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

When performing a tillage operation, it is desirable to create a level and uniform layer of tilled soil across the field to form a proper seedbed for subsequent planting operations. Furthermore, it is generally desirable to break up any layers of subsurface soil that have been compacted (e.g., due to vehicle traffic, ponding, and/or the like). In this regard, tillage implements often include one or more sensors mounted thereon to monitor various subsurface soil layer characteristics during the performance of such tillage operations. For example, some tillage implements include one or more radio detection and ranging (RADAR) sensors that capture radar data of the subsurface soil layer(s) within the field. However, varying soil conditions across the field and/or other factors may cause the captured radar data to provide an inaccurate indication(s) of the subsurface soil layer characteristic(s). Documents <CIT> and <CIT> describe known systems for determining subsurface soil layer characteristics during the performance of an agricultural operation.

Accordingly, an improved system and method for determining subsurface soil layer characteristics would be welcomed in the technology.

A system for determining subsurface soil layer characteristics during performance of an agricultural operation according to the subject-matter of claim <NUM> is provided.

A method for determining subsurface soil layer characteristics during the performance of an agricultural operation is provided according to the subject-matter of claim <NUM>.

For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment within the scope of the appended claims.

In general, the present subject matter is directed to systems and methods for determining subsurface soil layer characteristics during the performance of an agricultural operation. Specifically, in several embodiments, a controller of the disclosed system may be configured to receive radio detection and ranging (RADAR) data from one or more RADAR sensors coupled to or mounted on an agricultural machine during the performance of the agricultural operation. Such RADAR data may, in turn, be indicative of one or more subsurface soil layer characteristics (e.g., the presence and/or location of a compaction layer, the depth of a seedbed, and/or the like) of the field. Furthermore, the controller may be configured to receive an input(s) associated with one or more secondary soil parameters (e.g., soil moisture, salinity, oxygen content/porosity, and/or the like) of the field. For example, in one embodiment, the controller may be configured to receive an input associated with the soil moisture content of the field from a soil moisture sensor coupled to the agricultural machine during the performance of the agricultural operation. Moreover, the controller may be configured to received inputs associated with the soil salinity and/or soil oxygen content/porosity from an operator of the agricultural machine (e.g., via a user interface of the machine).

In accordance with aspects of the present subject matter, the controller may be configured to calibrate the received RADAR data based on the secondary soil parameter(s). Specifically, in several embodiments, the controller may be configured to determine one or more correction factors for the RADAR data based on the secondary soil parameter(s). For example, in one embodiment, the controller may be configured to access one or more look-up tables stored within its memory device(s), with each table correlating the one or more of secondary soil parameters with an associated correction factor. Moreover, the controller may be configured to adjust or modify the received RADAR data (e.g., the time-of-flight, amplitude, frequency, and/or phase of an echo signal(s) associated with such RADAR data) based on the determined correction factor(s) to calibrate the RADAR data. Thereafter, the controller may be configured to determine the subsurface soil layer characteristic(s) based on the calibrated RADAR data.

Referring now to the drawings, <FIG> illustrates a perspective view of one embodiment of an agricultural machine in accordance with aspects of the present subject matter. As shown, in the illustrated embodiment, the agricultural machine corresponds to a work vehicle <NUM> and an associated agricultural implement <NUM>. In general, the work vehicle <NUM> may be configured to tow the implement <NUM> across a field in a direction of travel (e.g., as indicated by arrow <NUM> in <FIG>). As such, in one embodiment, the work vehicle <NUM> may be configured as an agricultural tractor and the implement <NUM> may be configured as a tillage implement. However, in other embodiments, the work vehicle <NUM> may be configured as any other suitable type of vehicle, such as an agricultural harvester, a self-propelled sprayer, and/or the like. Similarly, the implement <NUM> may be configured as any other suitable type of implement, such as a planter. Furthermore, it should be appreciated that the agricultural machine may correspond to any suitable powered and/or unpowered agricultural machine (including suitable vehicles and/or equipment, such as only a work vehicle or only an implement). Additionally, the agricultural machine may include more than two machines (e.g., a tractor, a planter, and an associated air cart) coupled to a work vehicle.

As shown in <FIG>, the work vehicle <NUM> may include a pair of front track assemblies <NUM>, a pair or rear track assemblies <NUM>, and a frame or chassis <NUM> coupled to and supported by the track assemblies <NUM>, <NUM>. An operator's cab <NUM> may be supported by a portion of the chassis <NUM> and may house various input devices (e.g., a user interface) for permitting an operator to control the operation of one or more components of the work vehicle <NUM> and/or one or more components of the implement <NUM>. Additionally, the work vehicle <NUM> may include an engine <NUM> and a transmission <NUM> mounted on the chassis <NUM>. The transmission <NUM> may be operably coupled to the engine <NUM> and may provide variably adjusted gear ratios for transferring engine power to the track assemblies <NUM>, <NUM> via a drive axle assembly (not shown) (or via axles if multiple drive axles are employed).

Additionally, as shown in <FIG>, the implement <NUM> may generally include a frame <NUM> configured to be towed by the vehicle <NUM> via a pull hitch or tow bar <NUM> in the direction of travel <NUM>. In general, the frame <NUM> may include a plurality of structural frame members <NUM>, such as beams, bars, and/or the like, configured to support or couple to a plurality of components. As such, the frame <NUM> may be configured to support a plurality of ground-engaging tools, such as a plurality of shanks, disk blades, leveling blades, basket assemblies, tines, spikes, and/or the like. In one embodiment, the various ground-engaging tools may be configured to perform a tillage operation or any other suitable ground-engaging operation on the field across which the implement <NUM> is being towed. For example, in the illustrated embodiment, the frame <NUM> is configured to support various gangs <NUM> of disc blades <NUM>, a plurality of ground-engaging shanks <NUM>, a plurality of leveling blades <NUM>, and a plurality of crumbler wheels or basket assemblies <NUM>. However, in alternative embodiments, the frame <NUM> may be configured to support any other suitable ground-engaging tool(s) or combinations of ground-engaging tools.

Moreover, a location sensor <NUM> may be provided in operative association with the vehicle <NUM> and/or the implement <NUM>. For instance, as shown in <FIG>, the location sensor <NUM> is installed on or within the vehicle <NUM>. However, in other embodiments, the location sensor <NUM> may be installed on or within the implement <NUM>. In general, the location sensor <NUM> may be configured to determine the current location of the vehicle <NUM> and/or the implement <NUM> using a satellite navigation positioning system (e.g. a GPS system, a Galileo positioning system, the Global Navigation satellite system (GLONASS), the BeiDou Satellite Navigation and Positioning system, and/or the like). In such an embodiment, the location determined by the location sensor <NUM> may be transmitted to a controller(s) of the vehicle <NUM> and/or the implement <NUM> (e.g., in the form coordinates) and stored within the controller's memory for subsequent processing and/or analysis. For instance, based on the known dimensional configuration and/or relative positioning between the vehicle <NUM> and the implement <NUM>, the determined location from the location sensor <NUM> may be used to geo-locate the implement <NUM> within the field.

In accordance with aspects of the present subject matter, the vehicle/implement <NUM>/<NUM> may include one or more radio detection and ranging (RADAR) sensors coupled thereto and/or mounted thereon. As will be described below, each RADAR sensor may be configured to capture RADAR data associated with a portion of the field across which the vehicle/implement <NUM>/<NUM> is traveling. The captured RADAR data may, in turn, be indicative of one or more subsurface soil layer characteristics of the field. For example, such characteristics may include the presence and/or location of a subsurface soil compaction layer, the depth of a seedbed, and/or the like. As such, in several embodiments, the RADAR sensor(s) may be provided in operative association with the vehicle/implement <NUM>/<NUM> such that the sensor(s) has an associated field(s) of view or sensor detection range(s) directed towards a portion(s) of the field adjacent to the vehicle/implement <NUM>/<NUM>. For example, as shown in <FIG>, in one embodiment, one RADAR sensor 102A may be mounted on a forward end <NUM> of the work vehicle <NUM> to capture RADAR data associated with a section of the field disposed in front of the vehicle <NUM> relative to the direction of travel <NUM>. Similarly, as shown in <FIG>, a second RADAR sensor 102B may be mounted on an aft end <NUM> of the implement <NUM> to capture RADAR data associated with a section of the field disposed behind the implement <NUM> relative to the direction of travel <NUM>. However, in alternative embodiments, the RADAR sensors 102A, 102B may be installed at any other suitable location(s) on the vehicle/implement <NUM>/<NUM>. Additionally, in some embodiments, the vehicle/implement <NUM>/<NUM> may include only one RADAR sensor or three or more RADAR sensors.

It should be further appreciated that the configuration of the work vehicle <NUM> and the agricultural implement <NUM> described above and shown in <FIG> is provided only to place the present subject matter in an exemplary field of use. Thus, it should be appreciated that the present subject matter may be readily adaptable to any manner of agricultural machine configuration.

Referring now to <FIG>, a schematic view of one embodiment of a system <NUM> for determining subsurface soil layer characteristics during the performance of an agricultural operation is illustrated in accordance with aspects of the present subject matter. In general, the system <NUM> will be described herein with reference to the work vehicle <NUM> and the agricultural implement <NUM> described above with reference to <FIG>. However, it should be appreciated by those of ordinary skill in the art that the disclosed system <NUM> may generally be utilized with agricultural machines having any other suitable machine configuration.

As shown in <FIG>, the system <NUM> may include one or more RADAR sensor(s) <NUM> coupled to or otherwise mounted on the vehicle/implement <NUM>/<NUM>. Specifically, in several embodiments, as the vehicle/implement <NUM>/<NUM> travel across the field, the RADAR sensor(s) <NUM> may be configured to emit one or more radio wave and/or microwave output signals directed toward a portion of the field surface within the corresponding field of view or sensor detection zone. The output signal(s) may, in turn, be reflected by one or more subsurface soil layers (e.g., the compaction layer) as echo signal(s). Moreover, the RADAR sensor(s) <NUM> may be configured to receive the reflected echo signal(s). In this regard, the time of flight, amplitude, frequency, and/or phase of the received echo signal(s) may be indicative of subsurface soil layer characteristic(s) of the field. As such, the RADAR sensor(s) <NUM> may correspond to any suitable type RADAR-based sensing device(s), such as a ground-penetrating RADAR (GPR) sensor(s), a multiple-input-multiple-output (MIMO) radar sensor(s), a polarimetric radar sensor(s), and/or the like.

Additionally, the system <NUM> may include a soil moisture sensor <NUM> coupled to or otherwise mounted on the vehicle/implement <NUM>/<NUM>. In general, the soil moisture sensor <NUM> may be configured to capture data indicative of the soil moisture content of the field across which the vehicle/implement <NUM>/<NUM> is traveling. For example, in one embodiment, the soil moisture sensor <NUM> may be configured as an optical sensor configured to detect one or more characteristics of light reflected by the soil, with such characteristics generally being indicative of the soil moisture content. However, in alternative embodiments, the soil moisture sensor <NUM> may be configured as any other suitable device for sensing or detecting the soil moisture content of the field.

In accordance with aspects of the present subject matter, the system <NUM> may include a controller <NUM> positioned on and/or within or otherwise associated with the vehicle <NUM> and/or the implement <NUM>. In general, the controller <NUM> may comprise any suitable processor-based device known in the art, such as a computing device or any suitable combination of computing devices. Thus, in several embodiments, the controller <NUM> may include one or more processor(s) <NUM> and associated memory device(s) <NUM> configured to perform a variety of computer-implemented functions. 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 device(s) <NUM> of the controller <NUM> may generally comprise memory element(s) including, but not limited to, a computer readable medium (e.g., random access memory (RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disc, a compact disc-read only memory (CD-ROM), a magnetooptical disc (MOD), a digital versatile disc (DVD), and/or other suitable memory elements. Such memory device(s) <NUM> may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) <NUM>, configure the controller <NUM> to perform various computer-implemented functions.

In addition, the controller <NUM> may also include various other suitable components, such as a communications circuit or module, a network interface, one or more input/output channels, a data/control bus and/or the like, to allow controller <NUM> to be communicatively coupled to any of the various other system components described herein (e.g., the location sensor <NUM>, the RADAR sensor(s) <NUM>, and/or the soil moisture sensor <NUM>). For instance, as shown in <FIG>, a communicative link or interface <NUM> (e.g., a data bus) may be provided between the controller <NUM> and the sensors <NUM>, <NUM>, <NUM> to allow the controller <NUM> to communicate with the sensors <NUM>, <NUM>, <NUM> via any suitable communications protocol (e.g., CANBUS).

It should be appreciated that the controller <NUM> may correspond to an existing controller(s) of the vehicle <NUM> and/or the implement <NUM>, itself, or the controller <NUM> may correspond to a separate processing device. For instance, in one embodiment, the controller <NUM> may form all or part of a separate plug-in module that may be installed in association with the vehicle <NUM> and/or the implement <NUM> to allow for the disclosed systems to be implemented without requiring additional software to be uploaded onto existing control devices of the vehicle <NUM> and/or the implement <NUM>. It should also be appreciated that the functions of the controller <NUM> may be performed by a single processor-based device or may be distributed across any number of processor-based devices, in which instance such devices may be considered to form part of the controller <NUM>. For instance, the functions of the controller <NUM> may be distributed across multiple application-specific controllers, such as an engine controller, a transmission controller, an implement controller, and/or the like.

Furthermore, in one embodiment, the system <NUM> may also include a user interface <NUM>. More specifically, the user interface <NUM> may be configured to receive inputs (e.g., inputs associated with the soil salinity and/or oxygen content/porosity of the field) from the operator of the vehicle/implement <NUM>/<NUM>. As such, the user interface <NUM> may include one or more input devices (not shown), such as touchscreens, keypads, touchpads, knobs, buttons, sliders, switches, mice, microphones, and/or the like, which are configured to receive the operator inputs. Furthermore, the user interface <NUM> may be communicatively coupled to the controller <NUM> via the communicative link <NUM> to permit the received operator inputs to be transmitted from the user interface <NUM> to the controller <NUM>. In addition, some embodiments of the user interface <NUM> may include one or more feedback devices (not shown), such as display screens, speakers, warning lights, and/or the like, which are configured to provide feedback from the controller <NUM> to the operator. In one embodiment, the user interface <NUM> may be mounted or otherwise positioned within the cab <NUM> of the vehicle <NUM>. However, in alternative embodiments, the user interface <NUM> may mounted at any other suitable location.

Moreover, the system <NUM> may include a remote database server <NUM> configured to store data associated with one or more previously captured or determined secondary soil parameter(s) (e.g., the soil moisture content, salinity, and/or oxygen content/porosity) of the field across which the vehicle/implement <NUM>/<NUM> is traveling. In general, the remote database server <NUM> may comprise any suitable processor-based device known in the art, such as a computing device or any suitable combination of computing devices. Thus, in several embodiments, the remote database server <NUM> may include one or more processor(s) <NUM> and associated memory device(s) <NUM> configured to perform a variety of computer-implemented database server functions. Such memory device(s) <NUM> may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) <NUM>, configure the remote database server <NUM> to perform various computer-implemented database server functions.

Furthermore, the remote database server <NUM> may also include various other suitable components, such as a communications circuit or module, a network interface, one or more input/output channels, a data/control bus and/or the like, to allow remote database server <NUM> to be communicatively coupled to the controller <NUM>. For instance, as shown in <FIG>, a communicative link or interface <NUM> (e.g., a data bus) may be provided between the remote database server <NUM> and the controller <NUM> to allow the remote database server <NUM> and the controller <NUM> to communicate via any suitable communications protocol (e.g., Wi-Fi, <NUM>, <NUM>, LTE, and/or the like).

Additionally, it should be appreciated that the remote database server <NUM> may located at any suitable location that is remote or otherwise spaced apart from the vehicle <NUM> and the implement <NUM>. For example, in one embodiment, the remote database server <NUM> may be located at a farm management office or facility. However, in alternative embodiments, the remote database server <NUM> may be located at any other suitable location.

In several embodiments, the controller <NUM> may be configured to receive RADAR data from one or more RADAR sensors <NUM>. As described above, the vehicle/implement <NUM>/<NUM> may include one or more RADAR sensors <NUM>, with each RADAR sensor <NUM> configured to capture RADAR data of a portion of the field within its field of view. In this regard, as the vehicle/implement <NUM>/<NUM> travels across the field to perform an agricultural operation (e.g., a tillage operation) thereon, the controller <NUM> may be configured to receive RADAR data from the RADAR sensor(s) <NUM> (e.g., via the communicative link <NUM>). As will be described below, the controller <NUM> may be configured to calibrate the received RADAR data and use the calibrated RADAR data to determine one or more subsurface soil characteristics (e.g., the presence and/or location of a compaction layer and/or the seedbed depth) of the field across which the vehicle/implement <NUM>/<NUM> is traveling.

Furthermore, the controller <NUM> may be configured to receive one or more inputs associated with a secondary soil parameter(s) of the field. Such secondary soil parameter(s) may include the soil moisture content of the field, the soil salinity of the field, soil oxygen content or porosity of the field, and/or the like. As will be described below, the controller <NUM> may be configured to calibrate the received RADAR data based on the secondary soil parameter(s) such that the calibrated RADAR data provides an accurate indication of the subsurface soil layer characteristic(s).

In several embodiments, the controller <NUM> may be configured to receive the input(s) associated with a secondary soil parameter(s) from a sensor(s) provided in operative association with the vehicle/implement <NUM>/<NUM>. In general, certain secondary soil parameters, such as soil moisture content, may vary greatly across the field. As such, in one embodiment, the controller <NUM> may be configured to receive an input(s) associated with the soil moisture content of the field from a soil moisture sensor <NUM>. More specifically, as described above, the vehicle/implement <NUM>/<NUM> may include a soil moisture sensor <NUM> configured to capture data indicative of the soil moisture content of the field. In this regard, as the vehicle/implement <NUM>/<NUM> travels across the field, the controller <NUM> may receive the sensor data from the soil moisture sensor <NUM> (e.g., via the communicative link <NUM>). Thereafter, the controller <NUM> may be configured to process/analyze the received sensor data to determine or estimate a soil moisture content value of the field at the current location of the vehicle/implement <NUM>/<NUM>. For instance, the controller <NUM> may include a look-up table(s), suitable mathematical formula, and/or algorithms stored within its memory device(s) <NUM> that correlates the received sensor data to the soil moisture content of the field. Additionally, the controller <NUM> may be configured to update the determined soil moisture content value at a predetermined rate (e.g., the sampling rate of the soil moisture sensor <NUM>) based on newly received sensor data as the vehicle/implement <NUM>/<NUM> is moved across the field. In this regard, each determined soil moisture content value may change as the soil moisture content of the field varies. However, in alternative embodiments, the controller <NUM> may be configured to receive an input(s) indicative of any other secondary soil parameter(s), such as the soil salinity and/or soil oxygen content/porosity of the field, from one or more sensors provided in operative association with the vehicle/implement <NUM>/<NUM>.

Moreover, in several embodiments, the controller <NUM> may be configured to receive the input(s) associated with a secondary soil parameter(s) from an operator of the vehicle/implement <NUM>/<NUM>. In general, certain secondary soil parameters, such as soil salinity and oxygen content/porosity, may vary little across the field such that a single value for such parameter(s) may be indicative of the entire field. As such, in one embodiment, the controller <NUM> may be configured to receive an input(s) associated with the soil salinity and/or the soil oxygen content/porosity of the field from the operator of the vehicle/implement <NUM>/<NUM>. More specifically, as described above, the vehicle/implement <NUM>/<NUM> may include a user interface <NUM> configured to receive operator inputs associated with the soil salinity and/or oxygen content of the field from the operator. As such, the vehicle/implement operator may determine (e.g., by testing one or more soil samples from the field) the soil salinity and/or oxygen content/porosity for the field on which the agricultural operation is to be performed. The operator may then interact with the input device(s) of the user interface <NUM> to provide the determined soil salinity and/or oxygen content/porosity values to the user interface <NUM>. Thereafter, the soil salinity and/or oxygen content/porosity values may be transmitted from the user interface <NUM> to the controller <NUM> (e.g., via the communicative link <NUM>). However, in alternative embodiments, the controller <NUM> may be configured to receive an input(s) indicative of any other secondary soil parameter(s), such as the soil moisture content of the field, from the operator of the vehicle/implement <NUM>/<NUM>.

Furthermore, in several embodiments, the secondary soil parameter(s) may be geo-referenced to the current location of the vehicle/implement <NUM>/<NUM> within the field. In such embodiments, the secondary soil parameter data stored in the remote database server <NUM> and/or the memory <NUM> of the controller <NUM> may be geo-referenced to specific locations within the field. In this regard, as the vehicle/implement <NUM>/<NUM> travels across the field, the controller <NUM> may be configured to geo-locate the vehicle/implement <NUM>/<NUM> within the field based on the data (e.g., coordinates) received from the location sensor <NUM> (e.g., via the communicative link112). As such, the controller <NUM> may be configured to determine the current location the implement/vehicle <NUM>/<NUM> within the field based on the geo-located position of the implement/vehicle <NUM>/<NUM>. Thereafter, the controller <NUM> may be configured to access the secondary soil characteristic data associated with such location of the field from its memory <NUM> and/or request such secondary soil parameter data from the remote database server <NUM>.

It should be appreciated that, in several embodiments, the controller <NUM> may be configured to receive the input(s) associated with the secondary soil parameter(s) from a combination of its memory <NUM>, sensors, the operator of the vehicle/implement <NUM>/<NUM>, and remote database servers/remote devices. For example, in one embodiment, the controller <NUM> may be configured to receive an input associated with the soil moisture content of the field from the soil moisture sensor <NUM> coupled to the vehicle/implement <NUM>/<NUM> and inputs associated with the soil salinity and the soil oxygen content/porosity from the operator (e.g., via the user interface <NUM>).

Additionally, it should be appreciated that the controller <NUM> may be configured to receive an input(s) associated with any suitable number of secondary soil parameters. For example, as indicated above, in one embodiment, the controller <NUM> may be configured to receive inputs associated with three secondary soil parameters (e.g., the soil moisture content, salinity, and oxygen content/porosity) of the field. However, in alternative embodiments, the controller <NUM> may be configured to receive inputs associated with a single secondary soil parameter (e.g., one of the soil moisture content, salinity, or oxygen content/porosity), two secondary soil parameters (e.g., two of the soil moisture content, salinity, or oxygen content/porosity) or more than three secondary soil parameters (e.g., the soil moisture content, salinity, and oxygen content/porosity in addition to other parameter(s)).

In general, variations in the soil conditions across the field may impact the accuracy of the subsurface soil layer characteristic determinations based on the received RADAR data. More specifically, moisture and salt may increase the amount that the soil absorbs or attenuates the output signal(s) emitted by the RADAR sensor(s) <NUM>. However, oxygen content/porosity may decrease the amount that the soil absorbs or attenuates the output signal(s) emitted by the RADAR sensor(s) <NUM>. As such, RADAR data captured in portion of the field having high soil moisture content, high soil salinity, and/or low soil oxygen content/porosity may indicate that the compaction layer is shallower than it really is. Furthermore, such RADAR data may result in a determination that the seedbed floor is shallower than it really is. Conversely, RADAR data captured in portion of the field having low soil moisture content, low soil salinity, and/or high soil oxygen content/porosity may result in a determination that the compaction layer is deeper than it really is. Furthermore, such RADAR data may result in a determination that the seedbed floor is deeper than it really is.

In accordance with aspects of the present subject matter, the controller <NUM> may be configured to calibrate the received RADAR data based on the secondary soil parameter(s). In general, the controller <NUM> may be configured to adjust or otherwise modify the received RADAR based on the secondary soil parameter(s) such that the calibrated RADAR data provides an accurate indication of the subsurface soil layer characteristic(s) of the soil. Specifically, in several embodiments, the controller <NUM> may be configured to determine one or more correction factor(s) for the RADAR data based on the secondary soil parameter(s). Thereafter, the controller <NUM> may be configured to adjust the one or more parameters of the received RADAR data based on the determined correction factor(s) to calibrate the RADAR data. Such parameters may include the time of flight, amplitude, frequency, and/or phase of the received echo signal(s) associated with the received RADAR data. For example, in one embodiment, the determined correction factor(s) may correspond to a single numerical value(s) that is mathematically combined with (e.g., multiplied by) the value(s) associated with the parameter(s) of the received RADAR data. Additionally, in some embodiments, a correction factor may be determined for each parameter associated with the received RADAR data that is used in determining the subsurface soil layer characteristic(s).

It should be appreciated that the controller <NUM> may be configured to determine the correction factor(s) for the received RADAR data in any suitable manner. As indicated above, in several embodiments, each correction factor may correspond to a single numerical value. For example, in such embodiments, the controller <NUM> may be configured to access one or more look-up tables stored within its memory device(s) <NUM>. Each look-up table may, in turn, provide a correction factor value associated with a corresponding secondary soil parameter value or combination of secondary soil parameter values. In another embodiment, the controller <NUM> may be configured to calculate the correction factor(s) from the secondary soil parameter(s) using one or more mathematical formula stored within its memory device(s) <NUM>. However, in alternative embodiments, the controller <NUM> may be configured to calibrate the received RADAR data in a more complex manner. For instance, the controller <NUM> may calibrate the received RADAR data using one or more suitable algorithms that modify the RADAR data in a more complex manner, such as by modifying the shape(s) of the echo signal(s) associated with the such data, based on the secondary soil parameter(s).

Furthermore, the controller <NUM> may be configured to determine one or more subsurface soil layer characteristics based on the calibrated RADAR data. Such subsurface soil layer characteristics may include the presence of a subsurface soil compaction layer, the location/depth of the compaction layer, the depth of a seedbed floor, and/or the like. In general, as described above, the calibrated RADAR data may provide an accurate indication of the subsurface soil layer characteristics(s) of the field by taking into account the soil conditions of the field. As such, the controller <NUM> may be configured to process/analyze the calibrated RADAR data to determine or estimate the subsurface soil layer characteristic(s) of the field at the current location of the vehicle/implement <NUM>/<NUM>. For instance, the controller <NUM> may include a look-up table(s), suitable mathematical formula, and/or algorithms stored within its memory device(s) <NUM> that correlates the calibrated RADAR data to the subsurface soil layer characteristic(s) of the field.

Referring now to <FIG>, a flow diagram of one embodiment of a method <NUM> for determining subsurface soil layer characteristics during the performance of an agricultural operation is illustrated in accordance with aspects of the present subject matter. In general, the method <NUM> will be described herein with reference to the work vehicle <NUM>, the agricultural implement <NUM>, and the system <NUM> described above with reference to <FIG> and <FIG>. However, it should be appreciated by those of ordinary skill in the art that the disclosed method <NUM> may generally be implemented with any agricultural machines having any suitable machine configuration and/or any system having any suitable system configuration. In addition, although <FIG> 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>, at (<NUM>), the method <NUM> may include receiving, with one or more computing devices, RADAR data indicative of a subsurface soil layer characteristic of a field on which an agricultural operation is being performed. For instance, as described above, as a work vehicle <NUM> or an agricultural implement <NUM> performs an agricultural operation on a field, the controller <NUM> may be configured to receive RADAR data from one or more RADAR sensors <NUM> coupled to or mounted on the vehicle/implement <NUM>/<NUM>. The RADAR data may, in turn, be indicative of one or more subsurface soil layer characteristics of field, such as the presence of a compaction layer, the location/depth of the compaction, depth of the seedbed, and/or the like.

Additionally, at (<NUM>), the method <NUM> may include receiving, with the one or more computing devices, an input associated with a secondary soil parameter of the field. For instance, as described above, the controller <NUM> may be configured to receive one or more inputs from an operator (e.g., via the user interface <NUM>) and/or a sensor (e.g., the soil moistures sensor <NUM>) of the vehicle/implement <NUM>/<NUM>. Such input(s) may, in turn, be indicative of one or more secondary soil parameters, such as the soil moisture content, salinity and/or oxygen content/porosity of the field.

Moreover, as shown in <FIG>, at (<NUM>), the method <NUM> may include calibrating, with the one or more computing devices, the received RADAR data based on the secondary soil parameter. For instance, as described above, the controller <NUM> may be configured to calibrate the received RADAR data based on the received secondary soil characteristic(s).

Furthermore, at (<NUM>), the method <NUM> may include determining, with the one or more computing devices, the subsurface soil layer characteristic based on the calibrated RADAR data. For instance, as described above, the controller <NUM> may be configured to determine the subsurface soil layer characteristic(s) based on the calibrated RADAR data.

It is to be understood that the steps of the method <NUM> are performed by the controller <NUM> 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 <NUM> described herein, such as the method <NUM>, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The controller <NUM> 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 <NUM>, the controller <NUM> may perform any of the functionality of the controller <NUM> described herein, including any steps of the method <NUM> described herein.

Claim 1:
A system (<NUM>) for determining subsurface soil layer characteristics during the performance of an agricultural operation, the system (<NUM>) comprising:
an agricultural machine configured to perform an agricultural operation on a field across which the agricultural machine is traveling;
a RADAR sensor (<NUM>) provided in operative association with the agricultural machine, the RADAR sensor (<NUM>) configured to capture RADAR data indicative of a subsurface soil layer characteristic of the field; and
a controller (<NUM>) communicatively coupled to the RADAR sensor (<NUM>), the controller (<NUM>) configured to:
receive the RADAR data from the RADAR sensor (<NUM>);
receive an input associated with at least one of a soil moisture content, a soil salinity or a soil oxygen content of the field;
determine at least one of a soil moisture content value, a soil salinity value or soil oxygen content value for the field based on the received input;
characterized in that the controller (<NUM>) is configured to:
determine a correction factor for the RADAR data based on the determined at least one of the soil moisture content value, the soil salinity value or the soil oxygen content value;
adjust the received RADAR data based on the determined correction factor to calibrate the RADAR data; and
determine the subsurface soil layer characteristic based on the calibrated RADAR data.