Patent Description:
Various sensor-based systems have been developed for use with an agricultural machine to detect or monitor one or more conditions associated with an agricultural field, such as one or more surface conditions (e.g., residue coverage) and/or sub-surface conditions (e.g., soil compaction). However, these conventional systems typically suffers from one or more drawbacks. For instance, given that agricultural machines often operate in dirty/dusty environments, obtaining reliable, accurate sensor data is often difficult, particularly when cameras or other imaging devices are being used to acquire images of the field. In this regard, dirt and dust can not only soil the exposed optical surfaces of the imaging devices, but can also flow through the field of view of the imaging devices, thereby resulting in images being captured that are difficult to process using computer-vision techniques. Moreover, as conventional sensor-based systems increase in complexity (including the amount of componentry associated therewith) and/or are adapted to function in various operating conditions (e.g., low-light conditions, such as nighttime conditions), the amount of heat generated by the various system components can often be problematic, leading to overheating and/or component failure.

<CIT> discloses a forage harvester having a measuring device installed on the outside of the spout. This measuring device is able to acquire data associated with the harvested material. An airflow device is installed which creates a section in the spout where no crop is able to come, and hence creates a distance between the cover of the measuring device and the crop material which is passing in the spout. This airflow design is designed to blow air over the cover of the measuring device and onto the crop material, such that sufficient distance can be maintained between the crop and the cover of the measuring device. Using such a device inside the spout reduces the size of the spout and may slow down the flow of the crop material inside the spout. This may have the result that blockages may occur in the spout.

<CIT> describes a soil compactor having a sensor arrangement installed in front of the soil compactor. The interior of the sensor arrangement is open at one end via a detection opening so that the sensor can interact via this opening with the environment which it needs to detect or scan. The opening can be closed off by a spring loaded closing flap. An air flow can be introduced inside the sensor arrangement and has the double function of opening the closing flap by the blowing force and by clearing dust particles which are inside the interior of the sensor arrangement. Although this is a simple solution, issues may arise when there is an accumulation of dust or particles which would prevent the closing flap from opening.

<CIT> relates to a tractor which has a scanning device installed on top of counterbalancing weights. Airflow is able to enter the interior of the housing of the scanning device from the front, and passes inside the housing of the scanning device, and will leave the housing again at the opposite end of the entrance point, thus cooling the interior of the scanning device. Such an airflow is only accomplished when the tractor is moving forward, or it needs to rely on the suction power of the engine of the tractor which could create sufficient suction to draw in the air inside the housing of the scanning device.

Accordingly, a data acquisition module for an agricultural machine and/or related systems/assemblies incorporating and/or configured for use with the data acquisition module that address one or more issues associated with conventional sensor-based systems adapted to obtain data associated with an agricultural field would be welcomed in the technology.

The solution to the technical problem is achieved by the subject-matter of independent claim <NUM>, defining per se the invention. Particular embodiments of the invention are defined in the dependent claims.

The system may further comprise one or more lighting devices positioned within the module housing relative to the optical window such that the one or more lighting devices are configured to direct light through the optical window to illuminate the portion of the field being imaged via the one or more imaging devices.

The system may further comprise a heat exchanger thermally coupled to at least one of the one or more lighting devices or the one or more imaging devices such that heat generated by the at least one of the one or more lighting devices or the one or more imaging devices is transferred to the heat exchanger.

The optical window may be segmented such that at least a portion of the optical window aligned with the one or more imaging devices is optically isolated from another portion of the optical window.

The agricultural machine may comprise an agricultural work vehicle and the DAQ module may be supported relative to the agricultural work vehicle in a cantilevered arrangement such that the one or more imaging devices have a field of view oriented generally parallel to a surface of the field.

The system may further comprise a drape assembly suspended relative to the one or more imaging devices. The drape assembly may be configured to at least partially shroud an imaging volume located underneath the DAQ module that encompasses a field of view of the one or more imaging devices.

The air circulation system may comprise:.

The airflow generated by the fan may create a positive pressure within the interior of the module housing that exceeds an ambient pressure outside the module housing. An air flap may be provided in association with a flow channel extending through a wall of the module housing. The air flap may be actuatable between an opened position, at which air is allowed to be expelled from the interior of the module housing through the flow channel, and a closed position, at which the air flap blocks air from being expelled from the interior of the module housing via the flow channel.

The system may further comprise a driver device configured to actuate the air flap between the opened and closed positions. An operation of the driver may be controlled based on an operational state of the fan.

The agricultural machine may comprise an agricultural work vehicle and the DAQ module may be supported relative to the agricultural work vehicle in a cantilevered arrangement. The air intake conduit may extend from the DAQ module along a portion of the agricultural work vehicle such that the intake end of the air intake conduit is positioned proximal to an operator's cab of the agricultural work vehicle.

In another aspect, the present subject matter is directed to a system for acquiring data associated with an agricultural field. The system includes an agricultural machine and a data acquisition (DAQ) module supported relative to the agricultural machine. The DAQ module includes a module housing, an optical window forming a portion of a bottom wall of the module housing, and one or more imaging devices configured to capture images of a portion of the field as the agricultural machine travels across the field. The one or more imaging devices are positioned within the module housing relative to the optical window such that a field of view of the one or more imaging devices is directed through the optical window. Additionally, the system includes a drape assembly suspended relative to the one or more imaging devices. The drape assembly is configured to at least partially shroud an imaging volume located underneath the DAQ module that encompasses the field of view of the one or more imaging devices.

The drape assembly may comprise a plurality of drape sections and a lower drape frame suspended relative to the DAQ module via the plurality of drape sections. Each drape section of the plurality of drape sections may include a top end and a bottom end, with the top end of each drape section being coupled to the DAQ module and the bottom end of each drape section being coupled to the lower drape frame.

The plurality of drape sections may comprise a plurality of flexible drape sections. Each flexible drape section of the plurality of flexible drape sections may be configured to flex with upward vertical movement of said lower drape frame.

The lower drape frame may be configured to be suspended relative to the DAQ module via the plurality of drape sections such that the lower drape frame is positioned a vertical distance from a surface of the field. The drape assembly may further comprise a plurality of drape flaps pivotably coupled to the lower drape frame. The plurality of drape flaps may at least partially span the vertical distance defined between the lower drape frame and the surface of the field.

In general, the present subject matter is directed to a data acquisition (DAQ) module for an agricultural machine that can be used to acquire data associated with one or more conditions of an agricultural field. In several embodiments, the DAQ module may include one or more sensing devices for collecting or generating data associated with one or more conditions of a field. For instance, the DAQ module may include one or more imaging devices for capturing images of a field as the associated agricultural machine travel across the field. Such images may, for example, allow one or more surface conditions of the field to be detected or monitored, such as one or more conditions or parameters associated with crop residue, soil clods, surface levelness or irregularities (e.g., ridges and/or valleys ), and/or the like within the field.

Additionally, in accordance with aspects of the present subject matter, the DAQ module may be operatively associated with an air circulation system for providing a supply of air within the interior of the DAQ module for circulation therein. As will be described below, the air circulated within the interior of the module housing may serve a dual-purpose, namely to provide an airflow for: (<NUM>) cooling any heat-generating components of the DAQ module; and (<NUM>) cleaning one or more optical components of the DAQ module (e.g., an optical window through which the imaging device(s) is configured to capture images of the field).

Moreover, in several embodiments, a drape assembly may be configured to be supported relative to the DAQ module. The drape assembly may generally be configured to at least partially shroud an "imaging volume" located directly below the DAQ module that encompasses the field of view of the imaging device(s) of the DAQ module. As a result, the drape assembly may function to prevent or minimize the amount of dust or debris that is directed across or through the field of view of the imaging device(s).

Referring now to drawings, <FIG> illustrates a perspective view of one embodiment of a system <NUM> for acquiring data associated with an agricultural field in accordance with aspects of the present subject matter. In general, the system <NUM> includes an agricultural machine <NUM> and a data acquisition module <NUM> provided in association with the agricultural machine for acquiring data associated with a field as the machine <NUM> travels across the field.

In the illustrated embodiment, the agricultural machine <NUM> includes a work vehicle <NUM> and an associated agricultural implement <NUM>. In general, the work vehicle <NUM> is configured to tow the implement <NUM> across a field in a direction of travel (e.g., as indicated by arrow <NUM> in <FIG>). As shown in <FIG>, the work vehicle <NUM> is configured as an agricultural tractor and the implement <NUM> is configured as an associated 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 <NUM> 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 <NUM> may include more than two associated vehicles, implements, and/or the like (e.g., a tractor, a planter, and an associated air cart).

As shown in <FIG>, the work vehicle <NUM> includes 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 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, as is generally understood, the work vehicle <NUM> may include an engine (not shown) and a transmission (not shown) mounted on the chassis <NUM>. The transmission may be operably coupled to the engine 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 carriage frame assembly <NUM> configured to be towed by the work vehicle <NUM> via a pull hitch or tow bar <NUM> in the direction of travel <NUM> of the vehicle <NUM>. As is generally understood, the carriage frame assembly <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. For example, in the illustrated embodiment, the carriage frame assembly <NUM> is configured to support various gangs of disc blades <NUM>, a plurality of shanks <NUM>, a plurality of leveling blades <NUM>, and a plurality of crumbler wheels or basket assemblies <NUM>. However, in alternative embodiments, the carriage frame assembly <NUM> may be configured to support any other suitable ground engaging tools and/or combination of ground engaging tools. In several embodiments, the various ground-engaging tools may be configured to perform a tillage operation or any other suitable ground-engaging operation across the field along which the implement <NUM> is being towed. It should be understood that, in addition to being towed by the work vehicle <NUM>, the implement <NUM> may also be a semi-mounted implement connected to the work vehicle <NUM> via a two point hitch (not shown) or the implement <NUM> may be a fully mounted implement (e.g., mounted the work vehicle's <NUM> three point hitch (not shown)).

It should also be appreciated that the configuration of the agricultural machine <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 machine configuration, including any suitable work vehicle configuration and/or implement configuration. For example, in an alternative embodiment of the work vehicle <NUM>, a separate frame or chassis may be provided to which the engine, transmission, and drive axle assembly are coupled, a configuration common in smaller tractors. Still other configurations may use an articulated chassis to steer the work vehicle <NUM>, or rely on tires/wheels in lieu of the track assemblies <NUM>, <NUM>. Similarly, as indicated above, the carriage frame assembly <NUM> of the implement <NUM> may be configured to support any other suitable combination of type of ground-engaging tools.

Furthermore, as indicated above, the disclosed system <NUM> may also include a data acquisition (DAQ) module <NUM> configured to be installed relative to or otherwise associated with the agricultural machine <NUM>. For instance, in the illustrated embodiment, the DAQ module <NUM> is installed relative to the work vehicle <NUM>, such as by being mounted at a forward end <NUM> of the work vehicle <NUM>. However, in other embodiments, the DAQ module <NUM> may be installed relative to the implement <NUM>, such as by being mounted at an aft end <NUM> of the implement <NUM>.

In general, the DAQ module <NUM> may include an outer module housing <NUM> configured to encase or enclose a plurality of DAQ-related components. For instance, in several embodiments, the DAQ module <NUM> may include one or more sensing devices <NUM> supported within the module housing <NUM> for acquiring data associated with the field across which the agricultural machine <NUM> is being traversed. In addition, the DAQ module <NUM> may include one or more additional components <NUM> housed within the module housing <NUM>. For instance, such additional components <NUM> may include, but are not limited to, one or more CPUs or controllers, lighting devices, light source drives, sensors, heat dissipation components, power sources, power converters, and/or the like, examples of some which will be described below with reference to <FIG> and <FIG>.

In accordance with aspects of the present subject matter, the sensing devices <NUM> of the DAQ module <NUM> may include one or more imaging devices <NUM> configured to capture images or other image data relating to one or more surface conditions of the field. Suitable surface conditions may include, but are not limited to, conditions or parameters associated with crop residue, soil clods, surface levelness or irregularities (e.g., ridges and/or valleys ), and/or the like within the field.

In several embodiments, the imaging device(s) <NUM> may be supported relative to the agricultural machine <NUM> such that the imaging device(s) <NUM> has a field of view <NUM> directed towards a portion(s) of the field adjacent to the work vehicle <NUM> and/or the implement <NUM>, such as a portion(s) of the field disposed in front of, behind, and/or along one or both of the sides of the work vehicle <NUM> and/or the implement <NUM>. For example, in the embodiment shown in <FIG> in which the DAQ module <NUM> is mounted at the forward end <NUM> of the work vehicle <NUM>, the imaging device(s) <NUM> has a field of view <NUM> directed towards a section of the field disposed in front of the work vehicle <NUM>. Such a forward-located imaging device(s) <NUM> may allow pre-operation images of the field to be captured for monitoring or determining surface conditions of the field prior to the performance of an agricultural operation (e.g., a tillage operation). Alternatively, in an embodiment in which the DAQ module <NUM> is mounted at the aft end <NUM> of the implement <NUM>, the imaging device(s) <NUM> may, for example, have a field of view directed towards a section of the field disposed behind the implement <NUM>. Such an aft-located imaging device(s) <NUM> may allow post-operation images of the field to be captured for monitoring or determining surface conditions of the field after the performance of an agricultural operation (e.g., a tillage operation).

In general, the imaging device(s) <NUM> may correspond to any suitable device(s) or other assembly configured to capture images of the field. For instance, in several embodiments, the imaging device(s) <NUM> may correspond to a stereo camera assembly having first and second cameras incorporated therein or otherwise forming a part thereof. In such embodiments, the stereo camera assembly may be used to capture/generate both two-dimensional and three-dimensional images of the field. Specifically, each camera may include a lens and a separate image sensor for capturing two-dimensional images. Additionally, by simultaneously capturing an image of the same portion of the field with each camera, the separate images can be combined, compared and/or otherwise processed to extract three-dimensional information about such portion of the field. For example, by comparing the images captured by each camera, a depth image can be generated that allows the scene depth to be determined (e.g., relative to the camera) at each corresponding pixel location within the imaged portion of the field, which, in turn, can be converted into a scene height (or pixel height) at each corresponding pixel location relative to a reference plane (e.g., a reference plane approximating the soil surface). As a result, the relative height of specific features or points within the field may be determined, such as the relative height of residue or soil clods within the field.

It should be appreciated that, in addition to a stereo camera assembly or as an alternative thereto, the DAQ module <NUM> may include any other suitable type of imaging device(s) <NUM>. For instance, suitable imaging devices <NUM> may also include single or non-stereo cameras, stereoscope cameras, multi-spectrum cameras and/or the like. It should also be appreciated that, in addition to one or more imaging device(s) <NUM> (or as an alternative thereto), the DAQ module <NUM> may include any other suitable sensing device(s) <NUM> associated with monitoring one or more conditions of the field, such as a radar sensor, ultrasound sensor, and/or the like. For instance, in one embodiment, the sensing device(s) may include a ground-penetrating radar(s) for monitoring one or more sub-surface conditions associated with the field (e.g., soil compaction).

It should also be appreciated that the DAQ module <NUM> may be configured to be mounted or otherwise supported relative to a portion of the agricultural machine <NUM> using any suitable mounting/support structure. For instance, as shown in <FIG>, the DAQ module <NUM> may be mounted to the front of the work vehicle <NUM> via suitable mounting structure <NUM> (e.g., a frame, mounting arms, brackets, trays, etc.). Such mounting structure <NUM> may, for example, permit the imaging device(s) <NUM> to be supported out in front of the vehicle <NUM> (e.g., in a cantilevered arrangement) in a manner that allows the imaging device(s) <NUM> to obtain the desired field of view <NUM>, including the desired orientation of the device's field of view <NUM> relative to the surface of the field (e.g., a straight-down view oriented generally parallel to the surface of the field).

Additionally, in several embodiments, the disclosed system <NUM> may also include an air circulation system <NUM> for providing a supply of air within the interior of the module housing <NUM> for circulation therein. As will be described below, the air circulated within the interior of the module housing <NUM> via operation the air circulation system <NUM> may serve a dual-purpose, namely to provide an airflow for: (<NUM>) cooling any heat-generating components of the DAQ module <NUM>; and (<NUM>) cleaning one or more optical components of the DAQ module <NUM> (e.g., an optical window through which the imaging device(s) <NUM> is configured to capture images of the field).

As shown in <FIG>, the air circulation system <NUM> may include an air intake conduit <NUM> fluidly coupled to the module housing <NUM> (e.g., via an air intake port defined through the housing <NUM>) to allow air to be suppled into the housing <NUM> via the conduit <NUM>. In several embodiments, the intake conduit <NUM> may extend lengthwise between an output end <NUM> coupled to the module housing <NUM> and an intake end <NUM> spaced apart from the module housing <NUM>, with the intake conduit <NUM> being configured to intake air at its intake end <NUM> and expel such air into the module housing <NUM> at its output end <NUM>. In this regard, the length of and/or mounting arrangement for the intake conduit <NUM> may be selected, for instance, to allow the intake end <NUM> of the conduit <NUM> to be positioned at a suitable location for intaking relatively clean air. For example, as shown in <FIG>, the air intake conduit <NUM> is coupled to and routed along an exterior of the work vehicle <NUM> such that the intake end <NUM> of the conduit <NUM> is positioned at a location proximal to the operator's cab <NUM> (e.g., at or adjacent to the roof of the cab <NUM>), thereby allowing the conduit <NUM> to intake substantially dust-free air for delivery into the DAQ module <NUM>. Additionally, in several embodiments, a filter <NUM> may also be provided in association with the air intake conduit <NUM> (e.g., at the intake end <NUM> of the conduit <NUM>) for filtering out dust or other particulates within the air. In one embodiment, the filter <NUM> may correspond to a reusable filter that can be periodically washed or otherwise cleaned and then reinstalled relative to the intake conduit <NUM>.

Referring now to <FIG>, a schematic view of one embodiment of a DAQ module <NUM> suitable for use within one or more embodiments of a system for acquiring data associated with an agricultural field is illustrated in accordance with aspects of the present subject matter. For purposes of discussion, the DAQ module <NUM> shown in <FIG> will generally be described with reference to the agricultural machine <NUM> and related system <NUM> described above with reference to <FIG>. However, it should be appreciated that the DAQ module <NUM> may, in general, be configured for use with any suitable agricultural machine having any suitable machine configuration and/or within a system having any other suitable system configuration.

As indicated above, the DAQ module <NUM> includes a module housing <NUM> configured to encase or enclose a plurality of DAQ-related components. For instance, one or more imaging device(s) <NUM> may be disposed within the module housing <NUM> for capturing images of the portion of the field located adjacent to the DAQ module <NUM> (e.g., immediately below the DAQ module <NUM>). As shown in <FIG>, the imaging device(s) <NUM> may, in several embodiments, correspond to a stereo camera assembly having first and second cameras <NUM>, <NUM> spaced apart from one another within the module housing <NUM> for capturing or generating both two-dimensional and three-dimensional images of the field. In one embodiment, the first and second cameras <NUM>, <NUM> may be mounted or supported within the module housing <NUM> relative to an optical window (e.g., as indicated by rectangle <NUM> shown in <FIG>) through which the cameras <NUM>, <NUM> are configured to capture images. For instance, the optical window <NUM> (e.g., a glass or transparent polymer-based window) may be configured to form all or a portion of a bottom wall <NUM> (<FIG>) of the module housing <NUM>. As such, with the cameras <NUM>, <NUM> supported within the module housing <NUM> directly above the optical window <NUM>, the field of view <NUM> (<FIG>) of each camera <NUM>, <NUM> may be directed through the window <NUM> to allow images of the underlying field to be captured. In one embodiment, the cameras <NUM>, <NUM> may be positioned within a forward portion of the module housing <NUM>, such as at a location closer to a front wall 107A of the module housing <NUM> than an opposed rear wall 107B of the module housing. Such positioning may, for example, allow the rear portion of the module housing <NUM> to be mounted to an associated supported structure or frame assembly (e.g., as will be described below with reference to <FIG> and <FIG>) while providing the cameras <NUM>, <NUM> with an unobstructed view of the underlying portion of the field.

Additionally, it should be appreciated that, in several embodiments, the operation of the cameras <NUM>, <NUM> may be controlled based on the ground speed of the associated agricultural machine <NUM>. Specifically, in one embodiment, the image capture timing for the cameras <NUM>, <NUM> may be speed-dependent such that the frequency at which the cameras <NUM>, <NUM> capture images of the field is varied based on the ground speed of the associated agricultural machine <NUM>. Such speed-dependent image capture timing may, for instance, allow for the field to be imaged with minimal/no gaps or overlap between consecutive images.

As shown in <FIG>, the DAQ module <NUM> may also include a camera controller or central processing unit (CPU) <NUM> communicatively coupled to each camera <NUM>, <NUM> (e.g., via communication link(s) <NUM>). In one embodiment, the camera CPU <NUM> may be configured to control the operation of each camera <NUM>, <NUM>, such as by controlling the timing and/or rate at which each camera <NUM>, <NUM> captures images of the field. For instance, the camera CPU <NUM> may be configured to trigger each camera <NUM>, <NUM> to simultaneously capture an image of an underlying portion of the field, thereby allowing images of the same portion of the field to be captured from each camera's perspective. Additionally, in one embodiment, the camera CPU <NUM> may be configured to receive the individual images captured by each camera <NUM>, <NUM> and execute a suitable image processing algorithm(s) (e.g., software-based and/or hardware-based image processing) to generate a disparity map or depth image associated with the imaged portion of the field. The original image received from each camera <NUM>, <NUM> and/or the depth image deriving therefrom may then be stored in memory associated with the camera CPU <NUM> and/or transmitted to a separate computing device or controller (e.g., a separate module CPU <NUM> of the DAQ module <NUM>, as will be described below) for storage and/or subsequent processing/analysis.

Additionally, the DAQ module <NUM> may also include one or more lighting devices configured to provide a source of artificial lighting used to illuminate the portion of the field being imaged by the cameras <NUM>, <NUM>. For instance, as shown in <FIG>, the DAQ module <NUM> includes a plurality of lighting devices <NUM> installed relative to the cameras <NUM>, <NUM>, such as a first array <NUM> of lighting devices <NUM> installed around the first camera <NUM> and a second array <NUM> of lighting devices <NUM> installed around the second camera <NUM>. In such an embodiment, each lighting device <NUM> may be installed within the footprint of or may otherwise aligned with the optical window <NUM> provided in association with the module housing <NUM> so that light from each lighting device <NUM> can be transmitted through the window <NUM> for illuminating the underlying portion of the field. For instance, in one embodiment, the various lighting devices <NUM> may be supported within the module housing <NUM> directly above the optical window <NUM> (e.g., similar to the cameras <NUM>, <NUM>). Additionally, in one embodiment, the lighting devices <NUM> may be configured to be strobed or otherwise activated or turned on for a very short time period corresponding to the image acquisition period of the cameras <NUM>, <NUM>. Such strobing of the lighting devices <NUM> minimizes power consumption and also reduces the amount of heat generation.

In several embodiments, the lighting devices <NUM> may correspond to light-emitting diodes (LEDs), such as high intensity/power LEDs. Such high intensity/power LEDs may be particularly advantageous for use in low-lighting conditions, such as during nighttime operation of the agricultural machine <NUM> or during other low-light conditions, to improve the overall performance of the DAQ module <NUM> (particularly the performance of the cameras <NUM>, <NUM>). However, it should be appreciated that, in other embodiments, each lighting device <NUM> may correspond to any other suitable artificial light source(s).

As shown in <FIG>, the DAQ Module <NUM> may also include one or more light source drivers <NUM>, <NUM> electrically coupled to the lighting devices <NUM> (e.g., via links <NUM>) for regulating the power supplied to each lighting device <NUM>. Specifically, in the illustrated embodiment, a first light source driver <NUM> is provided to regulate the power supply to the first array <NUM> of lighting devices <NUM> and a second light source driver <NUM> is provided to regulate the power supply to the second array <NUM> of lighting devices <NUM>. It should be appreciated that, in embodiments in which the lighting devices <NUM> comprise LEDs, the light source drivers <NUM>, <NUM> may correspond to LED drivers. Additionally, a related capacitor (e.g., an LED drive capacitor) may also be included within the DAQ module <NUM> for smoothing the voltage being supplied to each light source driver <NUM>, <NUM> from an associated power supply. The capacitor may also be used as a local power store to provide a short, high current burst when the lighting devices <NUM> are activated during image acquisition via the cameras <NUM>, <NUM>.

Referring still to <FIG>, the DAQ module <NUM> may also include a power and input-output (IO) controller <NUM> (hereinafter power/IO controller <NUM>) for regulating the power supplied to the various components housed within the DAQ module <NUM> and/or for providing a gateway for data and other inputs/outputs being received by and/or transmitted from the DAQ module <NUM>. For instance, the power/IO controller <NUM> may be electrically coupled to a power input socket <NUM> through which power (e.g., a <NUM> volt power supply) is supplied to the DAQ module <NUM> from an external source, such as the agricultural machine <NUM> (e.g., the work vehicle <NUM>). Additionally, the power/IO controller <NUM> may be communicatively coupled to various data ports for receiving/transmitting data and related communications from/to the agricultural machine <NUM> (e.g., the work vehicle <NUM>), such as one or more first data ports <NUM> for receiving/transmitting ISOBUS data/communications, CANBUS data/communications, and/or any other data/communications transmitted according to any suitable protocol and one or more second data ports <NUM> for receiving/transmitting additional data/information.

As shown in <FIG>, in addition to being coupled to an external power source (e.g., the agricultural machine <NUM> via the power input socket <NUM>), the DAQ module <NUM> may optionally include an onboard power source <NUM>, such as an onboard battery. In one embodiment, the onboard power source <NUM> may serve as a back-up power source for the DAQ module <NUM>, but, in other embodiments, may function as the primary power source for one or more components of the DAQ module <NUM>. Moreover, as shown in <FIG>, the DAQ module <NUM> may also include a power converter <NUM> for adjusting the voltage or current of the power being supplied to the various components of the DAQ module <NUM> and/or for transforming the power input to a different form (e.g., AC-to-DC conversion or DC-to-AC conversion).

Moreover, as shown in <FIG>, the DAQ module <NUM> may also include an onboard router <NUM> for providing wireless communications between the DAQ module <NUM> and/or one or more separate devices, such as one or more separate CPUs, computing devices and/or the like. For instance, in one embodiment, the router <NUM> may be used to wirelessly transmit data acquired or generated by the DAQ module <NUM> to a user interface associated with the agricultural machine <NUM> (e.g., a display panel or other user interface housed within the cab <NUM> of the work vehicle <NUM>) or any other remote computing device, such as client device of the operator of the agricultural machine <NUM> (e.g., a smartphone or tablet) or a remote server. The router <NUM> may also provide a back-up data connection to the agricultural machine <NUM> in the event that the wired data connection (e.g., via the data ports <NUM>, <NUM>) is lost.

Referring still to <FIG>, the DAQ module <NUM> may also include one or more module state sensors <NUM> for monitoring one or more operating conditions or states of the DAQ module <NUM>. For instance, in one embodiment, the module state sensor(s) <NUM> may correspond to one or more accelerometers, gyroscopes, inertial measurement units (IMUs) and/or the like for monitoring the orientation (e.g., tilting of the DAQ module <NUM> relative to a two-dimensional plane) and/or vibrational movement of the DAQ module <NUM>. In one embodiment, the monitored orientation may, for example, be used to correct or adjust one or more portions of the data being acquired and/or generated by the DAQ module <NUM>, such as the depth images being generated based on the two-dimensional images captured by the cameras <NUM>, <NUM>. In another embodiment, the module state sensor(s) <NUM> may correspond to one or more temperature sensors configured to monitor the temperature within the module housing <NUM>. As will be described below, such temperature measurements may, for example, be used to control one or more components of the air circulation system <NUM>.

Additionally, the DAQ module <NUM> may also include a module controller or CPU <NUM> for controlling the operation of one or more components of the DAQ module <NUM> and/or for storing/processing data acquired or generated by one or more of the DAQ-related components. For instance, as shown in <FIG>, the module CPU <NUM> may be communicatively coupled (e.g., via links <NUM>) to various different components of the DAQ module <NUM> (e.g., the camera CPU <NUM>, light source drivers, <NUM>, <NUM>, router <NUM>, module state sensor(s) <NUM>, power/IO controller <NUM>, and/or the like) for allowing data, control commands, and/or other signals to be transmitted between such components. For instance, images received at or generated by the camera CPU <NUM> and/or sensor data generated by the module state sensor(s) <NUM> may be transmitted to the module CPU <NUM> for storage thereon and/or for subsequent processing and/or analysis. Similarly, data stored at and/or generated by the module CPU <NUM> (e.g., image data and/or surface condition data) may be transmitted from the module CPU <NUM> to the power/IO controller <NUM> for subsequent transmission to the agricultural machine <NUM> (e.g., via the data port(s) <NUM>, <NUM>) and/or to the router <NUM> for subsequent wireless transmission to a separate device (e.g., a client device or any other suitable wireless-enabled device).

In several embodiments, the module CPU <NUM> may also be configured to execute one or more image processing algorithms for analyzing the images received from the camera CPU <NUM> (e.g., the original <NUM>-D images captured by the cameras <NUM>, <NUM> and/or the depth images generated by the camera CPU <NUM>) to identify one or more surface conditions associated with the imaged portion of the field. For instance, the two-dimensional images may be analyzed to differentiate crop residue from soil within the imaged portion of the field (e.g., using a texture-based, color-based, and/or spectral-based analysis), thereby allowing the percent crop residue coverage within the field to be approximated. Similarly, the <NUM>-D or depth images can be analyzed to identify the presence of soil clods within the imaged portion of the field, as well as to approximate the size of such clods. In addition, the depth images can be analyzed to identify the height/depth of any ridges/valleys within the field and/or the heights associated with any residue bunches within the field.

Referring still to <FIG>, as indicated above, the DAQ module <NUM> may also be provided in operative association with an air circulation system <NUM> configured to circulate an airflow through the module housing <NUM> to provide cooling for any heat-generating components of the DAQ module <NUM> (e.g., lighting devices <NUM>, cameras <NUM>, <NUM>, CPUs, controllers, and/or the like) and to clean-off one or more optical components of the DAQ module <NUM> (e.g., the optical window <NUM>). As indicated above, the air circulation system <NUM> may include an intake conduit <NUM> (a portion of which is shown in <FIG>) for supplying an airflow into the module housing <NUM>. Additionally, as shown in <FIG>, the output end <NUM> of the intake conduit <NUM> is fluidly coupled to an intake port <NUM> defined through a sidewall <NUM> of the module housing <NUM> to allow the airflow (indicated by arrows <NUM>) directed through the intake conduit <NUM> to be suppled into the interior of the module housing <NUM>.

Moreover, as shown in <FIG>, the air circulation system <NUM> may also include a fan <NUM> provided in fluid communication with the intake port <NUM> and the output end <NUM> of the intake conduit <NUM>. In general, the fan <NUM> may be configured to generate a suction force or vacuum within the intake conduit <NUM> that draws air in through the intake end <NUM> (<FIG>) of the conduit <NUM> for delivery through the conduit <NUM> to the module housing <NUM>. In one embodiment, the fan <NUM> may be configured generate a sufficient airflow through the conduit <NUM> and into the module housing <NUM> in order to pressurize the housing <NUM> to a positive pressure (i.e., above the ambient pressure outside the housing <NUM>), thereby preventing the entry of dust or other particulates into the housing <NUM> via any openings or other entry ways defined therein.

By providing a pressurized airflow into the module housing <NUM>, the air may be circulated throughout the housing <NUM> to cool any heat-generating components of the DAQ module <NUM>. For instance, the airflow through the housing <NUM> may serve as a cooling airflow for the lighting devices <NUM>, the cameras <NUM>, <NUM>, the various CPUs and controllers, the power converter <NUM>, and/or any other suitable heat-generating components encased within the module housing <NUM>. Such cooling may be particularly beneficial when the lighting devices <NUM> correspond to high power/intensity LEDs, as such components are typically sources of a substantial amount of heat generation.

It should be appreciated that, in embodiments in which the airflow provided within the module housing <NUM> is used to cool the heat-generating components of the DAQ module <NUM>, the operation of the fan <NUM> may, for example, be controlled based on a sensed or monitored temperature within the module housing <NUM>. For instance, when the module state sensor(s) <NUM> comprises one or more temperature sensors, the module CPU <NUM> or any other suitable CPU or controller may be configured to monitor the temperature within the module housing <NUM> via the feedback provided by sensor(s). The operation of the fan <NUM> may then be controlled, for example, to activate or turn on the fan <NUM> when the monitored temperature exceeds a predetermined threshold.

Additionally, the pressurized airflow provided within the module housing <NUM> may also provide a means for cleaning off one or more contaminated surfaces of the optical components of the DAQ module <NUM>, such as the optical window <NUM>. For instance, in one embodiment, an air labyrinth or knife <NUM> may be provided at or adjacent to the optical window <NUM> that is configured to direct a knife or jet of pressurized air (indicated by arrows <NUM>) across an external surface <NUM> (<FIG>) of the optical window <NUM> to clean such external surface.

Moreover, in several embodiments, the air circulation system <NUM> may also include an air flap <NUM> provided in operative association with the air knife <NUM> to allow an opening or flow channel of the air knife <NUM> to be opened/closed or sealed/unsealed) to allow the pressurized air within the interior of the module housing <NUM> to be selectively diverted through the air knife <NUM>. In one embodiment, the air flap <NUM> may be rotatable or pivotable (e.g., about a pivot axis <NUM>) between an opened position, at which the air within the interior of the module housing <NUM> can be expelled through the flow channel of the air knife <NUM>, and a closed position, at which the flap <NUM> seals or otherwise covers the flow channel prevents the passage of air or dust therethrough). In such an embodiment, a suitable drive device, such as a motor <NUM> (e.g., a servomotor), may be provided in operative association with the air flap <NUM> to actuate the flap <NUM> between the opened and closed positions.

In one embodiment, the operational state of the air flap <NUM> (e.g., opened or closed) may be varied as a function of the operational state of the fan <NUM> (e.g., on or off). Specifically, when the fan <NUM> is deactivated or otherwise turned off, the air flap <NUM> may be moved to the closed position (e.g., via operation of the motor <NUM>) to seal the associated flow channel of the air knife <NUM> and, thus, prevent dust, particulates, and/or other contaminates from entering the housing <NUM>. In contrast, when the fan is activated and generating a positive air pressure within the module housing <NUM>, the air flap <NUM> may be moved to the opened position (e.g., via operation of the motor <NUM>) to allow the pressurized air to be directed through the air knife <NUM> to facilitate cleaning of the optical window <NUM>. In such instance, given the positive pressure within the module housing <NUM>, contaminates outside the module housing <NUM> will be prevented from entering the housing <NUM> due to the air stream being expelled through the flow channel of the air knife <NUM>.

Referring now to <FIG>, a simplified, schematic cross-sectional view of a portion of the DAQ module <NUM> described above with reference to <FIG> is illustrated in accordance with aspects of the present subject matter, particularly illustrating the area within the module housing <NUM> in which the cameras <NUM>, <NUM> and lighting devices <NUM> are positioned relative to the optical window <NUM>. As shown in <FIG>, in addition to the cameras <NUM>, <NUM> and lighting devices <NUM>, the DAQ module <NUM> may also include a heat exchange <NUM> positioned relative the optical window <NUM>. In general, the heat exchange <NUM> may be configured to function as a heat dissipation means for the lighting devices <NUM> and/or the cameras <NUM>, <NUM>.

In several embodiments, the heat exchanger <NUM> may include a base plate <NUM> supported directly above the optical window <NUM> and a plurality of fins <NUM> extending outwardly from the base plate <NUM>. The base plate <NUM> may generally be configured to be thermally coupled to the lighting devices <NUM> and/or the cameras <NUM>, <NUM> to allow heat generated by such components to be transferred to the heat exchanger <NUM> (e.g., via conduction), which can then be subsequently dissipated into the air being circulated within the module housing <NUM> via convection. In this regard, the fins <NUM> may generally function to increase the rate at which heat is being transferred from the heat exchanger <NUM> via convection by increasing the overall surface area of the heat exchanger <NUM>.

Additionally, in several embodiments, the optical window <NUM> (which forms a portion of the bottom wall <NUM> of the module housing <NUM>) may be segmented into two or more optical window sections. For instance, in one embodiment, the optical window <NUM> may include an imaging window section 134A associated with the cameras <NUM>, <NUM> (e.g., a separate imaging window section for each camera <NUM>, <NUM> or a common imaging window sections for both cameras <NUM>, <NUM>) that is segmented or otherwise separated from the remainder of the optical window <NUM> (e.g., a lighting window section, not shown). For instance, the imaging window section 134A is separated from the lighting window section (not shown) by an optical divider or wall (not shown). Such segmentation of the optical window <NUM> may prevent light from the lighting devices <NUM> from being internally reflected within the window <NUM> and negatively impacting the images being obtained via the cameras <NUM>, <NUM>. For instance, the divider may serves as an "optical break" between the imaging window section <NUM> and the lighting window section, thereby preventing the transmission of reflected light from the lighting window section to the imaging window section <NUM>. Of course, it should be appreciated that, in other embodiments, the optical window <NUM> may be configured as a non-segmented or continuous window as is shown in <FIG>.

The air knife <NUM> can also be used to clean the external surface of the optical window <NUM>. Therefore, the air knife <NUM> is mounted (not shown) within or through a portion of the bottom wall <NUM> of the module housing <NUM> such that the flow channel of the air knife <NUM> defines a flow path for directing pressurized air from the interior of the module housing <NUM> across the external surface of the optical window <NUM>. Specifically, the air knife <NUM> allows an airflow to be directed from the interior of the module housing <NUM>, through the bottom wall <NUM> of the housing <NUM>, and along the exterior of the optical window <NUM>, thereby providing a means for cleaning the exterior surface of the optical window <NUM>. Additionally, as indicated above, an air flap <NUM> may be provided in operative association with the air knife <NUM> to selectively open/close the flow channel defined by the air knife <NUM>. For instance, when there is a positive air pressure within the module housing <NUM> (e.g., due to operation of the fan <NUM> (<FIG>), the air flap <NUM> may be opened to allow air to be directed through the air knife <NUM>.

Referring now to <FIG> and <FIG>, perspective and side views embodiments of a drape assembly <NUM> and frame assembly <NUM> that may be utilized in connection with embodiments of the disclosed DAQ module <NUM> are illustrated in accordance with aspects of the present subject matter. In several embodiments, the drape assembly <NUM> may be configured to be supported relative to the DAQ module <NUM> such that the assembly <NUM> at least partially shrouds an "imaging volume" <NUM> located directly below the DAQ module <NUM> that encompasses the field of view <NUM> of the imaging device(s) <NUM> of the DAQ module <NUM>, thereby preventing or minimizing the amount of dust or debris that is directed across or through the field of view <NUM> of such imaging device(s) <NUM>. Additionally, the illustrated frame assembly <NUM> may generally be configured to support the DAQ module <NUM> (and the drape assembly <NUM> suspended therefrom) relative to an associated agricultural machine (e.g., in a cantilevered arrangement).

As shown in <FIG> and <FIG>, the drape assembly <NUM> may include a plurality of flexible drape sections <NUM> (only two of which are visible in <FIG> and only one of which is visible in <FIG>) supported relative to the DAQ module <NUM> and extending downwardly therefrom to a lower drape frame <NUM> of the drape assembly <NUM>. For example, each flexible drape section <NUM> may extend vertically between a top end <NUM> and a bottom end <NUM>, with the top end <NUM> of each drape section <NUM> being coupled to the DAQ module <NUM> (e.g., a portion of the module housing <NUM>) and the bottom end <NUM> of each drape section <NUM> being coupled to the lower drape frame <NUM>. In several embodiments, each drape section <NUM> may be oriented at a non-zero angle <NUM> (<FIG>) relative to a vertical reference plane <NUM> (<FIG>) between its top and bottom ends <NUM>, <NUM> such that the drape sections <NUM> collectively define a diverging shape or profile as the drape sections <NUM> extend from the DAQ module <NUM> to the lower drape frame <NUM>. Such a converging shape ensures that the imaging volume <NUM> being shrouded or encased via the drape sections <NUM> encompasses the field of view <NUM> of the imaging device(s) <NUM> as the field of view <NUM> expands or converges outwardly between the DAQ module <NUM> and the portions of the field (e.g., indicated by line F in <FIG>) being imaged.

In general, the flexible drape sections <NUM> may be formed from any suitable material that allows the drape sections <NUM> to function as described herein, including the ability to flex or bow when the drape assembly <NUM> contacts an object (e.g., a rock) or other obstacle (e.g., a raised portion of the field F). For instance, in several embodiments, the drape sections <NUM> may be formed from polymer sheets or other flexible sheet-like materials. Additionally, it should be appreciated that, for lighting purposes, it is generally desirable that the drape sections <NUM> are transparent, thereby allowing ambient light to pass through the drape assembly <NUM> and illuminate the underlying portion of the field F. However, in other embodiments, the drape sections <NUM> may be semi-opaque or opaque, in which instance the lighting devices <NUM> of the DAQ module <NUM> may be configured to function as the primarily light source for illuminating the imaged portion of the field F.

Additionally, in several embodiments, adjacent drape sections <NUM> of the drape assembly <NUM> may be configured to move relative to each other, thereby allowing the drape sections <NUM> to accommodate instances in which a portion of the drape assembly <NUM> (e.g., the lower drape frame <NUM>) contacts an obstacle/object within the field F. For instance, in one embodiment, each drape section <NUM> may extend freely between its top and bottom ends <NUM>, <NUM> without being coupled to other adjacent drape sections <NUM> of the drape assembly <NUM>, which may allow the drape section <NUM> to flex, bend, or otherwise move relative to the adjacent drape sections <NUM> if the horizontal orientation or vertical position of the lower drape frame <NUM> changes due to contact with an obstacle/object within the field F. In such an embodiment, the vertically extending edges <NUM> of adjacent drape sections <NUM> may, for example, be overlapped to prevent dust or other contaminates from passing between adjacent drape sections <NUM> and entering the otherwise enclosed imaging volume <NUM>.

Moreover, in several embodiments, a length of each drape section <NUM> may generally be selected such that the lower drape frame <NUM> is suspended from the DAQ module <NUM> (i.e., via the drape sections <NUM>) at a given height <NUM> (<FIG>) above the surface of the field F, thereby providing some amount of vertical clearance between the lower drape frame <NUM> and the field F during normal operating conditions. For instance, in one embodiment, the height <NUM> may range from <NUM>,<NUM> to about <NUM>,<NUM> (from about <NUM> inch to about <NUM> inches), such as from <NUM>,<NUM> to about <NUM> (from about <NUM> inch to about <NUM> inches), or from about <NUM> to about <NUM> (from about <NUM> inches to about <NUM> inches), and/or any other subranges therebetween.

Referring still to <FIG> and <FIG>, the lower drape frame <NUM> may generally correspond to any suitable frame or frame-like component configured to define a closed-shape or perimeter having an enlarged cross-sectional area relative to the cross-sectional area of the closed-shape or perimeter of the enclosed space defined at the top ends <NUM> of the drape sections <NUM>, thereby allowing each drape section <NUM> to be supported in its skewed or non-vertical orientation as it extends between the DAQ module <NUM> and the drape frame <NUM>. In one embodiment, the drape frame <NUM> may correspond to a rigid or non-flexible frame that continuously maintains a fixed shape at the bottom ends <NUM> of the drape sections <NUM>. For instance, the frame <NUM> may be formed from a plurality of rigid frame members (e.g., four frame members) coupled together to form the fixed shape of the frame <NUM> (e.g., a rectangular shape). Alternatively, the drape frame <NUM> may correspond to an elastic frame that can temporarily flex or bow when contracting an obstacle/object and then return to its desired shape. For instance, the drape frame <NUM> may be configured as a "hoop" frame formed by a ring-shaped or annular frame member. In such an embodiment, the annular frame member may, for example, be configured to temporarily flex or bow slightly before returning back to its original circular shape.

Additionally, in several embodiments, the drape assembly <NUM> may also include one or more drape flaps <NUM> suspended from the lower drape frame <NUM>. For example, as shown in the illustrated embodiment, the drape assembly <NUM> includes a plurality of drape flaps <NUM> coupled to and extending downwardly from the drape frame <NUM> around its outer perimeter. In such an embodiment, the drape flaps <NUM> may be configured to at least partially span the height <NUM> or vertical clearance provided between the lower drape frame <NUM> and the surface of the field F. For instance, in one embodiment, the length of each drape flap <NUM> may be selected to be substantially equal to the desired vertical clearance between the lower drape frame <NUM> and the surface of the field (e.g., height <NUM>) such that distal ends 230A of the flaps <NUM> are positioned directly above the surface of the field F or ride directly across the surface of the field F. Moreover, in one embodiment, each drape flap <NUM> may be configured to be pivotably coupled to the lower drape frame <NUM>. Thus, when the drape flaps <NUM> contact an obstacle/object within the field F, the flaps <NUM> may pivot upwardly relative to the lower drape frame <NUM> to allow the flaps <NUM> to pass or ride over the obstacle/object.

It should be appreciated that, by forming each drape section <NUM> from a flexible material (e.g., a transparent, flexible polymer sheet), the drape assembly <NUM> may generally be configured to swing or shift laterally when the lower drape frame <NUM> encounters an object/obstacle, thereby allowing the lower drape frame <NUM> to ride over and across such object/obstacle as the drape sections <NUM> flex or deform. For instance, <FIG> illustrate a progressive series of side views of a simplified version of the drape assembly <NUM> shown in <FIG> and <FIG> as the drape assembly <NUM> initially contacts an obstacle (e.g., rock <NUM>) within the field F (<FIG>), rides over the obstacle <NUM> (<FIG>), and subsequently clears the obstacle <NUM> (<FIG>). As shown, when the lower drape frame <NUM> initially contacts the obstacle <NUM>, the drape sections <NUM> may bend or flex to allow the frame <NUM> to shift or move vertically upwardly as it rides over the obstacle <NUM>. Once the obstacle is cleared, the weight of the drape frame <NUM> allows the drape assembly <NUM> to return to its original state.

Referring back to <FIG> and <FIG>, as indicated above, an example frame assembly <NUM> is illustrated in accordance with aspects of the present subject matter for supporting the DAQ module <NUM> (and the drape assembly <NUM> suspended therefrom) relative to an agricultural machine (e.g., the machine <NUM> shown in <FIG>). As shown, the frame assembly <NUM> may generally include an assembly of frame members <NUM> configured to be coupled together to form a support structure for supporting the DAQ module <NUM> and drape assembly <NUM> in a cantilevered arrangement relative to an agricultural machine. In one embodiment, the various frame members <NUM> may be assembled such that the frame assembly <NUM> include a lower frame structure <NUM> (e.g., a box-like frame structure) and an upper frame structure <NUM> (e.g., a box like frame structure), with the lower frame structure <NUM> configured to be coupled to the agricultural machine (e.g., the forward end <NUM> of the work vehicle <NUM> shown in <FIG>) and the upper frame structure <NUM> configured to be coupled to the DAQ module <NUM>. For instance, as shown in <FIG> and <FIG>, the upper frame structure <NUM> may include a pair of elongated frame members 252A that extend outwardly relative to the lower frame structure <NUM> to allow the DAQ module <NUM> to be coupled thereto at a positioned spaced apart laterally from the lower frame structure <NUM>, thereby providing the imaging device(s) <NUM> of the DAQ module <NUM> an unobstructed view to the surface of the underling field F. In such an embodiment, a pair of angled frame members 252B may be coupled between the lower frame structure <NUM> and the elongated frame members 252A to provide additional vertical support for supporting the DAQ module <NUM> and the drape assembly <NUM> in the cantilevered arrangement.

Additionally, in some embodiments, anti-vibration mounts may be provided between the DAQ module <NUM> and the frame assembly <NUM> to reduce the amount of vibrations transmitted from the agricultural machine <NUM> to the DAQ module <NUM>. For instance, in one embodiment, coiled spring anti-vibration mounts may be coupled between the DAQ module <NUM> and the upper frame structure <NUM> (e.g., the elongated frame members 252A) to minimize the transmission of high frequency vibrations from the frame assembly <NUM> to the DAQ module <NUM>. Alternatively, any other suitable vibration damping elements may be used as or in association with an anti-vibration amount to minimize vibration transmission and, thus, increase the performance and effectiveness of the DAQ module <NUM> in capturing field-related data (e.g., via the imaging devices <NUM>).

It should be appreciated that the frame assembly <NUM> shown in <FIG> and <FIG> is simply provided to illustrate one example of suitable mounting structure that may be used to support a DAQ module <NUM> (and, optionally, a drape assembly <NUM>) relative to an agricultural machine. One of ordinary skill in the art will readily understand that various alternative arrangements, assemblies, structures, and/or the like may be used to support a DAQ module <NUM> (and, optionally, a drape assembly <NUM>) relative to an agricultural machine in a manner that allow such module/assembly to function as described herein.

Claim 1:
A system (<NUM>) for acquiring data associated with an agricultural field, the system including an agricultural machine (<NUM>) and a data acquisition (DAQ) module (<NUM>) supported relative to the agricultural machine (<NUM>), the DAQ module (<NUM>) including a module housing (<NUM>), one or more sensing devices (<NUM>) housed within the module housing (<NUM>), and an optical window (<NUM>) forming a portion of a wall of the module housing (<NUM>), the one or more sensing devices (<NUM>) being configured to generate data associated with a condition of a field as the agricultural machine (<NUM>) travels across the field, an air circulation system (<NUM>) provided in operative association with the DAQ module (<NUM>), the air circulation system (<NUM>) being configured to direct an airflow into an interior of the module housing (<NUM>) for circulation therein, the one or more sensing devices (<NUM>) comprise one or more imaging devices (<NUM>) configured to capture images of a portion of the field as the agricultural machine (<NUM>) travels across the field, the one or more imaging devices (<NUM>) are positioned within the module housing (<NUM>) relative to the optical window (<NUM>) such that a field of view (<NUM>) of the one or more imaging devices (<NUM>) is directed through the optical window (<NUM>), wherein the air circulation system further comprises an air knife (<NUM>) configured to direct the portion of the airflow through the wall and across an exterior surface of the optical window (<NUM>).