Patent Publication Number: US-11383728-B2

Title: System and method for collecting data associated with the operation of an agricultural machine in different operating modes

Description:
FIELD OF THE INVENTION 
     The present subject matter relates generally to multimodal sensing systems for agricultural machines and, more particularly, to a system and method for collecting data associated with the operation of an agricultural machine in different operating modes. 
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     BACKGROUND OF THE INVENTION 
     Agricultural machines, such as work vehicles, agricultural implements, and/or the like, often include a plurality of sensors for collecting data associated with the operation of the agricultural machine. For example, an agricultural machine may include sensors used to gather field condition data or other data related to one or more operating parameters of the agricultural machine as it performs an agricultural operation within a field. However, these sensors typically correspond to single-function sensors that are dedicated solely to the detection of a specific work-related operating parameter. As a result, if it is desired to detect one or more other parameters related to operation of the agricultural machine, an additional sensor(s) or sensing device(s) must be installed on the machine. For example, it is often desired to provide safety-related sensors that allow for collision avoidance during transport of the agricultural machine. However, such safety-related sensors are currently only available as dedicated, add-on sensor options. Unfortunately, these single-function sensors increase the cost-per-feature of integration into an agricultural machine 
     Accordingly, a system and method for collecting data associated with the operation of an agricultural machine in different operating modes that incorporate dual or multi-function sensors would be welcomed in the technology. 
     BRIEF DESCRIPTION OF THE INVENTION 
     Aspects and advantages of the invention will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the invention. 
     In one aspect, the present subject matter is directed to a multimodal sensing system for agricultural machines. The system may include an agricultural machine operable in a first operating mode and a second operating mode. A sensor is coupled to the agricultural machine such that the sensor is movable relative to a support surface across which the agricultural machine is traversed to adjust a field-of-view of the sensor between a first field-of-view and a second field-of-view. The first field-of-view is different than the second field-of-view relative to the support surface. The sensor may be configured to generate both sensor data associated with the first field-of-view when the agricultural machine is operating in the first operating mode sensor data associated with the second field-of-view when the agricultural machine is operating in the second operating mode. The system may also include a controller communicatively coupled to the sensor. The controller may be configured to analyze the sensor data received when the sensor has the first field-of-view relative to the support surface so as to provide a first output signal associated with operation of the agricultural machine in the first operating mode. The controller may be further configured to analyze the sensor data received when the sensor has the second field-of-view relative to the support surface so as to provide a second output signal associated with operation of the agricultural machine in the second operating mode. 
     In another aspect, the present subject matter is directed to a method for collecting data associated with the operation of an agricultural machine in different operating modes, the agricultural machine being operable within both a first operating mode and a second operating mode. The method may include receiving, with a computing device, sensor data from a sensor having a first field-of-view relative to a support surface across which the agricultural machine is being traversed as the agricultural machine is operating within its first operating mode and analyzing, with the computing device, the sensor data generated when the sensor has the first field-of-view to provide a first control output associated with operation of the agricultural machine within the first operating mode. The method may also include receiving, with a computing device, a signal associated with transitioning the agricultural machine between the first operating mode and the second operating mode and, following receipt of the signal, controlling an operation of at least one component of the agricultural machine such that the sensor is moved relative to the support surface to adjust a field-of-view of the sensor between the first field-of-view and a second field-of-view, the second field-of-view differing from the first field-of-view. In addition, the method may include receiving, with the computing device, sensor data from the sensor having the second field-of-view relative to the support surface as the agricultural machine is operating within its second operating mode and analyzing, with the computing device, the sensor data generated when the sensor has the second field-of-view to provide a second control output associated with operation of the agricultural machine within the second operating mode. 
     These and other features, aspects and advantages of the present invention will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       A full and enabling disclosure of the present invention, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which: 
         FIG. 1  illustrates a perspective view of one embodiment of an agricultural machine depicted as an agricultural sprayer while operating in a field or work mode in which a boom assembly of the machine is located at an extended or work position, particularly illustrating the agricultural machine equipped with a multimodal sensing system in accordance with aspects of the present subject matter; 
         FIG. 2  illustrates a front view of the boom assembly of the agricultural sprayer shown in  FIG. 1 ; 
         FIG. 3  illustrates a side view of the agricultural sprayer shown in  FIG. 1  with the boom assembly located at its folded or transport position to allow the sprayer to be operated within a transport mode in accordance with aspects of the present subject matter; 
         FIG. 4A  illustrates a schematic view of another embodiment of an agricultural machine, such as a multi-section implement, while operating in a field or work mode in which the multi-section implement is located at an extended or work position, particularly illustrating the agricultural machine equipped with a multimodal sensing system in accordance with aspects of the present subject matter; 
         FIG. 4B  illustrates a schematic view of the agricultural machine shown in  FIG. 4A  with the multi-section implement located at its folded or transport position to allow the agricultural machine to be operated within a transport mode in accordance with aspects of the present subject matter; 
         FIG. 5  illustrates a schematic view of a portion of the multi-section implement shown in  FIG. 4A , particularly illustrating the implement transitioning from a first height to a second height; 
         FIG. 6  illustrates a side view of yet another embodiment of an agricultural machine equipped with a hinged implement, which is located in a folded or transport position to allow the agricultural machine to be operated within a transport mode in accordance with aspects of the present subject matter; 
         FIGS. 6 and 7  illustrate simplified views of different embodiments of coupling arrangements for coupling the sensor to the agricultural machine in accordance with aspects of the present disclosure; 
         FIG. 8  illustrates a schematic view of one embodiment of a multimodal sensing system for collecting data associated with the operation of an agricultural machine in different operating modes in accordance with aspects of the present subject matter; and 
         FIG. 9  illustrates a flow diagram of one embodiment of a method for collecting data associated with the operation of an agricultural machine in different operating modes in accordance with aspects of the present subject matter. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Reference now will be made in detail to embodiments of the invention, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents. 
     In general, the present subject matter is directed to a system and method for utilizing a multimodal sensing system to collect data associated with the operation of an agricultural machine in different operating modes. Specifically, in several embodiments, an agricultural machine may be operable in a first operating mode and a second operating mode. In one embodiment, the first operating mode may comprise a field mode during which the agricultural machine is configured to perform an agricultural operation relative to a field, such as a spraying operation, a tillage operation, a planting operation, and/or the like. In such an embodiment, the second operating mode may, for example, comprise a transport mode during which the agricultural machine is configured to be transported between two locations without performing an agricultural operation, such as when the machine is being transported along a road or highway between fields. 
     In several embodiments, at least one sensor may be coupled to the agricultural machine. The sensor may be movable relative to a support surface across which the agricultural machine is traversed to adjust its field-of-view relative to the support surface. Specifically, moving the sensor relative to the support surface may adjust the field-of-view of the sensor between a first field-of-view and a second field-of-view, with the first field-of-view differing from the second field-of-view. In accordance with aspects of the present subject matter, the sensor may be configured to be positioned relative to the support surface so as to be oriented at its first field-of-view when the agricultural machine is operating in the first operating mode, thereby allowing the sensor to capture data associated with operation of the machine within such mode. For example, when the first operating mode corresponds to a work or field mode of the machine, the first field-of-view for the sensor may be selected so as to allow the sensor to capture data associated with one or more work-related parameters associated with the operation being performed within the field, such as by capturing data related to distance to the crop canopy, distance to the soil, weed detection, row detection, clod size, etc. Additionally, when the agricultural machine is operating in its second operating mode, the sensor may be configured to be positioned relative to the support surface so as to be oriented at its second field-of-view, thereby allowing the sensor to capture data associated with operation of the machine with such second operating mode. For example, when the second operating mode corresponds to a transport mode for the machine, the second field-of-view for the sensor may be selected so as to allow the sensor to capture data associated with one or more transport-related parameters related to transporting or moving the machine, such as by capturing data associated with lane detection, edge detection, obstacle detection, overhead clearance, etc. 
     Moreover, in several embodiments, a controller may be communicatively coupled to the sensor to allow the controller to analyze the sensor data generated by the sensor and subsequently provide suitable control outputs related to the operation of the agricultural machine within its applicable operating mode. For example, with the sensor being oriented at its first field-of-view during operation of the machine within the first operating mode, the controller may be configured to analyze the sensor data received from the sensor and may provide a first control output signal associated with operation of the agricultural machine in the first operating mode. Similarly, with the sensor being orientated at its second field-of-view during operation of the machine within the second operating mode, the controller may be configured to analyze the sensor data received from the sensor and provide a second control output signal associated with the operation of the agricultural machine in the second operating mode. For example, in certain embodiments, the first output signal may be associated with automatically adjusting an operating parameter of agricultural machine during the performance of the agricultural machine, while the second output signal may be associated with providing an operator notification, e.g. a warning indication that an obstacle is detected. 
     Referring now to the drawings,  FIGS. 1-3  illustrate differing views of one embodiment of an agricultural machine  101  in accordance with aspects of the present subject matter. Specifically,  FIGS. 1 and 2  illustrate views of the agricultural machine  101  when the machine  101  is configured for operation within a first operating mode (OM 1 ) and  FIG. 3  illustrates a side view of the agricultural machine  101  when the machine  101  is configured for operating within a different, second operating mode (OM 2 ). In the illustrated embodiment, the agricultural machine  101  is depicted as a self-propelled agricultural sprayer  10  by way of example. While an agricultural sprayer is shown and described, it should be understood that the present subject matter is not limited to an agricultural sprayer  10  and thus may be operable with other types of agricultural machines, including any suitable agricultural vehicles and/or implements. For example, the agricultural machine may include or correspond to any suitable towed implement and/or a self-propelled implement, such as a sprayer, a tillage implement, a planter, seeder, etc. 
     As shown in  FIGS. 1 and 2 , the first operating mode (OM 1 ) is depicted as a work or field mode during which the agricultural machine  101  is configured to perform an agricultural operation relative to a support surface or field  118 . For instance, when configured as a self-propelled sprayer  10 , the machine may be configured to perform a spraying operation within its first operating mode (OM 1 ). Additionally, as shown in  FIG. 3 , the second operating mode (OM 2 ) is depicted as a transport mode during which the agricultural machine  101  is configured to be transported between separate locations without performing an agricultural operation. For instance, in the illustrated embodiment, the agricultural sprayer  10  may be configured to take on a reduced lateral profile within its second operating mode (OM 2 ) to allow the sprayer to be transported to a desired location. 
     As shown in  FIG. 1 , the agricultural sprayer  10  may include a chassis or frame  12  configured to support or couple to a plurality of components. For example, a pair of steerable front wheels  14  (one is shown) and a pair of driven rear wheels  16  (one is shown) may be coupled to the frame  12 . The wheels  14 ,  16  may be configured to support the agricultural sprayer  10  relative to the support surface  118  and move the agricultural sprayer  10  in a direction of travel (e.g., as indicated by arrow  18  in  FIG. 1 ) across a field. In this regard, the agricultural sprayer  10  may include an engine (not shown) and a transmission (not shown) configured to transmit power from the engine to the wheels  14 ,  16 . However, it should be appreciated that, in further embodiments, the front wheels  14  of the agricultural sprayer  10  may be driven in addition to or in lieu of the rear wheels  16 . The frame  12  may also support an operator&#39;s cab  24  that houses various control or input devices (e.g., levers, pedals, control panels, buttons, and/or the like) for permitting an operator to control the operation of the sprayer  10 . For instance, as shown in  FIG. 1 , the agricultural sprayer  10  may include a control panel  22  for displaying message windows and/or alerts to the operator and/or for allowing the operator to interface with the vehicle&#39;s controller  110 . In one embodiment, the control panel  22  may include buttons, knobs and/or any other suitable input devices that allow the operator to provide user inputs to the controller  110 . 
     Furthermore, the frame  12  may also support a tank  26  and a multi-section implement or boom assembly  28  mounted on the frame  12 . The tank  26  is generally configured to store or hold an agricultural substance, such as a pesticide, a fungicide, a rodenticide, a fertilizer, a nutrient, and/or the like. As is generally understood, a plurality of nozzles (not shown) mounted on the boom assembly  28  may be configured to dispense the agricultural substance stored in the tank  26  onto the underlying plants and/or soil. 
     As shown in  FIGS. 1 and 2 , the boom assembly  28  includes a central boom section  30  and a plurality of wing boom sections pivotably coupled to the central boom section  30 . Specifically, in the illustrated embodiment, the boom assembly  28  includes inner right and left boom sections  32 ,  34  pivotably coupled to the central boom section  30 , right and left middle boom sections  36 ,  38  pivotably coupled to the respective right and left inner boom sections  32 ,  34 , and right and left outer boom sections  40 ,  42  pivotably coupled to the respective right and left middle boom sections  36 ,  38 . Each of the inner boom sections  32 ,  34  is pivotably coupled to the central boom section  30  at pivot joints  44 . Similarly, the middle boom sections  36 ,  38  are pivotally coupled to the respective inner boom sections  32 ,  34  at pivot joints  46  while the outer boom sections  40 ,  42  are pivotably coupled to the respective middle boom sections  36 ,  38  at pivot joints  48 . As is generally understood, pivot joints  44 ,  46 ,  48  may be configured to allow relative pivotal motion between the adjacent boom sections of the boom assembly  28 . For example, the pivot joints  44 ,  46 ,  48  may allow for articulation of the various boom sections between a fully extended position (e.g., as shown in  FIGS. 1 and 2 ), in which the boom sections are unfolded along a lateral direction  50  of the boom assembly  28  to allow for the performance of an agricultural spraying operation during operation of the sprayer within its first operating mode, and a transport position ( FIG. 3 ), in which the boom sections are folded inwardly to reduce the overall width of the boom assembly  28  along the lateral direction  50  to allow for transport of the sprayer  10  within it second operation mode. It should be appreciated that, although the boom assembly  28  is shown in  FIG. 2  as including a central boom section  30  and three individual boom sections coupled to each side of the central boom section, the boom assembly  28  may generally have any suitable number of boom sections. 
     In accordance with aspects of the present subject matter, the agricultural sprayer  10  may also include or be associated with a multimodal sensor system  100  for collecting and analyzing sensor data while the sprayer  10  is being operated. In several embodiments, the system  100  includes one or more sensors  102  coupled to the boom assembly  28  of the sprayer  10 . In general, each sensor  102  may be configured to collect or generate sensor data associated with the operation of the sprayer  10  within its first and second operating modes. For instance, when operating in the work or field mode, each sensor  102  may be configured to collect or generate sensor data associated with one or more work-related parameters that relate to the performance of the corresponding agricultural operation within the field, such as one or more field conditions or parameters (e.g., the contour of the ground, surface roughness, etc.) and/or one or more crop conditions (e.g., distance to the crop canopy, the location of crop rows, etc.). Similarly, when operating in the transport mode, each sensor  102  may be configured to collect or generate sensor data associated with one or more transport-related parameters that relate to transporting the agricultural sprayer  10  between separate locations, such as one or more safety parameters associated with collision avoidance (e.g., the location of ditches  216  ( FIG. 4B ) or edges of a road, highway lane detection, the detection of obstacles  254  ( FIG. 4B ) located behind or to the sides of the sprayer  10  as it is being backed up or turned, the detection of obstacles overhead, etc.). By configuring each sensor  102  to perform separate functions depending on the operating mode of the sprayer  10  (e.g., field condition detection in the work mode and obstacle detection in the transport mode), the sensor(s)  102  of the multimodal sensor system  100  may provide increased functionality at a reduced cost-per-feature as compared to conventional systems that require separate sensors to provide such functionality. 
     To allow for the above-described multi-functionality, each sensor(s)  102  of the disclosed multimodal sensor system  100  is configured to be coupled to the boom assembly  28  such that the sensor(s)  102  is movable relative to a support surface  118  ( FIGS. 2 and 3 ) across which the sprayer  10  is being traversed, thereby allowing a field-of-view of the sensor(s)  102  to be adjusted when the sprayer  10  transitions from its first operating mode (OM 1 ) to its second operating mode (OM 2 ) and vice versa. Specifically, as shown in  FIG. 2 , each sensor(s)  102  may be positioned on and/or oriented relative to the boom assembly  28  so as to have a first field-of-view  104  relative to the support surface  118  when the sprayer  10  is being operated within its first operating mode, such as by having a downwardly oriented field-of-view directed towards the support surface  118  when the boom assembly  28  is at its extended position to allow for the detection of field/crop conditions/parameters or other work-related parameters. Similarly, as shown in  FIG. 3 , each sensor(s)  102  may be positioned on and/or oriented relative to the boom assembly  28  so as to have a second field-of-view  106  relative to the support surface  118  that differs from the first field-of-view  104  when the sprayer  10  is being operated within its second operating mode, such as by having a field-of-view oriented towards the side or rear of the sprayer  10  when the boom assembly  28  is at its folded or stowed position to allow for the detection of obstacles or other transport-related parameters. 
     As will be described below, the movement required to allow each sensor(s)  102  to obtain the different fields-of-view relative to the support surface  118  may result from movement of the component on which the sensor is installed (e.g., the boom assembly  28 ), movement of the sensor relative to the component on which the sensor is installed, an adjustment of a sensor parameter (e.g., lens, mirror, CMOS sensor, antenna, or transceiver orientation or operating parameter) and/or a combination of the three. For example, with reference to the embodiment shown in  FIGS. 1-3 , the adjustment of the field-of-view of each sensor  102  from the first field-of-view  104  to the second field-of-view  106  may be achieved simply due to the folding of the boom assembly  28  inwardly to its retracted or stowed position. In addition to such movement of the boom assembly  28  (or as an alternative thereto), each sensor  102  may be configured to be separately actuated relative to the boom section on which it is installed (e.g., via an actuatable bracket assembly  220  ( FIG. 7 )) to allow the field-of-view of the sensor  102  to be adjusted independent of any movement of the boom assembly  28 . It should be appreciated that a variation in the field-of-view of a given sensor  102  may generally result from any change in the relative positioning of the sensor  102  to the support surface  118 , such as a change in the orientation of the sensor  102  relative to the support surface  118  and/or a change in the distance defined between the sensor  102  and the support surface  118  (e.g., a change in the vertical height of the sensor  102 ). 
     Additionally, it should be appreciated that each sensor  102  may generally correspond to any suitable sensor configured to collect data associated with the operation of an agricultural machine  101  in different operating modes. Exemplary sensors  102  may, for example, include cameras, radar devices, LIDAR devices, ultrasonic sensors, and/or the like. For instance, when each sensor  102  corresponds to a radar device, the sensor  102  may be used to detect the vertical height between the boom assembly  28  and the standing crops within the field or between the boom assembly  28  and the support surface  118  while the sensor has its first field-of-view  104  when operating the sprayer  10  in its first operating mode (OM 1 ) and may be used to detect ditches  216  ( FIG. 4B ) along the side of the road or obstacles  254  ( FIG. 4B ) positioned along the side or rear of the sprayer  10  while the sensor has its second field-of-view  106  when operating the sprayer  10  in its second operating mode (OM 2 ). 
     Referring still to  FIGS. 1-3 , the multimodal sensing system  100  may also include a controller  110  ( FIGS. 1 and 3 ) communicatively coupled to each sensor  102 . In general, the controller  110  may be configured to receive the sensor data generated by each sensor  102  and analyze the data to determine one or more parameters associated with the operation of the sprayer  10  within its current operating mode. For instance, when the sprayer  10  is operating within its first operating mode (OM 1 ) and each sensor  102  is generating sensor data associated with its first field-of-view  104 , the controller  110  may configured to receive such sensor data and determine the relevant work-related parameter associated with such sensor data. The controller  110  may then provide suitable control signals for controlling the operation of one or more components of the sprayer  10  based on the monitored work-related parameter, such as by automatically adjusting the operation of one or more components of the sprayer  10  based on the monitored work-related parameter or by causing an operator notification to be generated that is associated with the monitored work parameter. For instance, when the monitored work-related parameter corresponds to the distance between the boom assembly  28  and the top of the crops, the controller  110  may be configured to automatically adjust the height of the boom assembly  28  (e.g., via lifting cylinders  52  coupled between the frame  12  and the central boom section) in order to maintain a predetermined distance between the boom assembly  28  and the top of the crops and/or generate an operator notification associated with the monitored distance for display to the operator via the control panel  22  housed within the operator&#39;s cab  24 . Similarly, when the sprayer  10  is operated within its second operating mode and each sensor  102  is generating sensor data associated with its second field-of-view  106 , the controller  110  may configured to receive such sensor data and determine the relevant transport parameter associated with such sensor data. The controller  110  may then provide suitable control signals for controlling the operation of one or more components of the sprayer  10  based on the monitored transport parameter, such as by automatically adjusting the operation of one or more components of the sprayer  10  based on the monitored transport parameter or by causing an operator notification to be generated that is associated with the monitored transport parameter. For instance, when the monitored transport parameter corresponds to the detection of obstacles along the side and/or rear of the sprayer  10 , the controller  110  may be configured to automatically control the speed, braking systems, and/or steering systems of the sprayer  10  in order to avoid collision between any detected obstacles and/or generate an operator notification (e.g., a suitable display, audible warning, etc. generated by the control panel  22 ) associated with notifying the operator of the detected obstacle. 
     It should be appreciated that, in addition to generating control signals for controlling operation of one or more components of the sprayer  10  in response to the monitored parameters determined based on the sensor data, the controller  110  may also be configured to modify the control settings for each sensor  102  as the field-of-view of the sensor  102  is adjusted when switching between operating modes. For instance, in an embodiment in which each sensor  102  corresponds to a radar-based sensor, the controller  110  may be configured to modify the sensor&#39;s bandwidth, pulse pattern, frequency, and/or power output based on whether the sensor  102  is being used during operation within the first or second operating mode. Specifically, when employing a radar sensor to detect field/crop conditions during the performance of a spraying operation, it may be desirable for the sensor to provide data at a higher density, thereby requiring a certain bandwidth, pulse pattern, frequency, and/or power output. However, if the same radar sensor is being used to detect obstacles along the side and/or rear of the sprayer  10  as it is being traversed down a road while in its transport mode, the detection of such obstacles may not require such a heightened resolution and/or government regulations may limit radar-based emissions during transport. In such instance, the controller  110  may be configured to adjust the bandwidth, pulse pattern, frequency, and/or power output of the sensor  102  while collecting data in the transport mode to account for the reduced resolution requirement and/or to accommodate any applicable regulations. 
     Additionally, it should be appreciated that the controller  110  may be configured to employ different processing algorithms when processing/analyzing the sensor data captured by each sensor  102  based on the operating mode of the sprayer  10 . For instance, when each sensor  102  corresponds to a camera, the controller  110  may employ a first image processing algorithm to allow for the detection of field/crop conditions within the captured images while the sprayer  10  is performing a spraying operation within its first operating mode. Similarly, when transporting the sprayer  10  within its second operating mode, the controller  110  may employ a different, second image processing algorithm to allow for the detection of obstacles relative to the sprayer  10 . 
     Referring now to  FIGS. 4A, 4B, and 5 , differing views of another embodiment of an agricultural machine  101  are presented in accordance with aspects of the present subject matter. Specifically,  FIG. 4A  illustrates a view of the agricultural machine  101  when the machine is configured for operation within a first operating mode (OM 1 ) and  FIG. 4B  illustrates a view of the agricultural machine when the machine  101  is configured for operation within a second operating mode (OM 2 ).  FIG. 5  illustrates a portion of the agricultural machine  101  which may be transitioned between a first operating height H 1  and a second operating height H 2  as the agricultural machine  101  transitions between the first operating mode (OM 1 ) and the second operating mode (OM 2 ). In the illustrated embodiment, the agricultural machine  101  is depicted as a multi-section implement  200 , such as a tillage implement. While a tillage implement is described, it should be understood that the present subject matter is not limited to tillage-related implements and thus may be operable with other types of agricultural machines, including any suitable agricultural vehicles and/or implements. For example, the agricultural machine may include or correspond to any other suitable multi-section implement, such as a planter or seeder. 
     As shown in  FIG. 4A , the first operating mode (OM 1 ) is depicted as a work or field mode during which the implement  200  is configured to perform an agricultural operation relative to a support surface or field  118 . For instance, when configured as a tillage implement, the machine  101  may be configured to perform a tillage operation within its first operating mode (OM 1 ). Additionally, as shown in  FIG. 4B , the second operating mode (OM 2 ) is depicted as a transport mode during which the implement  200  is configured to be transported between separate locations without performing an agricultural operation. For instance, in the illustrated embodiment, the multi-section implement  200  may be configured to take on a reduced lateral profile within its second operating mode (OM 2 ) to allow the implement  200  to be transported to a desired location. 
     As shown in  FIG. 4A , the multi-section implement  200  may include a chassis or frame  202  configured to support or couple to a plurality of components, such as a plurality of ground-engaging tools (not shown). In particular, the frame  202  may be configured as support a multi-section frame assembly  204 . As shown in  FIGS. 4A and 4B , the multi-section frame assembly  204  includes a central section  206  and a plurality of wing sections or outer sections  208 ,  210  pivotably coupled to the central section  206 . Each of the wing sections  208 ,  210  is pivotably coupled to the central section  206  at pivot joints  212 . As is generally understood, pivot joints  212  may be configured to allow relative pivotal motion between adjacent frame sections of the multi-section frame assembly  204 . For example, the pivot joints  212  may allow for articulation of the various wing sections between a fully extended position, in which the wing sections are unfolded along a lateral direction  50  of the multi-section implement  200  to allow for the performance of an agricultural operation during operation of the agricultural machine  101  within its first operating mode (OM 1 ), and a transport position ( FIG. 4B ) in which the wing sections are folded upwardly along arc F to reduce the overall width of the implement  200  along the lateral direction  50  to allow for transport of the implement  200  within its second operation mode (OM 2 ). It should be appreciated that, although the multi-section frame assembly  204  is shown in  FIGS. 4A and 4B  as including a central section  206  and two individual wing sections  208 ,  210  coupled to each side of the central section  206 , the frame assembly  204  may generally have any suitable number of wing sections. 
     In accordance with aspects of the present subject matter, the multi-section implement  200  may also include, or be associated with, a multimodal sensor system  100  for collecting and analyzing sensor data while the implement  200  is being operated. In several embodiments, the system  100  includes one or more sensors  102  coupled to the frame assembly  204  of the multi-section implement  200 . In general, each sensor  102  may be configured to collect or generate sensor data associated with operation of the implement  200  within its first and second operating modes. For instance, when operating in the work or field mode OM 1 ), each sensor  102  may be configured to collect or generate sensor data associated with one or more work-related parameters that relate to the performance of the corresponding agricultural operation within the field, such as one or more field condition parameters and one or more crop conditions. Similarly, when operating in the transport mode, each sensor  102  may be configured to collect or generate sensor data associated with one or more transport-related parameters that relate to transporting the implement  200  between separate locations, such as one or more safety parameters associated with collision avoidance. 
     Similar to the embodiment described above with reference to  FIGS. 1-3 , each sensor  102  is configured to be coupled to the frame assembly  204  such that the sensors  102  are movable relative to the support surface  118  across which the agricultural machine  101  is being traversed, thereby allowing the field-of-view of the sensor  102  to be adjusted when the implement  200  transitions from its first operating mode (OM 1 ) to its second operating mode (OM 2 ) and vice versa. Specifically, as shown in  FIGS. 4A, 4B, and 5 , each sensor  102  may be positioned on and/or oriented relative to the wing assembly  204  so as to have a first field-of-view  104  relative to the support surface  118  when the implement  200  is being operated within its first operating mode (OM 1 ), such as by having a downwardly oriented field-of-view directed towards the support surface  118 , when the frame assembly  204  is at its extended position, to allow for the detection of field/crop conditions/parameters or other work-related parameters. Similarly, as shown in  FIG. 4B , each sensor  102  may be positioned on and/or oriented relative to the frame assembly  204  so as to have a second field-of-view  106  relative to the support surface  118  that differs from the first field-of-view  104  when the implement  200  is being operated within its second operating mode (OM 2 ), such as by having a field-of-view oriented towards the side or rear of the implement  200 , when the wing assembly  204  is at its folded or stowed position, to allow for the detection of obstacles or other transport-related parameters. 
     Similar to the embodiment described above with reference to  FIGS. 1-3 , the movement required to allow each sensor  102  to obtain the different fields-of-view relative to the support surface  118  may result from movement of the component on which the sensor is installed (e.g., the frame assembly  204 ), movement of the sensor relative to the component on which the sensor is installed, and/or a combination of the two. For instance, as depicted in  FIGS. 4A-5 , each sensor  102  may have its first field-of-view  104  when disposed at a first sensor position  122  relative to the support surface  118 . Additionally, each sensor  102  may its second field-of-view  106  when disposed at a second sensor position  124  relative to the support surface  118 . In such an embodiment, the transition of the sensor  102  between its first and second sensor positions  122 ,  124  may, for example, be accomplished by folding the wing sections  208 ,  210  vertically relative to the central section  206  along the arc F. In another embodiment, such as depicted specifically in  FIG. 5 , the one of the frame sections (e.g., the central section  206 ) and the attached sensor  102  may be transitioned between a first height H 1  and a second height H 2  relative to the support surface  118 . In such an embodiment, the adjustments of the height of the frame section(s) relative to the support surface  118  results in the sensor  102  transitions between its sensor positions  122 ,  124 , thereby adjusting the field of view of the sensor  102  relative to the support surface  118 . Similarly, as will be described below with reference to  FIG. 7 , each sensor  102  may, for example, be coupled to the frame assembly  204  via an actuatable bracket assembly  220  to allow the orientation of the sensor  102  relative to the frame assembly  204  to be adjusted, thereby allowing the sensor to transition between its sensor positions  122 ,  124 . 
     As discussed previously with reference to the embodiment shown in  FIGS. 1-3 , the multimodal sensing system  100  may also include a controller  110  ( FIG. 1 ) that is configured to receive the sensor data generated by each sensor  102  and analyze the data to determine one or more parameters associated with the operation of the multi-section implement  200  within its current operating mode. For instance, when the implement  200  is operated within its first operating mode (OM 1 ) and each sensor  102  is generating sensor data associated with its first field-of-view  104 , the controller  110  may be configured to receive such sensor data and determine the relevant work-related parameter associated with such sensor data. The controller  110  may then provide suitable control signals for controlling operation of one or more components of the implement  200  based on the monitored work-related parameter, such as by automatically adjusting the operation of one or more components of the implement  200  based on the monitored work-related parameter or by causing an operator notification to be generated that is associated with the monitored work parameter. Similarly, when the multi-section implement  200  is operated within its second operating mode (OM 2 ) and each sensor  102  generates sensor data associated with its second field-of-view  106 , the controller  110  may be configured to receive such sensor data and determine the relevant transport parameter associated with such sensor data. The controller  110  may then provide suitable control signals for controlling operation of one or more components of the implement  200  based on the monitored transport parameter, such as by automatically adjusting the operation of one or more components of the implement  200  based on the monitored transport parameter or by causing an operator notification to be generated that is associated with monitored transport parameter. 
     Referring now to  FIGS. 6 and 7 , schematic views of different mounting arrangements for coupling one of the disclosed sensors  102  to a portion of an agricultural machine  101  are illustrated in accordance with aspects of the present subject matter. Specifically, for purposes of discussion,  FIGS. 6 and 7  will be described with reference to coupling a sensor  102  to a portion of the boom assembly  28  shown in  FIGS. 1-3 . However, it should be appreciated that the mounting arrangements shown in  FIGS. 6 and 7  may generally be used to couple a sensor  102  to any suitable portion of an agricultural machine, such as a portion of the frame of any suitable implement or the wing segments discussed with regard to the embodiment depicted in  FIGS. 4A and 4B . 
     As shown in  FIG. 6 , in one embodiment, each sensor  102  may be coupled to a portion of the boom assembly via a fixed connection, such as by using a fixed bracket  218  or other fixed mounting assembly. In such an embodiment, the field-of-view of the sensor  102  may be configured to be adjusted with adjustments in the position of the boom assembly  28  relative to the support surface  118 , such as by changing the height and/or the orientation of the boom assembly  28  relative to the support surface  118 . 
     As an alternative to the fixed mounting arrangement, each sensor  102  may be configured to be coupled to the adjacent portion of the associated agricultural machine  101  via an actuatable or adjustable bracket assembly  220 . For instance, as shown in  FIG. 7 , the sensor  102  is coupled to the adjacent portion of the boom assembly  28  via an actuatable or movable bracket assembly  220 . The employment of such a bracket assembly allows the sensor  102  to be actuated or moved to adjust its field-of-view independent of position, orientation, and/or movement of the portion of the boom assembly  28  to which it is attached. Specifically, by being movably coupled to the boom assembly  28  via the movable bracket assembly  220 , the sensor  102  may be rotated, tilted, and/or panned relative to the boom assembly  28  in response to the sprayer  10  or tillage implement transitioning between its first and second operating modes. 
     As shown in  FIG. 7 , in one embodiment, the actuatable bracket assembly  220  may include a first bracket component  222  rigidly coupled to the adjacent portion of the boom assembly  28  and a second bracket component  224  rigidly coupled to the sensor  102 . In such an embodiment, the second bracket component  224  may be configured to be actuated relative to the second bracket component  222  in one or more directions (e.g., via a suitable actuator  226 , such as one or more motors) to adjust the orientation/positioning of the sensor  102  relative to the boom assembly  28 . Of course, in other embodiments, the bracket assembly  220  may have any other suitable configuration that allows the sensor  102  to be moved independent of the boom assembly  28  to adjust the field-of-view of the sensor  102 . 
     It should be appreciated that in one embodiment, the movement required to allow each sensor(s)  102  to obtain the different fields-of-view relative to the support surface  118  may result from an adjustment of the orientation of a component or parameter of the sensor(s)  102  itself relative to the fixed bracket  218  or other fixed mounting assembly. Such an adjustment of the orientation of the component or parameter of the sensor(s)  102  may include adjusting the orientation or operating parameters of a lens, mirror, CMOS sensor, antenna, or transceiver of the sensor(s)  102 . For example, the sensor  102  may be a radar sensor fixedly coupled to the agricultural machine  101 . The radar sensor may change the direction of the transceived radio signals in response the agricultural machine  101  transitioning between the first operating mode (OM 1 ) and the second operating mode (OM 2 ) so as to adjust a field-of-view of the sensor between the first field-of-view  104  and the second field-of-view  106 . 
     Referring now to  FIG. 8 , a schematic view of one embodiment the multimodal sensing system  100  described above for collecting data associated with the operation of an agricultural machine  101  in different operating modes is illustrated in accordance with aspects of the present subject matter. In general, the system  100  shown in  FIG. 8  will be described herein with reference to the various system components described above with reference to  FIGS. 1-7 . For instance, as shown in  FIG. 8 , the system  100  may include the one or more sensors  102  and associated controller  110  described above with reference to  FIGS. 1-7 . 
     In general, the controller  110  may correspond to any suitable processor-based device(s), such as a computing device or any combination of computing devices. As shown in  FIG. 8 , the controller  110  may generally include one or more processors  112  and associated memory devices  114  configured 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 memory  114  may generally comprise memory elements 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 memory  114  may generally be configured to store information accessible to the processor(s)  112 , including data  116  that can be retrieved, manipulated, created and/or stored by the processor(s)  112  and instructions  148  that can be executed by the processor(s)  112 . 
     In several embodiments, the data  116  may be stored in one or more databases. For example, the memory  114  may include a sensor settings database  120  for storing one or more specific sensor settings to be applied in connection with the current operating mode of the associated agricultural machine. For instance, the controller  110  may be configured to adjust the sensor settings for each sensor  102  to accommodate the differing fields-of-view for each sensor  102  defined within each operating mode. Specifically, as indicated above, when each sensor  102  is configured as a radar sensor, the controller  110  may be configured to adjust the bandwidth, frequency, and/or power output settings for each sensor  102  based on whether the sensor is being used to collect data associated with work-related parameters while in the work mode or transport-related parameters when in the transport mode. In such an embodiment, the specific settings for each operating mode may be stored within the sensor settings database  120 . Similarly, when each sensor  102  is configured as a camera, the controller  110  may include differing light sensitivity settings stored within its memory to account for the differing field-of-view between the first and second operating modes, such as when each sensor  102  is oriented downwardly towards the adjacent support surface  118  when in the work mode but is oriented horizontally across the support surface  118  or even upwardly relative to the support surface  118  when in the transport mode. Additionally, the settings stored within the sensor settings database  120  may also correspond to mode-specific position or orientation settings for each sensor  102 . For instance, when the orientation of each sensor  102  is configured to be adjusted independent of the adjacent agricultural machine, the desired sensor position or orientation for each operating mode may be stored within the controller&#39;s memory  114 . 
     Referring still to  FIG. 8 , in several embodiments, the instructions  148  stored within the memory  114  of the controller  110  may be executed by the processor(s) to implement an operating mode detection module  126 . In general, the operating mode detection module  126  may be configured to determine when a change in the operating mode of the associated agricultural machine  101  is directed based on inputs received by the controller  110 . For instance, in several embodiments, the operating mode detection module  126  may be configured to determine that the operator desires that the operating mode of the agricultural machine be switched based on operator inputs received from one or more operator-controlled input devices  316 , such as one or more input devices located within the cab  24  of the agricultural machine  101 . For example, the operator may provide inputs indicative of a desired change in operating mode of the machine, such as an input indicating selection of a given operating mode for the agricultural machine  101  (e.g., field mode vs. transport mode). In such an embodiment, based on the received operator input, the operating mode detection module  126  may determine a transition between operating modes should be initiated. Alternatively, the inputs may be received from non-operator-controlled input devices  318 , such as a speed sensor or a position sensor. For example, the non-operator-controlled input device may be configured to detect when the speed of the agricultural machine  101  exceeds a preset threshold. Upon detecting a speed in excess of the preset threshold, the controller  110  may determine that the agricultural machine  101  has transitioned between operating modes. 
     Moreover, as shown in  FIG. 8 , the instructions  148  stored within the memory  114  may be executed by the processor(s)  112  to implement a machine control module  128 . In general, the machine control module  128  may be configured to control the operation of one or more components of the agricultural machine in order to transition the machine between its operating modes. For instance, as shown in  FIG. 8 , the controller  110  may be communicatively coupled to one or more machine actuators  130 , such as one or more hydraulic folding cylinders, configured to actuate the associated machine implement between its extended or work position and its folded or transport position. In such an embodiment, when it is determined that the operator desires to transition between the machine&#39;s work mode to the machine&#39;s transport mode (e.g., via the determination made by the operating mode detection module  126 ), the machine control module  128  may be configured to control the operation of the machine actuators  130  to fold the associated implement into the transport position. Similarly, when it is determined that the operator desires to transition from the machine&#39;s transport mode to the machine&#39;s field mode, the machine control module  128  may be configured to control the operation of the machine actuators  130  to unfold the associated implement from its transport position to its extended or work position. 
     Moreover, as shown in  FIG. 8 , the instructions  148  stored within the memory  114  may be executed by the processor(s)  112  to implement a sensor control module  132 . In general, the sensor control module  132  may be configured to control the operation of each sensor  102  and/or any related components to provide the desired field-of-view and/or sensor settings based on the current operating mode of the agricultural machine. For instance, as indicated above, in several embodiments, each sensor  102  may be supported on its associated agricultural machine via an actuatable mounting assembly. In such embodiments, the sensor control module  132  may be configured to control the operation of the corresponding sensor or bracket actuator  226  to ensure that each sensor  102  has the desired field-of-view for the current operating mode of the machine. For example, when transitioning between operating modes, the controller  110  may reference the sensor settings database to determine the desired sensor orientation for the new operating mode and subsequently control the operation of the associated bracket actuator to actuate the sensor relative to the machine to such desired orientation. Similarly, when transitioning between operating modes, the controller  110  may also be configured to reference the sensor settings database  120  to determine if any additional sensor settings (e.g., power output settings, light sensitivity settings, etc.) should be adjusted to account for the switch between operating modes. 
     Referring still to  FIG. 8 , the controller  110  may also include a communications interface  134  to provide a means for the controller  110  to communicate with any other system component of the agricultural machine and/or the operator. For instance, one or more communicative links or interfaces  136  (e.g., one or more data buses) may be provided between the communications interface  134  and the sensor  102  and/or the actuator  226  to allow control signals from the controller  110  to be transmitted to such devices and/or to allow data from such devices to be transmitted to the controller  110 . Similarly, one or more input communicative links or interfaces  140  (e.g., one or more data buses) may be provided between the communications interface  134  and the input devices  316  and  318  to allow the controller  110  to receive inputs therefrom. Additionally, one or more output links or interfaces  142  (e.g., one or more data buses) may be coupled to the communications interface  134  so as to enable the controller  110  to adjust an operating parameter  144  of the agricultural machine  101  or generate an operating notification  146  to the operator. 
     Referring now to  FIG. 9 , a flow diagram of one embodiment of a method  400  for collecting data associated with the operation of an agricultural machine in different operating modes is illustrated in accordance with aspects of the present subject matter. In general, the method  400  will be described herein with reference to the embodiments of the multimodal sensing system  100  shown in  FIGS. 1-8 . Although  FIG. 9  depicts 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 in  FIG. 9 , at ( 402 ), the method  400  may include receiving sensor data from a sensor having a first field-of-view relative to a support surface across which an agricultural machine is being traversed as the agricultural machine is operating within a first operating mode. For example, as indicated above, when the agricultural machine  101  is operating in its first or field mode, the controller  110  may be configured to receive sensor data from the associated sensor(s)  102  of the multi-modal sensor system  100  while the sensor(s)  102  has a first field-of-view  104  relative to the adjacent support surface  118 . 
     Additionally, at ( 404 ), the method  400  may include analyzing the sensor data generated when the sensor has the first field-of-view to provide a first control output associated with operation of the agricultural machine within the first operating mode. For example, as indicated above, the controller  110  may be configured to analyze the data received from each sensor  102  and generate one or more control outputs associated with operation of the agricultural machine  101  within its field mode, such as control outputs associated with automatically adjusting an operating parameter of the agricultural machine  101  as the agricultural machine  101  is performing the associated agricultural operation and/or control outputs associated with generating a notification for the operator of the agricultural machine  101 . 
     Moreover, at ( 406 ), the method  400  may include receiving a signal associated with transitioning the agricultural machine between the first operating mode and the second operating mode. For example, as indicated above, the operator-controlled input device  316  may deliver a signal in response to an operator input to the controller  110 , which indicates the operator&#39;s intention to transition the agricultural machine  101  between a field mode and a travel mode. In addition (or as an alternative thereto), the controller  110  may an input (a speed, position, or configuration input) from the non-operator-controlled input device  318  that indicates the agricultural machine  101  is transitioning between a field mode and a travel mode. 
     Following receipt of the input, the method  400  may, at ( 408 ), include controlling an operation of at least one component of the agricultural machine such that the sensor is moved relative to the support surface to adjust a field-of-view of the sensor between the first field-of-view and a second field-of-view. For example, as indicated above, the controller  110  may control the operation of one or more machine actuators  130  to transition the machine  101  between its first and second operating modes, which may, in turn, result in the associated sensor  102  being moved to adjust its field of view. In addition (or as an alternative thereto), the controller  110  may be configured to control the operation of a corresponding sensor actuator  226  associated with the sensor  202  to adjust the sensor&#39;s field of view. 
     Referring still to  FIG. 9 , at ( 410 ), the method  400  may include receiving sensor data from the sensor having the second field-of-view relative to the support surface as the agricultural machine is operating within its second operating mode. For example, as stated previously, when the agricultural machine  101  is operating within its second operating mode (e.g., a transport mode), the controller  110  controller  110  may be configured to receive sensor data from the associated sensor(s)  102  while the sensor(s)  102  has its second field-of-view  106  relative to the adjacent support surface  118 . 
     Additionally, at ( 412 ), the method  400  may include analyzing the sensor data generated when the sensor has the second field-of-view to provide a second control output associated with operation of the agricultural machine  101  within the second operating mode. For example, as indicated above the controller  110  may be configured to analyze the data received from each sensor  102  and generate one or more control outputs associated with operation of the agricultural machine  101  within its transport mode, such as control outputs associated with automatically adjusting an operating parameter of the agricultural machine  101  as the machine  101  is being transported and/or control outputs associated with generating a notification for the operator of the agricultural machine  101 . 
     It is to be understood that the steps of the method  400  are performed by the controller  110  upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disc, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the controller  110  described herein, such as the method  400 , is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The controller  110  loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the controller  110 , the controller  110  may perform any of the functionality of the controller  110  described herein, including any steps of the method  400  described herein. 
     The term “software code” or “code” used herein refers to any instructions or set of instructions that influence the operation of a computer or controller. They may exist in a computer-executable form, such as machine code, which is the set of instructions and data directly executed by a computer&#39;s central processing unit or by a controller, a human-understandable form, such as source code, which may be compiled in order to be executed by a computer&#39;s central processing unit or by a controller, or an intermediate form, such as object code, which is produced by a compiler. As used herein, the term “software code” or “code” also includes any human-understandable computer instructions or set of instructions, e.g., a script, that may be executed on the fly with the aid of an interpreter executed by a computer&#39;s central processing unit or by a controller. 
     This written description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.