and/or tow vehicle  12  operations in real-time or near real-time, as will be discussed in detail below. 
       FIG. 7  is a block diagram of an embodiment of a control system  94  configured to control the agricultural system  10 . In the illustrated embodiment, the control system  94  includes a controller  96  having a memory  98  and a processor  100 , and a user interface  102 . The memory  98  may be any type of non-transitory machine readable medium for storing data and executable instructions, such as random-access memory, read-only memory, rewritable flash memory, hard drives, optical discs, and the like. The processor  100  may execute instructions stored on the memory  98 . For example, the memory  98  may contain machine readable code, such as instructions, that may be executed by the processor  100 . In some embodiments, the memory  98  and processor  100  may enable automatic (e.g., processor/memory controlled) operation of the mounting assembly  26 , tow vehicle  12 , and/or the agricultural implement  16 . 
     The operator may interact with the user interface  102  (e.g., via push buttons, dials, touch screen interfaces, etc.) to send an operation signal to the controller  96 . For example, the operator may depress a button on the user interface  102  that sends the operation signal to the controller  96  indicative of a command to drive the mounting assembly  26  into the operation position  92 . As mentioned above, the processor  100  may execute instructions stored on the memory  98 . The controller  96  is configured to send a control signal to a mounting assembly controller  104  to drive the mounting assembly  26  to the operation position  92 . For example, the mounting assembly controller  104  may include a hydraulic control system having valves that control hydraulic fluid flow to the actuator  60 . Directing the valve to open provides fluid to the actuator  60  which drives the first support arm  52  to rotate in the first direction  82  about the first axis  58 . As described above, rotation of the first support arm  52  in the first direction  82  also drives rotation of the second support arm  68  in the second direction  86  via the actuator  74 . Therefore, interaction with the user inference  102  may facilitate the transition of the mounting assembly  26  from the stored position  46  to the operation position  92 . In certain embodiments, the mounting assembly controller  104  may also control the actuator  74 . Moreover, in certain embodiments, the controller  96  may send a signal to the analyzer  28  to activate and begin data collection when the mounting assembly  26  reaches the operation position  92  (e.g., via sensors on the mounting assembly detecting the position of the first support arm  52  and/or the second support arm  68 ). As will be appreciated, a similar operation may transition the mounting assembly  26  from the operation position  92  to the stored position  46  and deactivate the analyzer  28 . 
     As shown in  FIG. 7 , data acquired by the analyzer  28  may be output to a soil conditioner controller  106 , an interface module  108 , a tow vehicle controller  128 , and/or the controller  96 . For example, the analyzer  28  may output a first signal indicative of a parameter of the soil and/or the surface  22 . In certain embodiments, the parameter is the roughness (e.g., a value that is above a predetermined value stored in the memory  98 ) of the surface  22  to the controller  96 . Upon receiving the first signal, the controller  96  may determine a target parameter to adjust based on the signal. In certain embodiments, the controller  96  is configured to determine a target pressure (e.g., via a table, an algorithm, or the like) based on the first signal received from the analyzer  28 . Additionally, in other embodiments, the controller  96  may determine different target parameters. For example, the controller  96  may determine a soil penetration depth for a tillage implement. The controller  96  may output a second signal indicative of the target parameter (e.g., pressure, soil penetration depth, etc.) to the soil conditioner controller  106 . Accordingly, the soil conditioner controller  106  may output a third signal to a hydraulic control system  130  of the implement  16  to apply greater pressure to the surface  22  (e.g., by sending more hydraulic fluid to the actuator  132  controlling the rolling baskets  44 ). While the illustrated embodiment includes the soil conditioner controller  106 , in other embodiments the soil conditioner controller  106  be configured to control a tillage implement, or the like. 
     In certain embodiments, the analyzer  28  may continuously send signals to the controller  96  indicative of the surface roughness. Moreover, the controller  96  may adjust the pressure applied to the surface  22 , the speed of the agricultural system  10 , or a combination of the two. To that end, surface roughness data may be continuously evaluated to provide real-time or near real-time control of the soil conditioner pressure or the tow vehicle speed to reduce soil compaction and/or enhance soil conditioning during soil conditioning operations. 
     Moreover, in certain embodiments, the analyzer  28  may output data to the interface module  108  for collection, storage, and/or further analysis. In some embodiments, the interface module  108  may interface with an ISOBUS network. However, in other embodiments, the interface module  108  may interface with a CAN bus network, data processing software, or the like. For instance, the interface module  108  may be communicatively coupled to a wireless transceiver  110  configured to wirelessly (e.g., via cellular signals, 4G, Wi-Fi, or the like) output data to a second wireless transceiver  112  communicatively coupled to a remote sever  114 . However, in other embodiments, the data may be transferred via wired transmitters (e.g., USB, category  5 , etc.) or removable storage devices (e.g., USB memory sticks, portable hard drives, etc.). The remote sever  114  (e.g., remote storage database, cloud database, etc.) may store the data for later analysis. For instance, transfer of the data to the remote server  114  enables access to the data to facilitate preparation of soil maps concurrently with monitoring the soil, thereby reducing the time between data acquisition and fertilizing/planting operations. For instance, in certain embodiments the soil analyzer assembly  14  may conduct measurement and data analysis in one pass and then a subsequent soil conditioning pass may use the data acquired by the analyzer  28 . However, in other embodiments, software configured to generate three dimensional field maps may be loaded onto the memory  98 , and the processor  100  may generate maps in real-time and/or near real-time during data acquisition, as described above. Accordingly, tillage operations may be performed and/or planned during data acquisition (e.g., planned during the same data acquisition pass). 
     As noted above, in certain embodiments, multiple soil analyzers  28  may be communicatively coupled to multiple rolling baskets  44  to facilitate soil conditioning operations. For example, the system  10  may include an equal number of soil analyzers  28  and rolling baskets  44 . Accordingly, the rolling baskets  44  may be individually controlled (e.g., pressure increased or decreased) via the soil conditioner controller  106  based on the data received from the soil analyzers  28 . During conditioning operations, sections of the surface  22  may have different roughness values. For example, the multiple soil analyzers  28  may send signals to the controller  96  indicative of the roughness values of multiple swaths of soil. The controller  96  may send signals to the soil conditioner controller  106  indicative of the roughness values of the soil. As a result, the soil conditioner controller  106  may send signals to the hydraulic control system  130  to instruct the actuators  132  to urge the multiple rolling baskets  44  toward the surface  22  based on the different roughness values of the swaths of soil. As a result, different rolling baskets  44  may apply different pressures to the soil  22  based on the measurements of the respective soil analyzers  28 . By analyzing the surface  22  at multiple points during a single pass, the individual rolling baskets  44  may condition different sections of the surface  22  differently. For example, the soil in front of each rolling basket  44  may vary in roughness and, as a result, the rolling baskets  44  may apply different pressures to the surface  22  to condition the soil. Accordingly, over-conditioning of the surface  22  may be reduced or eliminated by taking measurements of surface roughness at different sections across the implement  16  and individually adjusting the rolling baskets  44  accordingly. 
     In certain embodiments, data acquired by the analyzer  28  may also be used to adjust operating parameters of the tow vehicle  12 . For example, in certain embodiments, the controller  96  receives the first signal from the analyzer  28 . The controller  96  is configured to determine a target speed of the agricultural system  10  based on the first signal (e.g., via a table stored in the memory  98 , an algorithm, etc.). The controller  96  outputs a second signal indicative of the target speed to the tow vehicle controller  128  of the tow vehicle  12 . In certain embodiments, the tow vehicle controller  128  is configured to output a third signal to a speed control unit  134  to adjust the speed of the tow vehicle  12 . For example, the controller  96  may decrease the speed of the tow vehicle  12  while the surface  22  has a high roughness value. 
     While the preceding embodiments have been described in terms of soil conditioning (e.g., tillage) implements, the data acquired by the analyzer  28  may be used during other operations. For instance, during planting operations, cutters (e.g., ground engaging tools) that ameliorate the soil in preparation for deep deposition may be configured to penetrate the surface  22  of the soil at a greater depth to account for the compaction of the soil. For example, the analyzer  28  may send the first signal to the controller  96  indicative of a level of compaction of the soil. The controller  96  may determine a target cutter pressure (e.g., down pressure) sufficient to penetrate the soil to a desired depth. In certain embodiments, the controller  96  outputs the second signal to the soil conditioning control system  106  indicative of the target cutter pressure. As a result, the soil conditioner controller  106  sends the third signal to the implement  16  (e.g., to the hydraulic control system  118 ) to increase and/or decrease the pressure applied to the cutters. Moreover, the speed of the tow vehicle  12  may be increased or decreased based on data obtained by the analyzer  28 . It will be appreciated that the data acquired by the analyzer  28  may be used during soil conditioning, planting, fertilizing, and the like. 
       FIG. 8  is a flowchart of an embodiment of a method  116  for conducting data acquisition using the agricultural soil analyzer  28 . The analyzer  28  is positioned proximate to the surface  22  at block  118 . That is, the mounting assembly  26  is moved from the stored position  46  to the operation position  92 . For example, the actuator  60  may drive rotation of the first support arm  52  in the first direction  82  and the actuator  74  may drive rotation of the second support arm  68  in the second direction. Moreover, in some embodiments, the control system  94  may send a signal to the actuator  60  to control rotation of the mounting assembly  26  between the stored position  46  and the operation position  92 . The analyzer  28  is positioned forward of the soil conditioner  16 . In certain embodiments, the analyzer  28  may be positioned behind the tow vehicle  12 . However, in other embodiments, the analyzer  28  is positioned in front of the tow vehicle  12 . The tow vehicle  12  moves the soil analyzer assembly  14  through the agricultural field  30  while the mounting assembly  26  is in the operating position  92  at block  120 . 
     The analyzer  28  emits and/or receives acoustic waves to/from the surface  22  of the soil while being towed through the agricultural field  30 . Furthermore, a first signal indicative of a value of soil roughness is sent to and received by the control system  94  (e.g., the controller  96 , the soil conditioner controller  106 , or the like) at block  122 . That is, the data acquired by the analyzer  28  is received by a control device. For instance, the analyzer  28  may output the data to the controller  96 , the soil conditioner controller  106 , and/or the interface module  108 . In certain embodiments, raw data (e.g., unprocessed data) is used during analysis by the analyzer  28  and/or the controller  96 . In other embodiments, the controller  96  may determine the value indicative of surface roughness based on operations performed by the processor  100 . For example, software may analyze the data acquired by the analyzer  28  and determine the magnitude of the surface roughness. The controller  96  may then determine a target pressure for the soil conditioner of the implement  16  (e.g., a pressure applied by the soil conditioner to the surface  22 ) at block  124 . For instance, the controller  96  may determine that the pressure is lower than desired based on the roughness of the surface  22 . However, the controller  96  may determine that the pressure is greater than desired or is appropriate for the surface roughness. As a result, the controller  96  may send a signal to the soil conditioner controller  106  to increase or decrease the pressure applied by the soil conditioner to the surface  22 . 
     Accordingly, the control device may generate output signals to control operations of the tow vehicle  12 , agricultural implement  16 , or the like at block  126 . For instance, the soil conditioner controller  106  may send a signal to the hydraulic control system  130  of the implement  16  to increase the pressure applied to the surface  22  of the agricultural field by the rolling baskets  44 . Furthermore, in certain embodiments, the controller  96  may adjust the speed of the agricultural system  10 . For instance, the controller  96  may send the second signal to the tow vehicle controller  116  of the tow vehicle  12 . The second signal may be indicative of a command to reduce the speed of the work vehicle  12 . The tow vehicle controller  128  may output the third signal to the speed control unit  134  to adjust the speed of the tow vehicle  12  based on the second signal. As a result, the speed of the agricultural system  10  may be adjusted based on the first signal sent to the controller  96  by the analyzer  28 . Moreover, in certain embodiments, the interface module  108  may transmit the soil roughness data to the remote server  114  for analysis and/or storage. As mentioned above, a similar process may be used to adjust the speed of the tow vehicle  12 , the depth of cutting tools during planting operations, and the like. 
     As described in detail above, the disclosed embodiments include a mounting assembly  26  configured to selectively position the agricultural soil analyzer  28  in the operation position  92 , thereby positioning the agricultural soil analyzer  28  proximate to the surface  22  of the agricultural field  30 . In certain embodiments, the operation position  92  places the analyzer  28  longitudinally rearward of the tow vehicle  12 . However, in other embodiments, the operation position  92  places the analyzer  28  longitudinally forward of the tow vehicle  12 . While in the operation position, the analyzer  28  emits acoustic waves into the soil and monitors the energy returned from the soil. The data obtained from the analyzer  28  is analyzed and/or relayed to the control system  94  to enhance tillage operations. For instance, the analyzer  28  may receive data indicating a high surface roughness and, upon receiving the data from the analyzer  28 , the controller  96  may send a signal to the soil conditioning control system  106  directing the hydraulic control system  130  to increase the pressure applied to the surface  22  of the agricultural field  30  (e.g., by directing the hydraulic cylinder to extend a piston rod) by the rolling basket  44 . As a result, real-time or near real-time adjustments may be made during soil conditioning operations to enhance and/or improve soil compaction. Moreover, the data may be uploaded to a database for further analysis. 
     While only certain features of the invention have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.