Patent Description:
It is well known that proper and uniform seed trench depth, accurate placement of seed within the seed trench (at the proper depth and proper spacing), good seed-to-soil contact, and minimal crop residue within the seed trench are all critical factors in uniform seed emergence and high yields. Accordingly, various planter improvements have been proposed to achieve each of these factors. While conducting spot checks of the seed trench may help to provide some assurances that these critical factors are being achieved, such spot checks will only identify the conditions at the specific location being checked. Accordingly, there is a need for a system that will image the seed trench to verify and ensure these critical factors are being achieved during planting operations and to enable automatic or remote adjustment of the planter while on-the-go based on the images. There is a similar need for below-soil-surfacing-imaging and control for other types of agricultural implements, including tillage implements, sidedress or in-ground fertilizing implements and agricultural data gathering implements.

<CIT> discloses a method including piloting a measurement vehicle; obtaining moisture measurements, including controlling outbound transmission, determining reflected power, calculating dielectric constant via reflection calculation, determining soil moisture via lookup in soil calibration table; obtaining sensor measurements; calculating soil model; and adjusting irrigation.

<CIT>discloses a harvesting method proposed for harvesting asparagus that is characterised by placing an RF antenna in grid locations on an earth dam being cultivated to contain a sand bed with a moisture gradient that is held constant by, in a free space above the earth dam, transmitting a signal through the antenna in a plurality of selected frequencies in a range of <NUM> - <NUM>; constructing an image from received signals in the grid locations for the plurality of selected frequencies and detecting in designated grid locations, from absence of image signal in multiple of said selected frequencies, presence and height information of an asparagus spear having a moisture component.

<CIT> discloses a GIS data transmitting and receiving unit for obtaining driving information or operation information of the agricultural working vehicle in the unit area constituting the work sheet from the GIS (Geographic Information System) server to obtain GIS data matched with the position information of each unit area; and a control unit for controlling operation of the agricultural work vehicle based on GIS data corresponding to a unit area in which the agricultural work vehicle is located.

<CIT> discloses a device and a method for treating soil wherein specific characteristics of the soil, such as the weight and moisture content are measured. More specifically, the invention relates to a device and a method for conditioning soil, and more particularly non-stabilized soil such as clay or loam. The device comprises a soil storage container, for the collection of untreated soil, means for performing weight measurements on the soil, means for performing humidity measurements on said soil and a blending system for mixing additives with said soil.

<CIT> discloses a soil imaging system having a work layer sensor disposed on an agricultural implement to generate an electromagnetic field through a soil area of interest as the agricultural implement traverses a field. A monitor in communication with the work layer sensor is adapted to generate a work layer image of the soil layer of interest based on the generated electromagnetic field. The work layer sensor may also generate a reference image by generating an electromagnetic field through undisturbed soil. The monitor may compare at least one characteristic of the reference image with at least one characteristic of the work layer image to generate a characterized image of the work layer of interest. The monitor may display operator feedback and may effect operational control of the agricultural implement based on the characterized image.

The present disclosure is illustrated by way of example, and not by way of limitation, in the Figures of the accompanying drawings and in which:.

Embodiments of the present disclosure relate to a soil sensing system for sensing soil properties, as defined by the appended claims.

Referring now to the drawings, wherein like reference numerals designate identical or corresponding parts throughout the several views, <FIG>, <FIG> and <FIG> schematically illustrate a work layer sensor <NUM> to generate a signal or image representative of the soil densities or other soil characteristics throughout a soil region of interest, hereinafter referred to as the "work layer" <NUM>. The representative image or signal generated by the work layer sensor <NUM> is hereinafter referred to as the "work layer image" <NUM>. In one particular application discussed later, the work layer sensors <NUM> may be mounted to a planter row unit200 (<FIG>) for generating a work layer image <NUM> of the seed trench as the planter traverses the field. The work layer image <NUM> may be displayed on a monitor <NUM> visible to an operator within the cab of a tractor and the planter may be equipped with various actuators for controlling the planter based on the characteristics of the work layer <NUM> as determined from the work layer image <NUM>.

The work layer sensor <NUM> for generating the work layer image <NUM> may comprise a ground penetrating radar system, an ultrasound system, an audible range sound system, an electrical current system or any other suitable system for generating an electromagnetic field <NUM> through the work layer <NUM> to produce the work layer image <NUM>. It should be understood that the depth and width of the work layer <NUM> may vary depending on the agricultural implement and operation being performed.

<FIG> is a schematic illustration of a work layer sensor <NUM>-<NUM> disposed in relation to a seed trench <NUM> formed in the soil <NUM> by a planter, wherein the seed trench <NUM> comprises the soil region of interest or work layer <NUM>. The work layer sensor <NUM>-<NUM> comprises a transmitter (T1) disposed on one side of the seed trench <NUM> and a receiver (R1) disposed on the other side of the seed trench <NUM> to produce the electromagnetic field <NUM> through the seed trench to generate the work layer image <NUM>.

The work layer sensor <NUM> may comprise a ground-penetration radar subsurface inspection system such as any of the following commercially available systems:.

<FIG> are intended to be representative examples of work layer images <NUM> generated by the work layer sensor <NUM>-<NUM> of <FIG> showing various characteristics of the seed trench <NUM>, including, for example, the trench depth, the trench shape, depth of seed <NUM>, the seed depth relative to the trench depth, crop residue <NUM> in the trench, and the void spaces <NUM> within the trench. As described in more detail later, the work layer images <NUM> may be used to determine other characteristics of the work layer <NUM>, including, for example, the seed-to-soil contact, percentage of trench closed, percentage of upper half of trench closed, percentage of lower half of trench closed, moisture of the soil, etc..

<FIG> schematically illustrates, in plan view, another work layer sensor <NUM>-<NUM> disposed with respect to a seed trench <NUM>. A transmitter (T1) is disposed on one side of the seed trench <NUM>, a first receiver (R1) is disposed on the other side of the seed trench <NUM>, and a second receiver (R2) is disposed adjacent and rearward of the transmitter (T1). <FIG> is a representative illustration of the work layer image <NUM> generated through the trench between the transmitter (T1) and the first receiver (R1)) and <FIG> is a representative illustration of the work layer image <NUM> generated between the transmitter (T1) and the second receiver (R2) providing an image of the undisturbed soil adjacent to the seed trench.

<FIG> is an elevation view schematically illustrating another work layer sensor <NUM>-<NUM> disposed with respect to a seed trench <NUM>. The work layer sensor <NUM>-<NUM> comprises a plurality of transmitter and receiver pairs disposed above and transverse to the seed trench <NUM>.

<FIG> is a representative illustration of the work layer image <NUM> generated by the work layer sensor <NUM>-<NUM> of <FIG> which provides a view not only of the seed trench but also a portion of the soil adjacent to each side of the seed trench.

<FIG> schematically illustrates, in plan view, another work layer sensor <NUM>-<NUM> disposed with respect to a seed trench <NUM>. A transmitter (T1) is disposed over the seed trench <NUM>. Disposed rearward to transmitter (T1) in a direction of travel are three receivers (R1), (R2), and (R3). Receivers (R1) and (R3) are disposed over each side of seed trench <NUM>, respectively. Receiver (R2) is disposed over seed trench <NUM>. Work layer images similar to those shown in <FIG> can be generated by work layer sensor <NUM>-<NUM>.

<FIG> schematically illustrates, in plan view, another work layer sensor <NUM>-<NUM> disposed with respect to a seed trench <NUM>. Transmitter (T2) is disposed over the seed trench <NUM>, and transmitters (T1) and (T3) are disposed over each side of seed trench <NUM>, respectively. Disposed rearward to transmitters (T1), (T2), and (T3) in a direction of travel are three receivers (R1), (R2), and (R3). Receivers (R1) and (R3) are disposed over each side of seed trench <NUM>, respectively. Receiver (R2) is disposed over seed trench <NUM>. Work layer images similar to those shown in <FIG> can be generated by work layer sensor <NUM>-<NUM>.

<FIG> schematically illustrates, in side view, another work layer sensor <NUM>-<NUM> disposed with respect to seed trench <NUM>. Transmitter (T1) is disposed over the seed trench <NUM> and has a transmitting angle that encompasses both sides of seed trench <NUM>. Receiver (R1) can be disposed adjacent to or rearward to transmitter (T1). By having a transmitting angle that reaches both sides of seed trench <NUM>, the reflected signal received by receiver (R1) is then an average of both sides of seed trench <NUM>. This provides a single measurement that is an average of the distance from the transmitter (T1) to the seed trench <NUM>.

Any of the work layer sensors <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> can also produce a work layer image as illustrated in <FIG> is a profile of an open seed trench <NUM>, shown with an optional seed.

For each of the work layer sensors <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> the frequency of operation of the work layer sensors <NUM> and the vertical position of the transmitters (T) and receivers (R) above the soil and the spacing between the transmitters (T) and receivers (R) are selected to minimize signal to noise ratio while also capturing the desired depth and width of the soil region of interest (the work layer <NUM>) for which the work layer image <NUM> is generated. In <FIG>, the height of the receiver (R) above the ground can be less than the height of the transmitter (T) above the ground. An angle a formed between the transmitter (T) and the receiver (R) can be <NUM> up to <NUM>°.

In <FIG>, a laser (L1) is positioned above a seed trench <NUM> and projects a laser into seed trench <NUM>. A receiver (R1), such as a camera, is positioned to receive the reflected laser signal. Receiver (R1) is at a height above ground that is less than the height of laser (L1) above the ground. An angle b formed between the laser (L1) and the receiver (R) can be greater than <NUM> up to <NUM>°. The same control system can be used, with laser (L1) replacing a transmitter (T).

The transmitter frequency selected can be one that can penetrate vegetation and see the soil below. By not seeing the vegetation, a more accurate measurement is obtained for the depth of seed trench <NUM>. It has been determined that the higher the frequency, the more the radar signal is reflected by vegetation. The frequency may be <NUM>. The frequency selected can be one that can penetrate dust. Dust can be generated as an agricultural vehicle traverses a field. Frequencies in a range of <NUM> to <NUM> can penetrate dust. In any of the work layer sensors <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>- <NUM>, <NUM>-<NUM>, <NUM>-<NUM>, any of the transmitters (T) or receivers (R) can have a frequency that penetrates vegetation and dust. Any of the work layer sensors <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> any of the transmitters (T) or receivers (R) can be replaced by multiple transmitters (T) or receivers (R) at the locations illustrated with each transmitter (T) or receiver (R) having a different frequency, such as one that will penetrate through vegetation and one that will penetrate through dust. A composite of the two work layers can be used to generate the profile of seed trench <NUM>.

The radar may be Doppler radar. Doppler radar can provide the speed of a row unit <NUM>, which can then be used in a control system to change the rate of application of an agricultural input to obtain a selected application per linear distance or area. Agricultural inputs include, but are not limited to, seed, fertilizer, insecticide, herbicide, and fungicide. The Doppler radar can be coherent pulsed, pulse-Doppler, continuous wave, or frequency modulation. The Doppler radar can be used with any of work layer sensors <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>.

The radar may be a phased array radar. With a phased array radar, the signals generated by the phased array can be moved from side to side in seed trench <NUM> to provide a more detailed profile of seed trench <NUM>. The phased array radar can be used with any of work layer sensors <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>.

Planter Applications <FIG> illustrates one example of a particular application of the work layer sensors <NUM> disposed on a row unit <NUM> of an agricultural planter. The row unit <NUM> includes a work layer sensor 100A disposed on a forward end of the row unit <NUM> and a work layer sensor 100B disposed rearward end of the row unit <NUM>. The forward and rearward work layer sensors 100A, 100B may comprise any of the work layer sensors <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> previously described.

The forward work layer sensor 100A is disposed to generate a reference work layer image (hereinafter a "reference layer image") 110A of the soil prior to the soil being disturbed by the planter, whereas the rearward work layer sensor 100B generates the work layer image 110B, which in this example, is the image of the closed seed trench <NUM> in which the seed has been deposited and covered with soil. For the reasons explained later, it is desirable to obtain both a reference image 110A and the work layer image 110B for analysis of the soil characteristics through the work layer <NUM>.

It should be appreciated that the forward and rearward work layer sensors 100A, 100B referenced in <FIG> may employ any of the work layer sensors <NUM>-<NUM>, <NUM>-<NUM> or <NUM>-<NUM>. <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM> previously described. However, it should be appreciated that if the work layer sensors <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, or <NUM>-<NUM> are employed, the forward work layer sensor 100A may be eliminated because the work layer sensors <NUM>-<NUM>, <NUM>-<NUM>, <NUM>-<NUM>, and <NUM>-<NUM> are configured to generate the work layer images <NUM> of undisturbed soil adjacent to the seed trench <NUM> which could serve as the reference layer image 110A.

With respect to <FIG>, the row unit <NUM> is comprised of a frame <NUM> pivotally connected to the toolbar <NUM> by a parallel linkage <NUM> enabling each row unit <NUM> to move vertically independently of the toolbar <NUM>. The frame <NUM> operably supports one or more hoppers <NUM>, a seed meter <NUM>, a seed delivery mechanism <NUM>, a downforce control system <NUM>, a seed trench opening assembly <NUM>, a trench closing assembly <NUM>, a packer wheel assembly <NUM>, and a row cleaner assembly <NUM>. It should be understood that the row unit <NUM> shown in <FIG> may be for a conventional planter or the row unit <NUM> may be a central fill planter, in which case the hoppers <NUM> may be replaced with one or more mini-hoppers and the frame <NUM> modified accordingly as would be recognized by those of skill in the art.

The downforce control system <NUM> is disposed to apply lift and/or downforce on the row unit <NUM> such as disclosed in U. Publication No. <CIT>.

The seed trench opening assembly <NUM> includes a pair of opening discs <NUM> rotatably supported by a downwardly extending shank member <NUM> of the frame <NUM>. The opening discs <NUM> are arranged to diverge outwardly and rearwardly so as to open a v-shaped trench <NUM> in the soil <NUM> as the planter traverses the field. The seed delivery mechanism <NUM>, such as a seed tube or seed conveyor, is positioned between the opening discs <NUM> to deliver seed from the seed meter <NUM> and deposit it into the opened seed trench <NUM>. The depth of the seed trench <NUM> is controlled by a pair of gauge wheels <NUM> positioned adjacent to the opening discs <NUM>. The gauge wheels <NUM> are rotatably supported by gauge wheel arms <NUM> which are pivotally secured at one end to the frame <NUM> about pivot pin <NUM>. A rocker arm <NUM> is pivotally supported on the frame <NUM> by a pivot pin <NUM>. It should be appreciated that rotation of the rocker arm <NUM> about the pivot pin <NUM> sets the depth of the trench <NUM> by limiting the upward travel of the gauge wheel arms <NUM> (and thus the gauge wheels) relative to the opening discs <NUM>. The rocker arm <NUM> may be adjustably positioned via a linear actuator <NUM> mounted to the row unit frame <NUM> and pivotally coupled to an upper end of the rocker arm <NUM>. The linear actuator <NUM> may be controlled remotely or automatically actuated as disclosed, for example, in International Publication No. <CIT>.

A downforce sensor <NUM> is configured to generate a signal related to the amount of force imposed by the gauge wheels <NUM> on the soil. The pivot pin <NUM> for the rocker arm <NUM> may comprise the downforce sensor <NUM>, such as the instrumented pins disclosed in <CIT>. The seed meter <NUM> may be any commercially available seed meter, such as the fingertype meter or vacuum seed meter, such as the vSet® meter, available from Precision Planting LLC, <NUM> Townline Rd, Tremont, IL <NUM>.

The trench closing assembly <NUM> includes a closing wheel arm <NUM> which pivotally attaches to the row unit frame <NUM>. A pair of offset closing wheels <NUM> are rotatably attached to the closing wheel arm <NUM> and angularly disposed to direct soil back into the open seed trench so as to "close" the soil trench. An actuator <NUM> may be pivotally attached at one end to the closing wheel arm <NUM> and at its other end to the row unit frame <NUM> to vary the down pressure exerted by the closing wheels <NUM> depending on soil conditions. The closing wheel assembly <NUM> may be of the type disclosed in International Publication No. <CIT>.

The packer wheel assembly <NUM> comprises an arm <NUM> pivotally attached to the row unit fame <NUM> and extends rearward of the closing wheel assembly <NUM> and in alignment therewith.

The arm <NUM> rotatably supports a packer wheel <NUM>. An actuator <NUM> is pivotally attached at one end to the arm and at its other end to the row unit frame <NUM> to vary the amount of downforce exerted by the packer wheel <NUM> to pack the soil over the seed trench <NUM>.

The row cleaner assembly <NUM> may be the CleanSweep® system available from Precision Planting LLC, <NUM> Townline Rd, Tremont, IL <NUM>. The row cleaner assembly <NUM> includes an arm <NUM> pivotally attached to the forward end of the row unit frame <NUM> and aligned with the trench opening assembly <NUM>. A pair of row cleaner wheels <NUM> are rotatably attached to the forward end of the arm <NUM>. An actuator <NUM> is pivotally attached at one end to the arm <NUM> and at its other end to the row unit frame <NUM> to adjust the downforce on the arm to vary the aggressiveness of the action of the row cleaning wheels <NUM> depending on the amount of crop residue and soil conditions.

It should be appreciated that rather than positioning the work layer sensors <NUM> as shown in <FIG>, the work layer sensors may be positioned after the row cleaner assembly <NUM> and before the trench opening assembly <NUM> or in one or more other locations between the trench opening discs <NUM> and the closing wheels <NUM> or the packing wheel <NUM> depending on the soil region or characteristics of interest.

Planter Control and Operator Feedback <FIG> is a schematic illustration of a system <NUM> which employs work layer sensors <NUM> to provide operator feedback and to control the planter row unit <NUM>. Work layer sensors 100A, 100B are disposed to generate a reference layer image 110A of undisturbed soil and a work layer image 110B of the closed seed trench (i.e., after seed is deposited, covered with soil by the closing wheel assembly <NUM> and the soil packed with the packing wheel assembly <NUM>). As previously described, the work layer sensors 100A, 100B may be separate work layer sensors disposed forward and rearward of the row unit <NUM> as illustrated in <FIG>, or the work layer sensors 100A, 100B may comprise a single work layer sensor with transmitters (T) and receivers (R) disposed to generate both a reference layer image 110A and a work layer image 110B.

The work layer image 110B may be communicated and displayed to the operator on a monitor <NUM> comprising a display, a controller and user interface such as a graphical user interface (GUI), within the cab of the tractor.

The monitor <NUM> may be in signal communication with a GPS unit <NUM>, the row cleaner actuator <NUM>, the downforce control system <NUM>, the depth adjustment actuator <NUM>, the trench closing assembly actuator <NUM> and the packer wheel assembly actuator <NUM> to enable operational control of the planter based on the characteristics of the work layer image 110B. For example, if the work layer image 110B indicates that residue in the seed trench <NUM> is above a predetermined threshold (as explained below), a signal is generated by the monitor <NUM> to actuate the row cleaner actuator <NUM> to increase row cleaner downforce. As another example, if the seed depth is less than a predetermined threshold (as explained below), a signal is generated by the monitor <NUM> to actuate the downforce control system <NUM> to increase the downforce and/or to actuate the depth adjustment actuator <NUM> to adjust the gauge wheels <NUM> relative to the opening discs <NUM> to increase the trench depth. Likewise if the seed depth is greater than a predetermined threshold, a signal is generated by the monitor <NUM> to actuate the downforce control system <NUM> to decrease the downforce and/or to actuate the depth adjustment actuator <NUM> to decrease the trench depth. As another example, if the upper portion of the trench has more than a threshold level of void space (as explained below), a signal is generated by the monitor <NUM> to actuate the trench closing wheel assembly actuator <NUM> to increase the downforce on the closing wheels <NUM>. As another example, if the lower portion of the trench has more than a threshold level of void space (as explained below), a signal is generated by the monitor <NUM> to actuate the packer wheel assembly actuator <NUM> to increase the downforce on the packer wheel <NUM>.

In still other examples, the work layer image 110B may identify and/or analyze(e.g., determine depth, area, volume, density or other qualities or quantities of) subterranean features of interest such as tile lines, large rocks, or compaction layers resulting from tillage and other field traffic. Such subterranean features may be displayed to the user on the monitor <NUM> and/or identified by the monitor <NUM> using an empirical correlation between image properties and a set of subterranean features expected to be encountered in the field. In one such example, the area traversed by the gauge wheels (or other wheels) of the planter (or tractor or other implement or vehicle) may be analyzed to determine a depth and/or soil density of a compaction layer beneath the wheels. In some such examples, the area of the work layer image may be divided into subregions for analysis based on anticipated subterranean features in such sub-regions (e.g., the area traversed by the gauge wheels may be analyzed for compaction).

In other examples, the monitor <NUM> may estimate a soil property (e.g., soil moisture, organic matter, or electrical conductivity, water table level) based on image properties of the work layer image 110B and display the soil property to the user as a numerical (e.g., average or current) value or a spatial map of the soil property at geo-referenced locations in the field associated with each soil property measurement (e.g., by correlating measurements with concurrent geo-referenced locations reported the GPS unit <NUM>).

Alternatively or additionally, the monitor <NUM> could be programmed to display operational recommendations based on the characteristics of the work layer image 110B. For example, if the work layer image 110B identifies that the seed <NUM> is irregularly spaced in the trench <NUM> or if the seed <NUM> is not being uniformly deposited in the base of the trench, or if the spacing of the seed <NUM> in the trench does not match the anticipated spacing of the seed based on the signals generated by the seed sensor or speed of the seed meter, such irregular spacing, nonuniform positioning or other inconsistencies with anticipated spacing may be due to excess speed causing seed bounce within the trench or excess vertical acceleration of the row unit. As such, the monitor <NUM> may be programmed to recommend decreasing the planting speed or to suggest increasing downforce (if not automatically controlled as previously described) to reduce vertical acceleration of the planter row units. Likewise to the extent the other actuators <NUM>, <NUM>, <NUM>, <NUM>, <NUM> are not integrated with the monitor controller, the monitor may be programmed to display recommendations to the operator to make manual or remote adjustments as previously described based on the characteristics of the work layer image 110B.

<FIG> illustrates the process steps for controlling the planter and providing operator feedback. At steps <NUM> and <NUM>, the reference image 110A and work layer image 110B is generated by the work image sensor(s) <NUM>. At step <NUM>, the work layer image 110B may be displayed to the operator on the monitor <NUM> in the cab of the tractor. At step <NUM>, the reference layer image 110A is compared with the work layer image 110B to characterize the work layer image. At step <NUM>, the characterized work layer image 110B is compared to predetermined thresholds. At step <NUM>, control decisions are made based on the comparison of the characterized work layer image 110B with the predetermined thresholds. At step <NUM>, the planter components may be controlled by the monitor <NUM> generating signals to actuate one or more of the corresponding actuators <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and/or at step <NUM>, corresponding recommendations may be displayed to the operator on the monitor display.

To characterize the work layer image 110B at step <NUM>, the monitor <NUM> compares one or more characteristics (e.g., density) of the reference image 110A with the same characteristics of the work layer image 110B. A characterized image may be generated comprising only portions of the work layer image differing from the reference image by at least a threshold value. The characterized image may then be used to identify and define features of the work layer image 110B, such as the trench shape, the trench depth, residue in the trench, seeds and seed placement within the trench, void spaces within the trench, and density differences of the soil within the trench.

For example, to determine the seed depth, the seed is identified or identifiable from the work layer image 110B by determining regions within the work layer image having a sizeor shape corresponding to a seed and having a density range empirically corresponding to seed. Once a region is identified as a seed, the vertical position of the seed with respect to the soil surface is readily measurable or determined.

As another example, the amount of residue in the trench can be determined by (a) defining the area of the trench cross-section (based on soil density differences between the reference image 110A and the work layer image 110B); (b) by identifying the regions within the trench having a density range empirically corresponding to residue; (c) totaling the area of the regions corresponding to residue; and (d) dividing the residue area by the trench cross-sectional area.

Other Applications - It should be appreciated that work layer sensors <NUM> may be employed with other agricultural implements and operations, such as, for example, tillage operations and/or side-dress fertilization operations, or in connection with agricultural data gathering operations to view or analyze below-surface soil characteristics, seed placement, root structure, location of underground water-management features such as tiling, etc..

When employed with tillage implements, the work layer sensors <NUM> may be disposed forward of any tillage tools (i.e., shank, disk, blade, knife, spoon, coulter, etc.) or between forward and rearward spaced tillage tools and/or rearward of any tillage tools. When employed with sidedress or other in-ground fertilization tools, the work layer sensors <NUM> may be disposed forward or rearward of any sidedress or in-ground tools (i.e., shank, disk, blade, knife, spoon, coulter, leveling basket harrows, etc.).

When employed with a dedicated measurement implement, the work layer sensors <NUM> may be disposed above undisturbed soil which may or may not have residue cleared by a row cleaner.

For the tillage implements and sidedress or in-ground fertilization tools, actuators on these implements can be automatically controlled to adjust depth of the tillage tools or the monitor <NUM> can be programmed to provide feedback or recommendations to the operator to manually adjust or remotely adjust the actuators as described above with respect to the planter application. For example, if the feedback or recommendations to the operator indicate that the depth of the tillage tools should be adjusted, an actuator associated with ground engaging wheels supporting the toolbar or a section of the toolbar may be actuated to raise or lower the toolbar to decrease or increase the depth of penetration of the toolbars. Alternatively, separate actuators may be associated with individual tillage tools to adjust the depth of the individual tillage tools. As another example, if the work layer images indicate that the implement is approaching more dense or compact soil, actuators associated to adjust downforce or pressure may be actuated to increase the downforce as the implement passes through the more dense or compact soil. If the work layer images across the width of the implement indicate that one side or the other is tilling the soil more aggressively, an actuator associated with a wing of the implement may be actuated to ensure balancing of the aggressiveness of tillage tools across the side-to-side width of the implement. Likewise an actuator associated with fore and aft leveling of the implement may be actuated to ensure aggressiveness of tools on the front of the implement are balanced with those on the back. Actuators may be provided to adjust the angle of attack of a disc gang or wing of a tillage implement, or individual tillage tools depending on the work layer images and operator feedback as the implement traverses the field encountering different soil conditions.

Soil sensing information can be obtained and displayed during agricultural operations. A numeric display (e.g., average or current value) and spatial mapping of depth of soil density change can be provided on an implement (e.g., on a planter, a tillage tool, combine, sprayer, on a tractor pulling a grain wagon, or a tractor pulling any implement). The implement includes a sensor (e.g., radar, electrical conductivity (EC), electromagnetic (EM), force probe, etc.) to measure or calculate at least one of the presence of one or more soil densities existing between <NUM> and <NUM>" of soil depth, a magnitude of the density layer differences or the soil densities themselves, a rate of change of the soil density layer changes (e.g., abrupt within <NUM>", gradual over <NUM>", etc.), and a soil depth at which each density layer starts or transitions to a different density layer.

In one example, the implement can provide a numeric display (e.g., average or current value) of the above information that is measured by a sensor and calculated by a sensor or another device. The implement can also provide a spatial mapping of the above information at geo-referenced locations in the field associated with each soil property measurement (e.g., by correlating measurements with concurrent geo-referenced locations reported from the GPS unit <NUM>).

In another example, a soil density change at a certain depth can be combined with a sensed moisture level at this depth or combined with soil type or texture to process raw data to generate processed data. <FIG> illustrates raw data <NUM> and <FIG> illustrates processed data <NUM> for different depths (e.g., <NUM> to <NUM>") of soil layers. The processed data <NUM> includes different soil layers <NUM>, <NUM>, and <NUM> at different soil depths (e.g., <NUM> to <NUM> inches). A root or stone may cause a change in soil density within a layer or between layers. Depth of roots during harvest for in row versus out of row can be determined based on soil density.

A numeric display (e.g., average or current value) and spatial mapping of depth of soil density change can be provided on an implement (e.g., on a planter, a tillage tool, combine, sprayer, on a tractor pulling a grain wagon, or a tractor pulling any implement). The implement includes a sensor (e.g., radar, electrical conductivity (EC), electromagnetic (EM), force probe, etc.) to measure or calculate one or more soil density variabilities (e.g., <NUM>" to <NUM>", <NUM>" to <NUM>", <NUM>" to <NUM>", <NUM> to <NUM>", etc.).

In one example, the implement can provide a numeric display of the above information that is measured by a sensor and calculated by a sensor or another device. The implement can also provide a spatial mapping of the above information at geo-referenced locations in the field associated with each soil property measurement (e.g., by correlating measurements with concurrent geo-referenced locations reported the GPS unit <NUM>).

A numeric display (e.g., average or current value) and spatial mapping of depth of soil density change can be provided on an implement (e.g., on a planter, a tillage tool, combine, sprayer, on a tractor, or a tractor pulling any implement). The implement includes a sensor e.g., (radar, electrical conductivity (EC), electromagnetic (EM), force probe, etc.) to measure or calculate at least one of soil density variability, soil surface roughness (measured as Coefficient of Variation), and a residual material thickness (e.g., crop residue). An instantaneous surface roughness may identify an inconsistent surface at a ground level (e.g., <NUM>" depth). The soil surface roughness parameter can be analyzed to determine if a clod of soil at a certain depth (e.g., <NUM> to <NUM> inches) causes a change in this parameter. The soil surface roughness parameter (e.g., percentage, visual mapping) can be displayed during tillage or leveling of a field.

The residual material thickness can be compared in row versus out of row for rows of a field. Based on the residual material thickness parameter, a row cleaner down force of a planter may need to be adjusted. A residual material thickness can be displayed to a user while planting seed.

A soil GPR (System) may use radar for sensing soil properties by measuring a soil dielectric constant of soil using an implement (e.g., planter, tillage tool, combine, tractor pulling a grain wagon, tractor pulling any implement, etc.). The system includes one or more radar transmitters, receivers, antennas or any combination of transmitters, receivers, and antennas that sense at multiple soil depths (e.g., first soil depth, second soil depth, third soil depth, etc.). Generally, a GPR system operates with a first transmitter radiating a pulse into soil, then the first receiver collects the reflected signal, and this process repeats from every pair of transmitters and receivers. An EC sensor can sense electrical conductivity of soil and this parameter corresponds to soil dielectric constant that is used to convert a transmit/receive time of a radar signal into a distance to determine a soil depth. Radar provides reflections at multiple depths to determine different soil density layers.

GPR is a geophysical method that uses radar pulses to image the subsurface. This nondestructive method uses electromagnetic radiation in the microwave band (UHF/VHF frequencies) of the radio spectrum, and detects the reflected signals from subsurface structures. GPR uses high-frequency (usually polarized) radio waves, usually in the range <NUM> to <NUM>. A GPR transmitter emits electromagnetic energy into the ground. When the energy encounters a buried object or a boundary between materials having different permittivities, it may be reflected or refracted or scattered back to the surface. A receiving antenna can then record the variations in the return signal. The principles involved are similar to seismology, except GPR methods implement electromagnetic energy rather than acoustic energy, and energy may be reflected at boundaries where subsurface electrical properties change rather than subsurface mechanical properties as is the case with seismic energy. The electrical conductivity of the ground, the transmitted center frequency, and the radiated power all may limit the effective depth range of GPR investigation. Increases in electrical conductivity attenuate the introduced electromagnetic wave, and thus the penetration depth decreases. Higher frequencies do not penetrate as far as lower frequencies due to frequency-dependent attenuation mechanisms though higher frequencies may provide improved resolution.

The soil system includes radar and optical soil sensing. Examples of optical soil sensing can be found in <CIT>, <CIT>, and <CIT>, <CIT>, and <CIT>. The soil system includes one or more radar transmitters, receivers, antennas or any combination of transmitters, receivers, and antennas that sense at multiple soil depths (e.g., first soil depth, second soil depth, third soil depth, etc.). The system further includes multiple radar antennas combined with one or more radar transmitters and receivers or combination transmitters or receivers. The system further includes one or more optical sensors (e.g., breaking of a light beam) to sense at least two of soil organic matter, soil moisture, soil texture, and soil cation-exchange capacity (CEC).

In one example, a common midpoint (CMP) antenna array can be utilized by positioning a target at a known depth, generating and receiving EM pulses, and then calculating for that depth.

<FIG> illustrate a monitor <NUM> displaying different measured soil data. While illustrated with some data shown together and some data shown separately for illustration purposes, any of the data can be displayed together or individually. <FIG> illustrates screen <NUM> on monitor <NUM> displaying the number of different soil density layers, the density of each layer, the depth of the interface between layers, magnitude of density layer difference, and a rate of change of density. <FIG> illustrates screen <NUM> displaying the depth of interfaces between layers as the implement is moved across the soil. <FIG> illustrates a screen <NUM> on monitor <NUM> displaying a spatial map across a field for the depth of the first soil layer. The greater the depth, the more preferred. The depths can be colored separately, such as green for <NUM>-<NUM>", yellow for <NUM>-<NUM>", and red for <NUM>-<NUM>". <FIG> illustrates screen <NUM> on monitor <NUM> displaying soil density variability and the soil density variability as the implement is moved across the field. <FIG> illustrates screen <NUM> on monitor <NUM> displaying soil surface roughness and soil surface roughness as the implement is moved across the field. <FIG> illustrates screen <NUM> on monitor <NUM> displaying residue mat thickness and residue mat thickness as the implement is moved across the field. <FIG> illustrates screen <NUM> on monitor <NUM> spatially displaying residue mat thickness across a field. While illustrated for residue mat thickness, any of the above soil measurements can be similarly displayed spatially. Also, color can be assigned to each thickness range.

<FIG> shows an example of a system <NUM> that includes a machine <NUM> (e.g., tractor, combine harvester, etc.) and an implement <NUM> (e.g., planter, sidedress bar, cultivator, plough, sprayer, spreader, irrigation implement, etc.) in accordance with one embodiment. The machine <NUM> includes a processing system <NUM>, memory <NUM>, machine network <NUM> (e.g., a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.), and a network interface <NUM> for communicating with other systems or devices including the implement <NUM>. The machine network <NUM> includes sensors <NUM> (e.g., speed sensors), controllers <NUM> (e.g., GPS receiver, radar unit) for controlling and monitoring operations of the machine or implement. The network interface <NUM> can include at least one of a GPS transceiver, a WLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other interfaces from communications with other devices and systems including the implement <NUM>. The network interface <NUM> may be integrated with the machine network <NUM> or separate from the machine network <NUM> as illustrated in <FIG>. The I/O ports <NUM> (e.g., diagnostic/on board diagnostic (OBD) port) enable communication with another data processing system or device (e.g., display devices, sensors, etc.).

In one example, the machine performs operations of a tractor that is coupled to an implement for planting applications and soil sensing of a field. The planting data and soil data for each row unit of the implement can be associated with locational data at time of application to have a better understanding of the planting and soil characteristics for each row and region of a field. Data associated with the planting applications and soil characteristics can be displayed on at least one of the display devices <NUM> and <NUM>. The display devices can be integrated with other components (e.g., processing system <NUM>, memory <NUM>, etc.) to form the monitor <NUM>.

The processing system <NUM> may include one or more microprocessors, processors, a system on a chip (integrated circuit), or one or more microcontrollers. The processing system includes processing logic <NUM> for executing software instructions of one or more programs and a communication unit <NUM> (e.g., transmitter, transceiver) for transmitting and receiving communications from the machine via machine network <NUM> or network interface <NUM> or implement via implement network <NUM> or network interface <NUM>. The communication unit <NUM> may be integrated with the processing system or separate from the processing system. In one embodiment, the communication unit <NUM> is in data communication with the machine network <NUM> and implement network <NUM> via a diagnostic/OBD port of the I/O ports <NUM>.

Processing logic <NUM> including one or more processors or processing units may process the communications received from the communication unit <NUM> including agricultural data (e.g., GPS data, planting application data, soil characteristics, any data sensed from sensors of the implement <NUM> and machine <NUM>, etc.). The system <NUM> includes memory <NUM> for storing data and programs for execution (software <NUM>) by the processing system. The memory <NUM> can store, for example, software components such as planting application software or soil software for analysis of soil and planting applications for performing operations of the present disclosure, or any other software application or module, images (e.g., captured images of crops, soil, furrow, soil clods, row units, etc.), alerts, maps, etc. The memory <NUM> can be any known form of a machine readable non-transitory storage medium, such as semiconductor memory (e.g., flash; SRAM; DRAM; etc.) or non-volatile memory, such as hard disks or solid-state drive. The system can also include an audio input/output subsystem (not shown) which may include a microphone and a speaker for, for example, receiving and sending voice commands or for user authentication or authorization (e.g., biometrics).

The processing system <NUM> communicates bi-directionally with memory <NUM>, machine network <NUM>, network interface <NUM>, display device <NUM>, display device <NUM>, and I/O ports <NUM> via communication links <NUM>-<NUM>, respectively. The processing system <NUM> can be integrated with the memory <NUM> or separate from the memory <NUM>.

Display devices <NUM> and <NUM> can provide visual user interfaces for a user or operator. The display devices may include display controllers. In one embodiment, the display device <NUM> is a portable tablet device or computing device with a touchscreen that displays data (e.g., planting application data, captured images, localized view map layer, high definition field maps of different measured soil data, as-planted or as-harvested data or other agricultural variables or parameters, yield maps, alerts, etc.) and data generated by an agricultural data analysis software application and receives input from the user or operator for an exploded view of a region of a field, monitoring and controlling field operations. The operations may include configuration of the machine or implement, reporting of data, control of the machine or implement including sensors and controllers, and storage of the data generated. The display device <NUM> may be a display (e.g., display provided by an original equipment manufacturer (OEM)) that displays images and data for a localized view map layer, measured soil data, as-applied fluid application data, as-planted or as-harvested data, yield data, seed germination data, seed environment data, controlling a machine (e.g., planter, tractor, combine, sprayer, etc.), steering the machine, and monitoring the machine or an implement (e.g., planter, combine, sprayer, etc.) that is connected to the machine with sensors and controllers located on the machine or implement.

A cab control module <NUM> may include an additional control module for enabling or disabling certain components or devices of the machine or implement. For example, if the user or operator is not able to control the machine or implement using one or more of the display devices, then the cab control module may include switches to shut down or turn off components or devices of the machine or implement.

The implement <NUM> (e.g., planter, cultivator, plough, sprayer, spreader, irrigation implement, etc.) includes an implement network <NUM>, a processing system <NUM>, a network interface <NUM>, and optional input/output ports <NUM> for communicating with other systems or devices including the machine <NUM>. The implement network <NUM> (e.g., a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.) includes a pump <NUM> for pumping fluid from a storage tank(s) <NUM> to application units <NUM>, <NUM>,. N of the implement, sensors <NUM> (e.g., radar, electroconductivity, electromagnetic, a force probe, speed sensors, seed sensors for detecting passage of seed, sensors for detecting characteristics of soil or a trench including a plurality of soil layers differing by density, a depth of a transition from a first soil layer to a second soil layer based on density of each layer, a magnitude of a density layer difference between soil layers, a rate of change of soil density across a depth of soil, soil density variability, soil surface roughness, residue mat thickness, a density at a soil layer, soil temperature, seed presence, seed spacing, percentage of seeds firmed, and soil residue presence, at least one optical sensor disposed on the implement <NUM> to sense at least two of soil organic matter, soil moisture, soil texture, and soil cation-exchange capacity (CEC), downforce sensors, actuator valves, moisture sensors or flow sensors for a combine, speed sensors for the machine, seed force sensors for a planter, fluid application sensors for a sprayer, or vacuum, lift, lower sensors for an implement, flow sensors, etc.), controllers <NUM> (e.g., GPS receiver), and the processing system <NUM> for controlling and monitoring operations of the implement. The pump controls and monitors the application of the fluid to crops or soil as applied by the implement. The fluid application can be applied at any stage of crop development including within a planting trench upon planting of seeds, adjacent to a planting trench in a separate trench, or in a region that is nearby to the planting region (e.g., between rows of corn or soybeans) having seeds or crop growth.

For example, the controllers may include processors in communication with a plurality of seed sensors. The processors are configured to process data (e.g., fluid application data, seed sensor data, soil data, furrow or trench data) and transmit processed data to the processing system <NUM> or <NUM>. The controllers and sensors may be used for monitoring motors and drives on a planter including a variable rate drive system for changing plant populations. The controllers and sensors may also provide swath control to shut off individual rows or sections of the planter. The sensors and controllers may sense changes in an electric motor that controls each row of a planter individually. These sensors and controllers may sense seed delivery speeds in a seed tube for each row of a planter.

The network interface <NUM> can be a GPS transceiver, a WLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other interfaces from communications with other devices and systems including the machine <NUM>. The network interface <NUM> may be integrated with the implement network <NUM> or separate from the implement network <NUM> as illustrated in <FIG>.

The processing system <NUM> communicates bi-directionally with the implement network <NUM>, network interface <NUM>, and I/O ports <NUM> via communication links <NUM>-<NUM>, respectively.

The implement communicates with the machine via wired and possibly also wireless bidirectional communications <NUM>. The implement network <NUM> may communicate directly with the machine network <NUM> or via the network interfaces <NUM> and <NUM>. The implement may also by physically coupled to the machine for agricultural operations (e.g., soil sensing, planting, harvesting, spraying, etc.).

The memory <NUM> may be a machine-accessible non-transitory medium on which is stored one or more sets of instructions (e.g., software <NUM>) embodying any one or more of the methodologies or functions described herein. The software <NUM> may also reside, completely or at least partially, within the memory <NUM> and/or within the processing system <NUM> during execution thereof by the system <NUM>, the memory and the processing system also constituting machine-accessible storage media. The software <NUM> may further be transmitted or received over a network via the network interface <NUM>.

Claim 1:
A soil sensing system (<NUM>; <NUM>) for sensing soil properties comprising:
an implement (<NUM>);
a radar transceiver (<NUM>; 100A; 100B; T; T1; T2; T3; R; R1; R2; R3) or a combination of radar transmitter (<NUM>; 100A; 100B; <NUM>; T; T1; T2; T3) and a radar receiver (<NUM>; 100A; 100B; R; R1; R2; R3) disposed on the implement for sensing soil properties at a depth of soil; characterised by at least one optical sensor (<NUM>) disposed on the implement (<NUM>) to sense at least two of soil organic matter, soil moisture, soil texture, and soil cation-exchange capacity (CEC).