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

When performing certain tillage operations, it is generally desirable to break up any subsurface soil compaction layers that have been formed due to vehicle traffic, ponding, and/or the like. As such, during such tillage operations, shanks or other ground-penetrating tools supported on the tillage implement are pulled through the soil to fracture the compaction layer(s). Furthermore, it is also generally desirable that the shanks avoid certain subsurface soil layers, such as the B-horizon. In this respect, systems have been developed that allow subsurface soil layers to be detected. However, such systems are unable to distinguish between the different types of subsurface soil layers.

<CIT> discloses a row unit downforce system including: a downforce actuator in operational communication with the row unit and constructed and arranged to apply supplemental downforce to the row unit and opening disks; a monitoring system comprising at least one furrow depth sensor constructed and arranged to generate furrow depth values; and a control system module, wherein the control system module is constructed and arranged to generate actuator command signals in response to the furrow depth values.

<CIT> discloses a soil detection and planting apparatus. The apparatus includes a vehicle and a controller coupled to the vehicle. The apparatus further includes a planting device coupled to the vehicle, the planting device configured to plant seeds or plants into a soil material. The apparatus includes a ground penetrating radar sensor coupled to the vehicle. The ground penetrating radar soil sensor is configured to scan the soil material up to a designated depth beneath a surface of the soil material, wherein the ground penetrating radar soil sensor is further configured to provide a sensor feedback signal to the controller with respect to an intrinsic characteristic of the soil material. The controller is configured to instruct placement of a seed or a plant into the soil material based on the feedback signal.

Accordingly, an improved system and method for identifying subsurface soil layers within a field would be welcomed in the technology.

In one aspect, the present subject matter is directed to a system for identifying soil layers within a field. The system includes a non-contact-based sensor configured to capture data indicative of a subsurface soil layer within the field. Furthermore, the system includes a computing system communicatively coupled to the non-contact-based sensor. In this respect, the computing system is configured to determine a thickness of the subsurface soil layer in a vertical direction based on the data captured by the non-contact-based sensor. Moreover, the computing system is configured to identify the subsurface soil layer as one of a compaction layer or a B-horizon based on the determined thickness.

Disclosed herein is a tillage implement. The tillage implement includes a frame and a shank supported on the frame, with the shank configured to penetrate soil within a field to a penetration depth. Additionally, the tillage implement includes a sensor configured to capture data indicative of a subsurface soil layer within the field and a computing system communicatively coupled to the sensor. As such, the computing system is configured to determine a thickness of the subsurface soil layer in a vertical direction based on the data captured by the sensor. Furthermore, the computing system is configured to identify the subsurface soil layer as one of a compaction layer or a B-horizon based on the determined thickness. In addition, the computing system is configured to control the penetration depth of the shank based on the identification of the subsurface soil layer.

Such a tillage implement may be such that when the subsurface soil layer is identified as the B-horizon, the computing system is further configured to control the penetration depth of the shank such that a tip of the shank is positioned above a top surface of the B-horizon in the vertical direction; and
when the subsurface soil layer is identified as the compaction layer, the computing system is further configured to control the penetration depth of the shank such that the tip of the shank is positioned below a bottom surface of the compaction layer in the vertical direction.

In a further aspect, the present subject matter is directed to a method for identifying soil layers within a field as an agricultural implement travels across the field. The agricultural implement, in turn, includes a ground-penetrating tool configured to penetrate soil within a field to a penetration depth. The method includes receiving, with a computing system, non-contact-based sensor data indicative of a subsurface soil layer within the field. Furthermore, the method includes determining, with the computing system, a thickness of the subsurface soil layer in a vertical direction based on the received non-contact-based sensor data. Additionally, the method includes identifying, with the computing system, the subsurface soil layer as one of a compaction layer or a B-horizon based on the determined thickness. Moreover, the method includes controlling, with the computing system, the penetration depth of the ground-penetrating tool based on the identification of the subsurface soil layer.

As disclosed herein determining the thickness of the subsurface soil layer may comprise:
generating, with the computing system, a representation of a portion of the soil within the field based on the received non-contact-based soil sensor data; and determining, with the computing system, the thickness of the subsurface soil layer based on the generated representation. Further, receiving the non-contact-based sensor data may comprise receiving, with the computing system, ground-penetrating radar data and electromagnetic induction sensor data.

The disclosed method may include generating, with the computing system, a field map identifying one or more locations within the field at which the subsurface soil layer is identified as the compaction layer.

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

In general, the present subject matter is directed to systems and methods for identifying soil layers within a field. As will be described below, an agricultural field may include various subsurface soil layers. For example, a compaction layer is a subsurface layer of soil that breaks down and compacts (e.g., due to vehicle traffic, ponding, and/or the like), thereby becoming much denser than the surrounding soil. It is generally desirable to break up any compaction layers during tillage operations to improve seedbed quality. Conversely, the B-horizon is a subsurface layer of clay, iron oxides, gravel, and/or the like positioned below the seedbed that is generally unsuitable for planting crops. In this respect, it generally undesirable for the tool(s) of a tillage implement to penetrate into the B-horizon.

In several embodiments, the disclosed system may be configured to identify a subsurface soil layer as either a compaction layer or the B-horizon. More specifically, the system may include a non-contact-based sensor configured to capture data indicative of a subsurface soil layer present within the field. In one embodiment, the non-contact-based sensor may include a ground-penetrating radar (GPR) sensing device and an electromagnetic induction (EMI) sensing device. As such, a computing system may determine the thickness of the subsurface soil layer in the vertical direction based on the data captured by the non-contact-based sensor. Thereafter, the computing system may identify the subsurface soil layer as either a compaction layer or the B-horizon based on the determined thickness. For example, in some embodiments, the computing system may compare the determined thickness to a predetermined thickness value. When the determined thickness falls below the predetermined thickness value, the computing system may identify the subsurface soil layer as a compaction layer. Conversely, when the determined thickness exceeds the predetermined thickness value, the computing system may identify the subsurface soil layer as the B-horizon.

Identifying subsurface soil layers based on thickness generally improves tillage operations. More specifically, the depths of compaction layers and the B-horizon may vary greatly within a field and between different fields. However, the B-horizon is generally much thicker than a compaction layer. As such, determining the thickness of a subsurface soil layer allows for identification of the layer as either a compaction layer or the B-horizon. Thereafter, the tool(s) (e.g., a shank(s)) of the tillage implement may be controlled based on the identification of the subsurface soil layer. For example, when a compaction layer is identified, the penetration depth(s) of the tool(s) may be adjusted to ensure that the tool(s) penetrate through the compaction layer, thereby breaking up the compaction layer. Conversely, when the B-horizon is identified, the depth(s) of the tool(s) may be adjusted to ensure that the tool(s) do not penetrate into the B-horizon, thereby preventing the clay within the B-horizon from being mixed into the seedbed. Thus, the disclosed systems and methods generally allow for more accurate depth control of tillage implement tools, which improves the effectiveness of the tillage operation and the subsequent agricultural performance of the field.

Referring now to the drawings, <FIG> illustrates a perspective view of one embodiment of a work vehicle <NUM> and an associated agricultural implement <NUM> in accordance with aspects of the present subject matter. In general, the work vehicle <NUM> may be configured to tow the implement <NUM> across a field in a direction of travel (indicated by arrow <NUM>). 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 work vehicle. Similarly, the implement <NUM> may be configured as any other suitable agricultural implement.

As shown, 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, 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 and/or ground-penetrating 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 and/or ground-penetrating 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 disk blades <NUM>, a plurality of ground-penetrating shanks <NUM>, a plurality of leveling blades <NUM>, and a plurality of crumbler wheels or basket assemblies <NUM>. However, in alternative embodiments, the frame <NUM> may be configured to support any other suitable ground-engaging tool(s), ground-penetrating tool(s), or combinations of such tools.

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

Furthermore, one or more soil sensors may be provided in operative association with the vehicle <NUM> and/or the implement <NUM>. In general, the soil sensor(s) may be configured to capture data indicative of a subsurface soil layer present within the field as the vehicle/implement <NUM>/<NUM> travels across the field. As will be described below, the data captured by the soil sensor may be used to identify a detected subsurface soil layer as either a compaction layer or the B-horizon. In this respect, the soil sensor may be a non-contact-based sensor installed or otherwise supported on the vehicle <NUM> and/or the implement <NUM> such that the sensor <NUM> has a field of view or sensor detection range directed towards a portion of the field adjacent to the vehicle/implement <NUM>/<NUM>. For example, as shown in <FIG>, in one embodiment, a first soil sensor 104A may be mounted on a forward end <NUM> of the work vehicle <NUM> to capture data associated with a portion of the soil within the field disposed in front of the vehicle <NUM> relative to the direction of travel <NUM>. Moreover, as shown in <FIG>, in one embodiment, a second soil sensor 104B may be mounted on the implement <NUM> to capture data associated with a portion of the soil within the field disposed in front of the implement <NUM> and aft of the vehicle <NUM> relative to the direction of travel <NUM>. However, in alternative embodiments, the soil sensor(s) may be installed at any other suitable location(s) on the vehicle <NUM> and/or the implement <NUM>. Additionally, the vehicle/implement <NUM>/<NUM> may include any suitable number of soil sensors, such as single soil sensor or three or more soil sensors.

Referring now to <FIG>, a side view of one embodiment of one of the shanks <NUM> of the implement <NUM> described above with reference to <FIG> is illustrated in accordance with aspects of the present subject matter. As indicated above, the shanks <NUM> may be configured to till or otherwise cultivate the soil. In this regard, one end of each shank <NUM> may include a tip <NUM> configured to penetrate the soil within the field to a penetration depth as the implement <NUM> is pulled across the field. The opposed end of each shank <NUM> may be pivotably coupled to the implement frame <NUM>, such as at a pivot point <NUM>. As such, each shank <NUM> may be configured to pivot relative to the frame <NUM> in a manner that adjusts its penetration depth. In one embodiment, the various shanks <NUM> of the implement <NUM> may be configured as rippers. However, in alternative embodiments, the shanks <NUM> may be configured as chisels, sweeps, tines, or any other suitable type of shanks. Furthermore, the other shanks coupled to the frame <NUM> may have the same or a similar configuration to as the shank <NUM> shown in <FIG>.

In several embodiments, the implement <NUM> may include one or more ground-penetrating tool actuators <NUM>, with each actuator <NUM> coupled between the frame <NUM> and each shank <NUM>. In general, each actuator <NUM> may be configured to move or otherwise adjust the orientation or position of the corresponding shank <NUM> relative to the implement frame <NUM> in a manner that adjusts the penetration depth of the shank <NUM>. More specifically, as shown in the illustrated embodiment, a first end of each actuator <NUM> (e.g., a rod <NUM> of each actuator <NUM>) is coupled to the corresponding shank <NUM>, while a second end of each actuator <NUM> (e.g., a cylinder <NUM> of each actuator <NUM>) is coupled to the frame <NUM>. As such, the rod <NUM> of each actuator <NUM> may be configured to extend relative to the corresponding cylinder <NUM> to pivot the corresponding shank <NUM> relative to the frame <NUM> in a first pivot direction (indicated by arrow <NUM>), thereby increasing the penetration depth of the shank <NUM>. Conversely, the rod <NUM> of each actuator <NUM> may be configured to retract relative to the corresponding cylinder <NUM> to pivot the corresponding shank <NUM> relative to the frame <NUM> in a second pivot direction (indicated by arrow <NUM>), thereby decreasing the penetration depth of the shank <NUM>. In the illustrated embodiment, each actuator <NUM> corresponds to a fluid-driven actuator, such as a hydraulic or pneumatic cylinder. However, in alternative embodiments, each actuator <NUM> may correspond to any other suitable type of actuator, such as an electric linear actuator.

It should be 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 identifying subsurface soil layers 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 work vehicles having any other suitable vehicle configuration and/or agricultural implements having any other suitable implement configuration.

As shown in <FIG>, the system <NUM> may include one or more soil sensors <NUM> provided in operative association with the vehicle <NUM> and/or the implement <NUM>. In general, as mentioned above, the soil sensor(s) <NUM> may be configured to capture data indicative of a subsurface soil layer (e.g., a compaction layer or the B-horizon) present within the field as the vehicle/implement <NUM>/<NUM> travels across the field. As such, in several embodiments, each soil sensor <NUM> may include a ground-penetrating radar (GPR) sensing device <NUM> and electromagnetic induction (EMI) sensing device <NUM>. In such embodiments, the GPR sensing device(s) <NUM> may be configured to capture GPR data associated with the soil present within the field of view or sensor detection range of the GPR sensing device(s) <NUM>. Similarly, the EMI sensing device(s) <NUM> may be configured to capture EMI data associated with the soil present within the field of view or sensor detection range of the EMI sensing device(s) <NUM>. As will be described below, the captured GPR and/EMI data may be used to determine the thickness of the subsurface soil, which, in turn, allows the surface soil layer to be identified as either a compaction layer or the B-horizon.

The combination of GPR and EMI data may improve the accuracy of the subsurface soil layer depiction. For example, the GPR data may generally provide a more accurate representation of shallower subsurface soil layers than the EMI data. Conversely, the EMI data may generally provide a more accurate representation of deeper subsurface soil layers than the GPR data. Thus, the combination of GPR and EMI data allows for more accurate thickness determinations as the depths of the subsurface soil layer varies. Moreover, the combination of GPR and EMI data may allow a three-dimensional representation of the soil to be generated (that could not be generated by GPR or EMI data alone). As will be described below, in some embodiments, the three-dimensional representation may be used to determine the thickness of the subsurface soil layer. However, in alternative embodiments, each soil sensor <NUM> may include only the GPR sensing device <NUM> or the EMI sensing device <NUM>.

The GPR sensing device(s) <NUM> may correspond to any suitable sensor(s) or sensing device(s) configured to capture data associated with the soil within the field using radio waves. For example, the GPR sensing device(s) <NUM> may be configured to emit one or more radio wave output signals directed toward a portion of the soil within its field of view or sensor detection zone. A portion of the output signal(s) may, in turn, be reflected by the subsurface soil layer as an echo signal(s). Moreover, the GPR sensing device(s) <NUM> may be configured to receive the reflected echo signal(s). In this regard, the time of flight, amplitude, frequency, and/or phase of the received echo signal(s) may be used to determine the thickness of and/or other parameters (e.g., density) associated with the subsurface soil layer. Furthermore, in one embodiment, the time of flight, amplitude, frequency, and/or phase of the received echo signal(s) may be used (in combination with the EMI data) to generate the three-dimensional representation.

In addition, the EMI sensing device(s) <NUM> may correspond to any suitable sensor(s) or sensing device(s) configured to capture data associated with the soil within the field using electromagnetic induction. For example, each EMI sensing device <NUM> may include a coil(s) or other inductor(s). In this respect, as the vehicle/implement <NUM>/<NUM> travels across the field, the compaction layer may induce a current within the coil(s). The current may, in turn, vary with the parameters of the compaction layer (e.g., the position of the top and/or bottom surfaces, thickness, density, and/or the like). As such, the induced current may be used to determine the thickness of and/or other parameters associated with the subsurface soil layer. Additionally, in one embodiment, the induced current may be used (in combination with the GPR data) to generate the three-dimensional representation.

However, in alternative embodiments, the soil sensor(s) <NUM> may be configured as any other suitable sensor(s) or sensing device(s) configured to capture data that can be used to determine the thickness of a subsurface soil layer as the vehicle/implement <NUM>/<NUM> travels across the field. Furthermore, in some embodiments, the soil sensor <NUM> may be moved across the field on a device or vehicle (e.g., an all-terrain vehicle) other than the vehicle <NUM> and/or the implement <NUM>.

In accordance with aspects of the present subject matter, the system <NUM> may include a computing system <NUM> communicatively coupled to one or more components of the vehicle <NUM>, the implement <NUM>, and/or the system <NUM> to allow the operation of such components to be electronically or automatically controlled by the computing system <NUM>. For instance, the computing system <NUM> may be communicatively coupled to the location sensor <NUM> via a communicative link <NUM>. As such, the computing system <NUM> may be configured to receive location data from the location sensor <NUM> that is indicative of the location of the vehicle/implement <NUM>/<NUM> within the field. Furthermore, the computing system <NUM> may be communicatively coupled to the soil sensor(s) <NUM> via the communicative link <NUM>. As such, the computing system <NUM> may be configured to receive data from the soil sensor(s) <NUM> that is indicative of a subsurface soil layer present within the field as the vehicle/implement <NUM>/<NUM> travels across the field. Moreover, the computing system <NUM> may be communicatively coupled to the ground-penetrating tool actuator(s) <NUM> via the communicative link <NUM>. In this respect, the computing system <NUM> may be configured to control the operation of the ground-penetrating tool actuator(s) <NUM> in a manner that controls the penetration depth(s) of the associated ground-penetrating tool(s) (e.g., the shanks <NUM>). Additionally, the computing system <NUM> may be communicatively coupled to any other suitable components of the vehicle <NUM>, the implement <NUM>, and/or the system <NUM>.

In general, the computing system <NUM> may comprise one or more processor-based devices, such as a given controller or computing device or any suitable combination of controllers or computing devices. Thus, in several embodiments, the computing system <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 circuit (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) <NUM> of the computing system <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 disk, a compact disk-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disk (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 computing system <NUM> to perform various computer-implemented functions, such as one or more aspects of the methods and algorithms that will be described herein. In addition, the computing system <NUM> may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control bus and/or the like.

The various functions of the computing system <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 computing system <NUM>. For instance, the functions of the computing system <NUM> may be distributed across multiple application-specific controllers or computing devices, such as a vehicle controller, an implement controller, a navigation controller, and/or the like.

Referring now to <FIG>, an example cross-sectional view of a portion of the soil within an agricultural field <NUM> is illustrated in accordance with aspects of the present subject matter. As shown, the illustrated portion of the field <NUM> includes an A-horizon <NUM>, a B-horizon <NUM> positioned below the A-horizon <NUM> in a vertical direction (indicated by arrow <NUM>), and a C-horizon <NUM> positioned below the B-horizon <NUM> in the vertical direction <NUM>. More specifically, the A-horizon <NUM> extends from a top surface <NUM> of the field <NUM> downward in the vertical direction <NUM> to an A-B horizon interface <NUM>. As such, the A-horizon <NUM> forms the topsoil of the field <NUM> and primarily contains dark decomposed organic matter (sometimes called humus). In general, the A-horizon <NUM> includes the most organic matter of the soil within the field and is suitable for planting. Thus, the seedbed being formed by a tillage operation is formed within the A-horizon <NUM>. Furthermore, the B-horizon <NUM> extends from A-B horizon interface <NUM> downward in the vertical direction <NUM> to a B-C horizon interface <NUM> such that the B-horizon <NUM> has a thickness <NUM>. As such, the B-horizon <NUM> forms the subsoil of the field <NUM> and primarily contains clay minerals, iron oxides, and/or gravel, with little organic matter. In addition, the C-horizon <NUM> extends in the vertical direction <NUM> from the B-C horizon interface <NUM> downward in the vertical direction <NUM> to the bedrock (not shown). As such, the C-horizon <NUM> forms the substratum of the field <NUM> and primarily contains weathered bedrock and carbonates. In this respect, the B- and C-horizons <NUM>, <NUM> are generally unsuitable for planting. Thus, it is generally desirable for the ground-penetrating tool(s) (e.g., the shank(s) <NUM>) of the implement <NUM> to positioned above the B-horizon <NUM> to prevent clay from being mixed into the seedbed.

Moreover, the illustrated portion of the field <NUM> includes a compaction layer <NUM>. As shown in <FIG>, the compaction layer <NUM> defines a thickness <NUM> extending between a top surface <NUM> of the compaction layer <NUM> and a bottom surface <NUM> of the compaction layer <NUM> in the vertical direction <NUM>. The top surface <NUM> of the compaction layer <NUM> is, in turn, positioned below the top surface <NUM> of the field <NUM>, while the bottom surface <NUM> of the compaction layer <NUM> is positioned above the A-B horizon interface <NUM>. In general, the compaction layer <NUM> is a portion of the soil within the A-horizon <NUM> that breaks down and compacts due to vehicle traffic, ponding, and/or the like. As such, the soil within the compaction layer <NUM> is much denser than the surrounding soil within the A-horizon <NUM>. Thus, it is difficult from the roots of the crops planted within the field to penetrate into the compaction layer <NUM>. In this respect, it is generally desirable for the ground-penetrating tool(s) (e.g., the shank(s) <NUM>) of the implement <NUM> to penetrate through the compaction layer <NUM> to fully fracture the compaction layer <NUM> during a tillage operation.

In general, the thickness of a B-horizon is greater than the thickness of a compaction layer. For example, as shown in <FIG>, the thickness <NUM> of the B-horizon <NUM> is much greater than the thickness <NUM> of the compaction layer <NUM>. In this respect, as will be described below, the thickness of a subsurface soil layer can be used to identify it as a compaction layer or the B-horizon. Thus, using subsurface soil layer thickness allows for identification of the layer as either a compaction layer or the B-horizon even as the depth of compaction layers and B-horizon varies throughout a field.

Referring now to <FIG>, a flow diagram of one embodiment of example control logic <NUM> that may be executed by the computing system <NUM> (or any other suitable computing system) for identifying subsurface soil layers is illustrated in accordance with aspects of the present subject matter. Specifically, the control logic <NUM> shown in <FIG> is representative of steps of one embodiment of an algorithm that can be executed to identify subsurface soil layers accurately, thereby improving the quality of a tillage operation as field conditions vary. Thus, in several embodiments, the control logic <NUM> may be advantageously utilized in association with a system installed on or forming part of a tillage implement to allow for real-time control of the implement without requiring substantial computing resources and/or processing time. However, in other embodiments, the control logic <NUM> may be used in association with any other suitable system, application, and/or the like for identifying soil layers.

As shown in <FIG>, at (<NUM>), the control logic <NUM> includes receiving non-contact-based sensor data indicative of a subsurface soil layer within a field. For example, as indicated above, the computing system <NUM> may be communicatively coupled to the soil sensor(s) <NUM> of the implement <NUM> via the communicative link <NUM>. In this respect, as the implement <NUM> travels across a field to perform a tillage operation on the field, the computing system <NUM> may be configured to receive data from the soil sensor(s) <NUM> that is indicative of a subsurface soil layer present within the field.

Furthermore, at (<NUM>), the control logic <NUM> includes generating a representation of a portion of the soil within the field based on the received non-contact-based sensor data. Specifically, in several embodiments, the computing system <NUM> may be configured to analyze/process the received sensor data (e.g., the sensor data received at (<NUM>)) to generate a representation of a portion of the soil within the field. As such, the computing system <NUM> may include a suitable algorithm(s) stored within its memory device(s) <NUM> that, when executed by the processor(s) <NUM>, generates the representation from the data received from the sensor(s) <NUM> (e.g., the GPR data captured by the GPR sensing device <NUM> and the EMI data captured by the EMI sensing device <NUM>).

The representation of the portion of the soil within the field may correspond to any suitable data structure depicts or otherwise provides an indication of the soil structure adjacent to the top surface of the field based on the received soil sensor data. For example, in several embodiments, the representation of the soil may correspond to a two-dimensional or three-dimensional image(s) or spatial model illustrating or depicting one or more subsurface soil layers. In this respect, the generated three-dimensional representation may provide an indication of various parameters associated with one or more subsurface soil layers present within the field across which the vehicle/implement <NUM>/<NUM> is traveling. For example, such parameters may include the position or depth of the bottom and/or top surface of the subsurface soil layer(s) relative to the top surface of the field, the thickness of the subsurface soil layer(s), and/or the like. However, in alternative embodiments, the three-dimensional representation of the soil may correspond to any other suitable type of data structure, such as one-dimensional representation or dataset.

Additionally, at (<NUM>), the control logic <NUM> includes determining the thickness of the subsurface soil layer based on the generated representation of the field. For example, in one embodiment, the computing system <NUM> may be configured to analyze the generated representation of the field (e.g., the representation generated at (<NUM>)) to the determine the thickness of the subsurface soil layer. In such an embodiment, the computing system <NUM> may use any suitable technique(s) or algorithm(s) to the determine the thickness of the subsurface soil layer based on the generated representation. Alternatively, in other embodiments, the computing system <NUM> may determine the thickness of the subsurface soil layer directly based on the received soil sensor data (e.g., the sensor data received at (<NUM>)). For example, in such embodiments, the computing system <NUM> may determine the thickness of the subsurface soil layer based on the time of flight of the signal(s) emitted by the GPR sensing device(s) <NUM> and/or the induced current within the EMI sensing device(s) <NUM>.

Moreover, as shown in <FIG>, at (<NUM>), the control logic <NUM> includes comparing the determined thickness to a predetermined thickness value. More specifically, the computing system <NUM> may compare the determined thickness of the subsurface soil layer (e.g., the thickness determined at (<NUM>)) to a predetermined thickness value. As mentioned above, the thickness of a B-horizon is generally greater than the thickness of a compaction layer. In this respect, when the determined thickness exceeds to the predetermined thickness value, the computing system <NUM> may identify (e.g., at (<NUM>)) the subsurface soil layer as the B-horizon. Conversely, when the determined thickness is equal to or falls below to the predetermined thickness value, the computing system <NUM> may identify (e.g., at (<NUM>)) the subsurface soil layer as a compaction layer.

In certain instances, the computing system <NUM> may be unable to determine the thickness of the subsurface soil layer (e.g., at (<NUM>)). For example, the subsurface soil layer may extend far enough below the top surface of the field such that the soil sensor <NUM> is unable to detect the bottom of the layer. In such instances, the computing system <NUM> may identify the subsurface soil layer as the B-horizon because compaction layers are rarely deep enough that the soil sensor <NUM> is unable to detect the bottom.

In addition, at (<NUM>), when the subsurface soil layer is identified as the B-horizon, the control logic <NUM> includes controlling the penetration depth of a ground-engaging tool of a tillage implement such that the tip of the tool is positioned above the top surface of the B-horizon. Specifically, in such instances, the computing system <NUM> may be configured to control the penetration depth(s) of one or more ground-penetrating tools of the implement <NUM> such that the tool(s) do not penetrate into the identified B-horizon. For example, in some embodiments, the computing system <NUM> may transmit control signals to the ground-penetrating tool actuator(s) <NUM>. The control signals may, in turn, instruct the actuator(s) <NUM> to adjust the penetration depth(s) of the tip(s) <NUM> of the shank(s) <NUM> such that the tip(s) <NUM> is positioned above the top surface of the identified B-horizon (e.g., the A-B horizon interface <NUM> shown in <FIG>). Such positioning of the shank(s) <NUM> may, in turn, prevent the shank(s) <NUM> from mixing clay from the identified B-horizon into the seedbed, thereby improving the quality of the seedbed being prepared by the implement <NUM>.

Alternatively, at (<NUM>), when the subsurface soil layer is identified as a compaction layer, the control logic <NUM> includes controlling the penetration depth of the ground-engaging tool such that the tip of the tool is positioned below the bottom surface of the compaction layer. Specifically, in such instances, the computing system <NUM> may be configured to control the penetration depth(s) of one or more ground-penetrating tools of the implement <NUM> such that the tool(s) penetrate through the identified compaction layer. For example, in some embodiments, the computing system <NUM> may transmit control signals to the ground-penetrating tool actuator(s) <NUM>. The control signals may, in turn, instruct the actuator(s) <NUM> to adjust the penetration depth(s) of the tip(s) <NUM> of the shank(s) <NUM> such that the tip(s) <NUM> is positioned below the bottom surface of the identified compaction layer (e.g., the surface <NUM> shown in <FIG>). Such positioning of the shank(s) <NUM> may, in turn, provide better fracturing of the identified compaction layer, thereby improving the quality of the seedbed being prepared by the implement <NUM>.

Furthermore, at (<NUM>), when the subsurface soil layer is identified as a compaction layer, the control logic <NUM> includes geo-locating the identified compaction layer within the field. More specifically, as the vehicle/implement <NUM>/<NUM> travels across the field, the computing system <NUM> may be configured to receive location data (e.g., coordinates) from the location sensor <NUM> (e.g., via the communicative link <NUM>). Based on the known dimensional configuration and/or relative positioning between the soil sensor(s) <NUM> and the location sensor <NUM>, the computing system <NUM> may geo-locate each identified compaction layer within the field. For example, in one embodiment, the coordinates derived from the location sensor <NUM> and the compaction layer identifications may both be time-stamped. In such an embodiment, the time-stamped data may allow the compaction layer identifications to be matched or correlated to a corresponding set of location coordinates received or derived from the location sensor <NUM>. Moreover, in some embodiments, the computing system <NUM> may be configured to generate a field map identifying one or more locations within the field at which the subsurface soil layer is identified as a compaction layer. Additionally, the computing system <NUM> may be configured to geolocate and/or map any other suitable parameters associated with the detected subsurface soil layer, such as the thickness of the layer and/or locations where the subsurface soil layer is identified as the B-horizon.

Referring now to <FIG>, a flow diagram of one embodiment of a method <NUM> for identifying subsurface soil layers is illustrated in accordance with aspects of the present subject matter. In general, the method <NUM> will be described herein with reference to the work vehicle <NUM>, the agricultural implement <NUM>, and the system <NUM> described above with reference to <FIG>. However, it should be appreciated by those of ordinary skill in the art that the disclosed method <NUM> may generally be implemented with any work vehicle having any suitable vehicle configuration, any agricultural implement having any suitable implement configuration and/or within any system having any suitable system configuration. In addition, although <FIG> depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure.

As shown in <FIG>, at (<NUM>), the method <NUM> may include receiving, with a computing system, non-contact-based sensor data indicative of a subsurface soil layer present within a field. For instance, as described above, the computing system <NUM> may receive data from the soil sensor(s) <NUM> of the vehicle/implement <NUM>/<NUM> as the vehicle/implement <NUM>/<NUM> travels across a field to perform a tillage operation. Such non-contact-based sensor data may, in turn, be indicative of a subsurface soil layer (e.g., a compaction layer or the B-horizon).

Additionally, at (<NUM>), the method <NUM> may include determining, with the computing system, a thickness of the subsurface soil layer in a vertical direction based on the received non-contact-based sensor data. For instance, as described above, the computing system <NUM> may be configured to determine the thickness of the subsurface soil layer in the vertical direction based on the received non-contact-based sensor data.

Moreover, as shown in <FIG>, at (<NUM>), the method <NUM> may include identifying, with the computing system, the subsurface soil layer as one of a compaction layer or a B-horizon based on the determined thickness. For instance, as described above, the computing system <NUM> may be configured to identify the subsurface soil layer either a compaction layer or the B-horizon based on the determined thickness.

Furthermore, at (<NUM>), the method <NUM> may include controlling, with the computing system, the penetration depth of a ground-penetrating tool of an agricultural implement based on the identification of the subsurface soil layer. For instance, as described above, the computing system <NUM> may be configured to the operation of the ground-penetrating tool actuator(s) <NUM> in a manner that adjusts the penetration depth(s) of the shank(s) <NUM> of the implement <NUM> based on the identification of the subsurface soil layer.

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

Claim 1:
A system (<NUM>) for identifying soil layers within a field, the system (<NUM>) comprising:
a non-contact-based sensor (<NUM>) configured to capture data, during soil cultivation in the field, indicative of a subsurface soil layer within the field, and
a computing system (<NUM>) communicatively coupled to the non-contact-based sensor (<NUM>), the system (<NUM>) being characterized by the computing system (<NUM>) being configured to:
determine a thickness of the subsurface soil layer in a vertical direction based on the data captured by the non-contact-based sensor (<NUM>); and
identify the subsurface soil layer as one of a compaction layer or a B-horizon based on the determined thickness.