Patent Description:
Tillage implements, such as cultivators, disc harrows, and/or the like, perform one or more tillage operations while being towed across a field by a suitable work vehicle, such as in agricultural tractor. In this regard, tillage implements often include one or more sensors mounted thereon to monitor various characteristics associated with the performance of such tillage operations. For example, some tillage implements include one or more imaging devices (e.g., cameras) that capture image data associated with the surface of the field. Thereafter, the image data may be processed or analyzed to determine one or more field characteristics, such as clod size, soil roughness, residue coverage, and/or the like. While systems and methods that determine field characteristics based on captured image data can provide accurate results, further improvements are needed. International patent application <CIT> discloses an agricultural implement with a soil-working tool and a tool with a levelling function, arranged to work soil across which the agricultural implement is moved. The agricultural implement further comprises a surface evenness sensor for sensing a surface evenness of said soil after being worked by said soil- working tool and levelled by said levelling tool as well as an indicating means connected to the surface evenness sensor and arranged to provide an indication of said surface evenness. The surface evenness sensor may comprise a camera that registers a pattern of light projected onto the soil surface. In US patent application <CIT>, a crop harvester is disclosed comprising a system for detecting a boundary between the harvested and the unharvested crop. The system comprises a light transmitter and a camera. Images of an illuminated area on the field are analyzed to locate the crop edge.

Accordingly, an improved system and method for determining field characteristics during the performance of an agricultural operation would be welcomed in the technology.

The present invention provides a system for determining field characteristics according to claim <NUM> and a method for determining field characteristics according to claim <NUM>. Further aspects of the invention are defined in the dependent claims.

In one aspect, the present subject matter is directed to a system for determining field characteristics during the performance of an agricultural operation. The system may include an agricultural machine configured to perform an agricultural operation on a field across which the agricultural machine is traveling. The system may further include an imaging device provided in operative association with the agricultural machine, with the imaging device configured to capture image data associated with a portion of the field within a field of view of the imaging device. Furthermore, the system may include an illumination device provided in operative association with the agricultural machine, with the illumination device configured to emit a light directed at the portion of the field within the field of view of the imaging device. Additionally, the system may include a controller communicatively coupled to the imaging device and the illumination device. As such, the controller may be configured to control an operation of the illumination device such that a light pattern is displayed on a field surface of the field. Moreover, the controller may be configured to receive image data indicative of the displayed light pattern from the imaging device. In addition, the controller may be configured to determine a field characteristic of the field based on the displayed light pattern.

In another aspect, the present subject matter is directed to a method for determining field characteristics during the performance of an agricultural operation by an agricultural machine. The agricultural machine may include an imaging device configured to capture image data associated with a portion of a field within a field of view of the imaging device. The method may include controlling, with one or more computing devices, an operation of an illumination device such that a light pattern is displayed on a field surface of the portion of the field within the field of view of the imaging device. Furthermore, the method may include receiving, with the one or more computing devices, image data indicative of the displayed light pattern from the imaging device as the agricultural machine travels across the field. Additionally, the method may include determining, with the one or more computing devices, a field characteristic of the field based on the displayed light pattern.

In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope of the invention which is defined by the claims. For instance, features illustrated or described as part of one embodiment can be used with another embodiment.

In general, the present subject matter is directed to systems and methods for determining field characteristics during the performance of an agricultural operation. Specifically, in several embodiments, the system may include an imaging device (e.g., a camera) provided in operative association with an agricultural machine performing the agricultural operation. The imaging device may, in turn, be configured to capture image data associated with a portion of the field within a field of view of the imaging device. Furthermore, the system may include an illumination device (e.g., a laser-emitting device) configured to emit light directed at the portion of the field within the field of view of the imaging device. Such emitted light may result in a light pattern (e.g., a plurality of lines forming a grid) being displayed on the surface of the field.

In accordance with aspects of the present subject matter, a controller of the disclosed system may be configured to determine one or more characteristics (e.g., residue coverage, clod size, and/or soil roughness) of the field based on the displayed light pattern. Specifically, the field surface may cause the displayed light pattern to distort, with such distortion being indicative of the characteristic(s) of the field. As such, the controller may be configured to receive image data indicative of the displayed light pattern from the imaging device as the agricultural machine travels across the field. Thereafter, the controller may be configured to determine the field characteristic(s) based on the distortion of the displayed light pattern. For example, in one embodiment, the controller may be configured to determine the distortion of the displayed light pattern by comparing the received image data to a reference image associated with the displayed light pattern. In one embodiment, the controller may be configured to adjust one or more operating parameters (e.g., of the ground speed and/or the force(s) being applied to a ground-engaging tool(s)) of the agricultural machine based on the determined field characteristic(s).

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>. Moreover, as will be described below, the implement <NUM> may include one or more tool actuators <NUM> (<FIG>), with each tool actuator <NUM> configured to adjust the position of and/or the force being applied to one of the ground-engaging tools. 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.

Furthermore, the vehicle/implement <NUM>/<NUM> may include one or more imaging devices coupled thereto and/or mounted thereon. In general, each imaging device may be configured to capture image data (e.g., images) associated with a portion of the field across which the vehicle/implement <NUM>/<NUM> is traveling. As will be described below, the captured image data may, in turn, be used to estimate or determine one or more characteristics of the field, such as residue coverage, surface roughness, clod size, and/or the like. As such, in several embodiments, the imaging device(s) may be provided in operative association with the vehicle/implement <NUM>/<NUM> such that the device(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 imaging device 102A may be mounted on a forward end <NUM> of the work vehicle <NUM> to capture image 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 imaging device 102B may be mounted on an aft end <NUM> of the implement <NUM> to capture image 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 imaging devices 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 imaging or three or more imaging devices.

In accordance with aspects of the present subject matter, the vehicle/implement <NUM>/<NUM> may include one or more illumination devices coupled thereto and/or mounted thereon. In general, each illumination device may be configured to emit a light directed at the portion of the field within the field of view of an associated imaging device. In this regard, the emitted light may result in a light pattern being displayed on the surface the portion of the field within the field of view of the associated imaging device. As will be described below, the displayed light pattern(s) may be indicative of the characteristic(s) (e.g., residue coverage, surface roughness, and/or clod size). In several embodiments, the illumination device(s) may be provided in operative association with the vehicle/implement <NUM>/<NUM> such that the device(s) emits a light into the field of view of the corresponding imaging device. For example, as shown in <FIG>, in one embodiment, one illumination device 104A may be mounted on the forward end <NUM> of the work vehicle <NUM> to emit a light into the field of view of the imaging device 102A. Similarly, as shown in <FIG>, a second illumination device 104B may be mounted on the aft end <NUM> of the implement <NUM> to emit a light into the field of view of the imaging device 102B. However, in alternative embodiments, the illumination devices 104A, 104B 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 illumination device or three or more illumination devices.

Referring now to <FIG>, one embodiment of an imaging device <NUM> and an illumination device <NUM> of the vehicle/implement <NUM>/<NUM> is illustrated in accordance with aspects of the present subject matter. Specifically, in several embodiments, the imaging device <NUM> may be configured as a suitable camera(s). In such embodiments, as the vehicle/implement <NUM>/<NUM> travels across the field, the imaging device <NUM> may be configured to capture image data (e.g., images) of a surface <NUM> of the field present within its field of view (e.g., as indicated by dashed lines <NUM> in <FIG>). For instance, in one embodiment, the imaging device <NUM> may correspond to a stereographic camera(s) having two or more lenses with a separate image sensor for each lens to allow the camera(s) to capture stereographic or three-dimensional images. As will be described below, the image data captured by the imaging device <NUM> may be used in determining one or more characteristics of the field, such as residue coverage, surface roughness, clod size, and/or the like. However, in alternative embodiments, the imaging device <NUM> may correspond to any other suitable sensing device(s) configured to capture image data, such as a monocular camera.

Additionally, the illumination device <NUM> may be configured to display a light pattern on the surface <NUM> of the field. Specifically, as the vehicle/implement <NUM>/<NUM> travels across the field, the illumination device <NUM> may be configured to emit light (e.g., as indicated by arrows <NUM> in <FIG>) directed at the portion of the field within the field of view <NUM> of the imaging device <NUM>. The emitted light may, in turn, cause the light pattern to be displayed on the surface <NUM> of the portion of the field present within the field of view <NUM> of the imaging device <NUM>. As will be described below, the field surface <NUM> may distort the displayed light pattern(s), with such distortion(s) being indicative of the field characteristic(s) (e.g., residue coverage, surface roughness, and/or clod size). As such, the image data captured by the imaging device <NUM> may depict or otherwise be indicative of the distortion of displayed light pattern by the field surface. In this regard, a controller may be configured to analyze the captured image data and determine the field characteristic(s) based on the distortions of the displayed light pattern depicted within such data.

It should be appreciated that the illumination device <NUM> may be configured as any suitable device(s) configured to emit a light such that a light pattern is displayed on the field surface <NUM>. For example, in one embodiment, the illumination device <NUM> may be configured as a laser-emitting device, such as a laser diode. However, in alternative embodiments, the illumination device <NUM> may be configured as any other suitable light-emitting device(s).

Moreover, it should be further appreciated that the configuration of the work vehicle <NUM> and the agricultural implement <NUM> described above and shown in <FIG> and <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 field 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> and <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 the tool actuator(s) <NUM> of the implement <NUM>. Specifically, each actuator <NUM> may be configured to adjust to the position or orientation of a ground-engaging tool of implement <NUM> (e.g., one of the gangs of disc blades <NUM>, the shanks <NUM>, the leveling blades <NUM>, or the basket assemblies <NUM>) relative to the implement frame <NUM>. For example, in one embodiment, a first end of each actuator <NUM> (e.g., a rod of each actuator <NUM>) may be coupled to the tool, while a second end of each actuator <NUM> (e.g., the cylinder of each actuator <NUM>) may be coupled to the frame <NUM>. The rod of each actuator <NUM> may be configured to extend and/or retract relative to the corresponding cylinder to adjust the position or orientation of the tool relative to the frame <NUM>. In one embodiment, the actuator(s) <NUM> corresponds to a fluid-driven actuator(s), such as a hydraulic or pneumatic cylinder(s). However, in alternative embodiments, the actuator(s) <NUM> may correspond to any other suitable type of actuator(s), such as an electric linear actuator(s).

Furthermore, the system <NUM> may include one or more imaging device actuators <NUM>. Specifically, each actuator <NUM> may be configured to adjust to the position and/or orientation of an imaging device <NUM> of vehicle/implement <NUM>/<NUM> relative to corresponding illumination device <NUM>. In this regard, and as will be described below, the actuator(s) <NUM> may allow the imaging device(s) <NUM> is to capture image data associated with the displayed light pattern(s) from differing positions and/or orientations. In one embodiment, a first end of each actuator <NUM> (e.g., a rod of each actuator <NUM>) may be coupled to the imaging device <NUM>, while a second end of each actuator <NUM> (e.g., the cylinder of each actuator <NUM>) may be coupled to the chassis <NUM> of the vehicle <NUM> or the frame <NUM> of the implement <NUM>. The rod of each actuator <NUM> may be configured to extend and/or retract relative to the corresponding cylinder to adjust the position or orientation of the imaging device <NUM> relative to the chassis/frame <NUM>/<NUM>. In one embodiment, the actuator(s) <NUM> corresponds to a fluid-driven actuator(s), such as a hydraulic or pneumatic cylinder(s). However, in alternative embodiments, the actuator(s) <NUM> may correspond to any other suitable type of actuator(s), such as an electric linear actuator(s).

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> 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 engine <NUM>, the transmission <NUM>, the tool actuator(s) <NUM>, the imaging device(s) <NUM>, the illumination device(s) <NUM>, imaging device actuator(s) <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 components <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to allow the controller <NUM> to communicate with such components <NUM>, <NUM>, <NUM>, <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.

In several embodiments, the controller <NUM> may be configured to control the operation of one or more illumination devices <NUM> such that a light pattern(s) is displayed on a surface of the field. As described above, the vehicle <NUM> and/or the implement <NUM> may include one or more illumination devices <NUM>, with each illumination device <NUM> configured to emit light into the field of view <NUM> of an associated imaging device <NUM>. Such emitted light may, in turn, cause a light pattern to be displayed on the surface of a portion of the field positioned within the field of view <NUM> of the associated imaging device <NUM>. As will be described below, the field surface may distort the displayed light pattern, with such distortion being indicative of one or more field characteristics. In this regard, as the vehicle/implement <NUM>/<NUM> travels across the field to perform an agricultural operation thereon (e.g., a tillage operation), the controller <NUM> may be configured to transmit instructions to the illumination device(s) <NUM> (e.g., via the communicative link <NUM>). The instructions may, in turn, instruct each illumination device <NUM> to emit a light such that a light pattern is displayed on the surface of the field within the field of view <NUM> of the associated imaging device <NUM>.

Referring now to <FIG>, an example view of one embodiment of a light pattern <NUM> being displayed by an illumination device <NUM> in accordance with aspects of the present subject matter. As shown, the displayed light pattern <NUM> may include a plurality of lines <NUM>, <NUM> forming a grid. Specifically, in one embodiment, the displayed light pattern <NUM> may include a pair of spaced apart longitudinally-extending first lines <NUM> and a pair of spaced apart laterally-extending second lines <NUM>. Each of the first lines <NUM> may intersect each of the second lines <NUM> at a corresponding intersection <NUM> such that a grid is formed. Furthermore, the displayed light pattern <NUM> may have one or more pattern parameters associated therewith. For example, such pattern parameters may include thicknesses (e.g., as indicated by arrows <NUM>, <NUM> in <FIG>) of the lines <NUM>, <NUM>, respectively; distances (e.g., as indicated by arrows <NUM>, <NUM> in <FIG>) between pairs of the lines <NUM>, <NUM>, respectively; and angles (e.g., as indicated by arrows <NUM>, <NUM> in <FIG>) defined by intersecting pairs of lines <NUM>, <NUM>. As will be described below, the residue and/or soil clods present on and/or the surface roughness of the field surface on which the light pattern <NUM> is displayed may distort grid and/or pattern parameters of the light pattern <NUM>. Such distortion may, in turn, be indicative of the residue coverage, clod size, surface roughness, and/or other field parameters. However, in alternative embodiments, the displayed light pattern <NUM> may have any other suitable shape or configuration, including non-grid-like or non-line-based shapes. For example, in one embodiment, the displayed light pattern may be a solid or filled-in shape, such as a triangle, circle, rectangle, star, and/or the like.

Referring again to <FIG>, the controller <NUM> may be configured to receive image data indicative of the displayed light pattern(s) from the imaging device(s) <NUM>. As described above, the vehicle/implement <NUM>/<NUM> may include one or more imaging devices <NUM> (e.g., a camera(s)), with each imaging device <NUM> configured to capture image data indicative of a light pattern being displayed on a portion of the field positioned within its field of view <NUM>. In this regard, as the vehicle/implement <NUM>/<NUM> travels across the field to perform the agricultural operation, the controller <NUM> may be configured to receive the image data from the imaging device(s) <NUM> (e.g., via the communicative link <NUM>). As will be described below, the controller <NUM> may be configured to determine one or more field parameters based on the received image data.

In several embodiments, the controller <NUM> may be configured to adjust the intensity or brightness of the displayed light pattern(s). As indicated above, the imaging device(s) <NUM> may be configured to capture image data that is indicative of the displayed light pattern(s). In this regard, the lighting conditions of the field(s) of view <NUM> of the imaging device(s) <NUM> may affect the quality of the captured image data. For example, when the field(s) of view <NUM> of the imaging device(s) <NUM> are in direct sunlight, such sunlight may obscure the displayed light pattern(s) depicted in the captured image data. Conversely, when the field(s) of view <NUM> of the imaging device(s) <NUM> are in low light conditions, the displayed light pattern(s) may be too bright such that the light pattern(s) depicted in the captured image data is flared. As such, the controller <NUM> may be configured to receive an input(s) associated with the lighting conditions of the field(s) of view <NUM> of the imaging device(s) <NUM>. Such input(s) may be received from an operator of the vehicle/implement <NUM>/<NUM> via a user interface (not shown) or from an ambient light sensor (not shown). Thereafter, the controller <NUM> may be configured to transmit instructions to the illumination device(s) <NUM> (e.g., via the communicative link <NUM>). The instructions may, in turn, instruct each illumination device <NUM> to adjust the intensity or brightness of the emitted light based on the received input(s).

Moreover, in one embodiment, the controller <NUM> may be configured to initiate an adjustment(s) of the positioning of the imaging device(s) <NUM> relative to the associated displayed light pattern. As described above, vehicle/implement <NUM>/<NUM> may include one or more imaging device actuators <NUM>, with each imaging device actuator <NUM> being configured to adjust the position and/or orientation of one of the imaging devices <NUM> relative to the associated displayed light pattern. As such, in addition to and/or in lieu of adjusting the intensity/brightness of the displayed light pattern(s) to mitigate the effects of the lighting conditions on the captured image data, the controller <NUM> may be configured to initiate one or more adjustments of the positioning and/or orientation of the imaging device(s) <NUM>. For example, when the image sensor(s) (not shown) of the imaging device(s) <NUM> are in direct sunlight, the controller <NUM> may be configured to initiate adjustment(s) of the position(s) and/or orientation(s) of the imaging device(s) <NUM> such that the image sensor(s) are no longer positioned in direct sunlight. In this regard, the controller <NUM> may be configured to transmit instructions to the imaging device actuator(s) <NUM> (e.g., via the communicative link <NUM>). The instructions may, in turn, instruct each imaging device actuator <NUM> to adjust the position and/or orientation of the corresponding imaging device <NUM>.

In accordance with aspects of the present subject matter, the controller <NUM> may be configured to determine one or more characteristics of the field across which the vehicle/implement <NUM>/<NUM> is traveling based on the displayed light pattern(s). Such field characteristics may include residue characteristics (e.g., residue coverage and/or presence of residue bunches), soil clod size, surface roughness, and/or the like. More specifically, residue and/or soil clods present on and/or the surface roughness of the field surface may distort the displayed light pattern(s). For example, as shown in <FIG>, the residue pieces <NUM> may cause the lines <NUM>, <NUM> of the displayed light pattern <NUM> to bend or otherwise distort. As such, the distortion(s) of the displayed light pattern(s) may, in turn, be indicative of the residue coverage, clod size, surface roughness, and/or other field parameters. In this regard, the controller <NUM> may be configured to process/analyze the received image data to determine or estimate the characteristic(s) of the field at the current location of the vehicle/implement <NUM>/<NUM> based on the distortion(s) of the displayed light pattern(s). In this regard, the controller <NUM> may include one or more algorithms stored within its memory device(s) <NUM> that, when executed by the processor(s) <NUM>, that configure the controller <NUM> to determine the field characteristic(s) based on distortion(s) of the displayed light pattern(s) depicted in the received image data.

In several embodiments, the controller <NUM> may be configured to determine the field parameter(s) by comparing the distortion(s) of the light pattern(s) to a reference image. In general, the displayed light pattern(s) may have a predetermined shape or configuration. For example, as described above with reference to <FIG>, in one embodiment, the displayed light pattern(s) may have a plurality of lines forming a grid. As such, the controller <NUM> may be configured to compare the distortion(s) of the light pattern(s) depicted in the received image data to a reference image associated with the predetermined or undistorted shape/configuration of the displayed light pattern(s). The amount and/or nature by which the distorted light pattern(s) differ from the reference image may, in turn, be indicative of the field characteristic(s). For example, larger soil clods may cause the displayed light pattern(s) to distort more than smaller soil clods such that a larger distortion of the light pattern(s) may be indicative of larger soil clods. Thereafter, the controller <NUM> may be configured to determine the field parameter(s) based on the comparison of the distortion(s) of the light pattern(s) to a reference image. In this regard, the controller <NUM> may include one or more algorithms stored within its memory device(s) <NUM> that, when executed by the processor(s) <NUM>, that configure the controller <NUM> to compare the distortion(s) of the light pattern(s) depicted by the received image data and determine the field characteristic(s) based on such comparison(s).

Furthermore, in several embodiments, the controller <NUM> may be configured to determine the field parameter(s) based on the one or more pattern parameters of the displayed light pattern(s). As indicated above, the displayed light pattern(s) may have one or more pattern parameter values associated therewith. Such pattern parameters may include the thickness of a line(s) of the light pattern(s), the distance(s) between lines of the light pattern(s), the angle(s) defined between intersecting lines of the light pattern(s), and/or the like. In general, the pattern parameter value(s) of the distorted light pattern(s) may differ from the predetermined pattern parameter value(s). Specifically, the amount(s) by which the parameter value(s) of the distorted light pattern(s) differ from the associated predetermined value(s) may be indicative of the field characteristic(s). For example, as mentioned above, larger soil clods may cause the displayed light pattern(s) to distort more than the smaller soil clods. As such, larger soil clods may cause the distance(s) between the lines to differ more from the associated predetermined value(s) than smaller soil clods. In this regard, the controller <NUM> may be configured to analyze/process the received image data to determine or estimate one or more pattern parameter values associated with the distortion(s) of the light pattern(s) depicted by the data. Moreover, the controller <NUM> may be configured to determine the distortion(s) of the displayed light pattern(s) by comparing the determined pattern parameter value(s) to the associated predetermined value(s) to determine a differential(s) therebetween. Thereafter, the controller <NUM> may be configured to determine the field characteristic(s) based on the determined distortion(s).

Additionally, in several embodiments, the controller <NUM> may be configured to adjust one or more operating parameters of the vehicle <NUM> and/or implement <NUM> based on the determined field characteristic(s). Specifically, the controller <NUM> may be configured to automatically adjust one or more operating parameters of the vehicle <NUM> and/or implement <NUM> when it is determined that the field parameter(s) has fallen outside of a predetermined field parameter range. Specifically, in one embodiment, the controller <NUM> may be configured to initiate adjustment of the force applied to and/or the penetration depth(s) of one or more ground-engaging tools (e.g., the disc blades <NUM>, the shanks <NUM>, the leveling blades <NUM>, and/or basket assemblies <NUM>) of the implement <NUM>. For example, the controller <NUM> may be configured transmit instructions to the tool actuator(s) <NUM> (e.g., via the communicative link <NUM>) instructing the actuator(s) <NUM> to adjust the force applied to and/or the penetration depth(s) of associated ground engaging tool(s).

Furthermore, in one embodiment, the controller <NUM> may be configured to automatically adjust the ground speed at which the vehicle/implement <NUM>/<NUM> is traveling across the field when it is determined that the field parameter(s) has fallen outside of a predetermined field parameter range. Specifically, the controller <NUM> may be configured to transmit instructions to the engine <NUM> and/or the transmission <NUM> (e.g., via the communicative link <NUM>) instructing the engine <NUM> and/or the transmission <NUM> to adjust their operation. For example, the controller <NUM> may instruct the engine <NUM> to vary its power output and/or the transmission <NUM> to upshift or downshift to increase or decrease the ground speed of the vehicle/implement <NUM>/<NUM> in a manner that adjusts the field parameter(s). However, in alternative embodiments, the controller <NUM> may be configured to transmit instructions to any other suitable components (e.g., braking actuators) of the vehicle <NUM> and/or the implement <NUM> such that the ground speed of the vehicle/implement <NUM>/<NUM> is adjusted. Furthermore, it should be appreciated that any other suitable parameter(s) the vehicle <NUM> and/or the implement <NUM> may be adjusted when it is determined that the field parameter(s) has fallen outside of a predetermined field parameter range.

Referring now to <FIG>, a flow diagram of one embodiment of a method <NUM> for determining field 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 vehicle <NUM>, the implement <NUM>, and the system <NUM> described above with reference to <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 machine 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 controlling, with one or more computing devices, an operation of an illumination device such that a light pattern is displayed on a field surface of a portion of a field within a field of view of an imaging device of an agricultural machine. For instance, as described above, the controller <NUM> may be configured to control the operation of an illumination device <NUM> coupled to or mounted on a work vehicle <NUM> or an implement <NUM> such that a light pattern is displayed on a field surface of a portion of a field within a field of view <NUM> of an imaging device <NUM> of the work vehicle/implement <NUM>/<NUM>.

Additionally, at (<NUM>), the method <NUM> may include receiving, with the one or more computing devices, image data indicative of the displayed light pattern from the imaging device as the agricultural machine travels across the field. For instance, as described above, the controller <NUM> may be configured to receive image data indicative of the displayed light pattern from the imaging device <NUM> as the vehicle/implement <NUM>/<NUM> travels across the field.

Moreover, as shown in <FIG>, at (<NUM>), the method <NUM> may include determining, with the one or more computing devices, a field characteristic of the field based on the displayed light pattern. For instance, as described above, the controller <NUM> may be configured to determine one or more characteristics of the field based on the displayed light pattern.

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 field characteristics during the performance of an agricultural operation, the system comprising:
an agricultural machine (<NUM>, <NUM>) configured to perform an agricultural operation on a field across which the agricultural machine (<NUM>, <NUM>) is traveling;
an imaging device (<NUM>) provided in operative association with the agricultural machine (<NUM>, <NUM>), the imaging device (<NUM>)
configured to capture image data associated with a portion of the field within a field of view of the imaging device (<NUM>);
an illumination device (<NUM>) provided in operative association with the agricultural machine (<NUM>, <NUM>), the illumination device (<NUM>) configured to emit a light directed at the portion of the field within the field of view of the imaging device (<NUM>); and
a controller (<NUM>) communicatively coupled to the imaging device (<NUM>) and the illumination device (<NUM>), the controller (<NUM>) configured to:
control an operation of the illumination device (<NUM>) such that a light pattern is displayed on a field surface of the field;
receive image data indicative of the displayed light pattern from the imaging device (<NUM>); and
determine a field characteristic of the field based on a distortion of the
displayed light pattern by the field surface;
characterized in that the field characteristic comprises at least one of a residue characteristic, a clod size, or a soil roughness of the field.