Patent Description:
It is well known that, to attain the best agricultural performance from a field, a farmer must cultivate the soil, typically through a tillage operation. Tillage implements typically include one or more ground engaging tools configured to engage the soil as the implement is moved across the field. Such ground engaging tool(s) loosen and/or otherwise agitate the soil to prepare the field for subsequent agricultural operations, such as planting operations. The field conditions or outputs resulting from a tillage operation, such as an average clod size, field levelness, and/or the like, impact subsequent farming operations within the field. Accordingly, the field conditions following the tillage operation may be monitored and used as an indicator of the overall performance or effectiveness of the tillage implement in executing the operation. Based on the performance of the tillage implement, one or more operating parameters of the tillage implement may be adjusted.

In this regard, sensor systems have been developed that attempt to directly detect field conditions, particularly average clod size, field levelness, etc., along a portion of the field behind the tillage implement during the tillage operation. However, it is typically quite difficult to directly determine field conditions using the conventional sensor systems due to clouds of field materials that are formed behind the implement, which may obscure the surface of the field.

The system and method disclosed in the prior art document <CIT> describe an embodiment of the claimed invention, except that said prior art document does the comparison with a threshold and not a range.

Accordingly, improved systems and methods for assessing the performance of an agricultural implement would be welcomed in the technology.

In one aspect, the present invention is directed to a system as defined in claim <NUM>.

In an additional aspect, the present invention is directed to a method as defined in claim <NUM>.

In fact, it will be apparent to those skilled in the art that various modifications and variations can be made without departing from the scope of the invention.

In general, the present subject matter is directed to systems and methods for assessing the performance of an agricultural implement (e.g., a tillage implement) when executing an agricultural operation (e.g., a tillage operation). Specifically, in several embodiments, a computing device or controller of the disclosed system may be configured to monitor one or more field conditions or outputs of the agricultural operation based on data received from a sensor provided in operative association with an agricultural implement performing an operation within the field. The sensor may have a field of view directed towards a field material cloud (e.g., a rooster tail) formed aft of a ground engaging tool of the implement in a direction of travel of the implement as the ground engaging tool engages and moves across the field. The sensor generates data indicative of the monitored field condition(s) associated with the field. More particularly, in several embodiments, the sensor may generate data indicative of a cloud characteristic, such as an average particle size, a height, a width, and/or a density of the field material cloud, with the cloud characteristic of the field material cloud being indicative of field conditions or outputs, such as clod size, field levelness etc., of the agricultural operation being performed within the field.

Moreover, in accordance with aspects of the present subject matter, the system controller is configured to assess whether the field conditions or outputs of the agricultural operation are acceptable based on a comparison of the detected cloud characteristic(s) to a predetermined range(s). For instance, the controller may determine that an associated field condition is outside an acceptable range when at least one detected cloud characteristic of the field material cloud created by the implement falls outside of its associated predetermined range. The controller may further determine the effectiveness of the agricultural implement performing the agricultural operation based on whether the detected cloud characteristics, and thus, whether the associated field conditions, are within acceptable ranges. Additionally, in some embodiments, the controller may be configured to adjust the operation of the implement and/or notify an operator of the effectiveness of the implement in performing the operation based on the detected cloud characteristics.

Referring now to the drawings, <FIG> and <FIG> illustrate differing perspective views of one embodiment of an agricultural implement <NUM> in accordance with aspects of the present subject matter. Specifically, <FIG> illustrates a perspective view of the agricultural implement <NUM> coupled to a work vehicle <NUM>. Additionally, <FIG> illustrates a perspective view of the implement <NUM>, particularly illustrating various components of the implement <NUM>.

In general, the implement <NUM> may be configured to be towed across a field in a direction of travel (e.g., as indicated by arrow <NUM> in <FIG>) by the work vehicle <NUM>. As shown, the implement <NUM> may be configured as a tillage implement, and the work vehicle <NUM> may be configured as an agricultural tractor. However, in other embodiments, the implement <NUM> may be configured as any other suitable type of implement, such as a seed-planting implement, and/or the like. Similarly, the work vehicle <NUM> may be configured as any other suitable type of vehicle, such as an agricultural harvester, and/or the like.

As shown in <FIG>, the work vehicle <NUM> may include a pair of front track assemblies <NUM> (only one of which is shown) positioned at a front end <NUM> of the work vehicle <NUM>, a pair of rear track assemblies <NUM> (only one of which is shown) positioned at a rear end <NUM> of the work vehicle <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 <NUM> shown in FIG. <NUM>) for permitting an operator to control the operation of one or more components of the work vehicle <NUM> and/or one or more components of the implement <NUM>. Additionally, the work vehicle <NUM> may include an engine <NUM> and a transmission <NUM> mounted on the chassis <NUM>. The transmission <NUM> may be operably coupled to the engine <NUM> and may provide variably adjusted gear ratios for transferring engine power to the track assemblies <NUM>, <NUM> via a drive axle assembly (not shown) (or via axles if multiple drive axles are employed).

As shown in <FIG> and <FIG>, the implement <NUM> may include a frame <NUM>. More specifically, as shown in <FIG>, the frame <NUM> may extend longitudinally between a forward end <NUM> and an aft end <NUM>. The frame <NUM> may also extend laterally between a first side <NUM> and a second side <NUM>. In this respect, the frame <NUM> generally includes 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. Furthermore, a hitch assembly <NUM> may be connected to the frame <NUM> and configured to couple the implement <NUM> to the work vehicle <NUM>. Additionally, a plurality of wheels <NUM> (one is shown) may be coupled to the frame <NUM> to facilitate towing the implement <NUM> in the direction of travel <NUM>.

In several embodiments, the frame <NUM> may be configured to support one or more gangs or sets <NUM> of disk blades <NUM>. Each disk blade <NUM> may, in turn, be configured to penetrate into or otherwise engage the soil as the implement <NUM> is being pulled through the field. In this regard, the various disk gangs <NUM> may be oriented at an angle relative to the direction of travel <NUM> to promote more effective tilling of the soil. In the embodiment shown in <FIG> and <FIG>, the implement <NUM> includes four disk gangs <NUM> supported on the frame <NUM> adjacent to its forward end <NUM>. However, it should be appreciated that, in alternative embodiments, the implement <NUM> may include any other suitable number of disk gangs <NUM>, such as more or fewer than four disk gangs <NUM>. Furthermore, in one embodiment, the disk gangs <NUM> may be mounted to the frame <NUM> at any other suitable location, such as adjacent to its aft end <NUM>.

Moreover, in several embodiments, the implement <NUM> may include a plurality of disk gang actuators <NUM> (<FIG>), with each actuator <NUM> being configured to move or otherwise adjust the orientation or position of one of the disk gangs <NUM> relative to the implement frame <NUM>. For example, as shown in the illustrated embodiment, a first end of each actuator <NUM> (e.g., a rod <NUM> of the actuator <NUM>) may be coupled to a support arm <NUM> of the corresponding disk gang <NUM>, while a second end of each actuator <NUM> (e.g., the cylinder <NUM> of the actuator <NUM>) may be coupled to the frame <NUM>. The rod <NUM> of each actuator <NUM> may be configured to extend and/or retract relative to the corresponding cylinder <NUM> to adjust the angle of the corresponding disk gang <NUM> relative to a lateral centerline (not shown) of the frame <NUM> and/or the penetration depth of the associated disk blades <NUM>. In the illustrated embodiment, each actuator <NUM> corresponds to a fluid-driven actuator, such as a hydraulic or pneumatic cylinder. However, it should be appreciated that each actuator <NUM> may correspond to any other suitable type of actuator, such as an electric linear actuator.

Further, as shown, in one embodiment, the implement frame <NUM> may be configured to support other ground engaging tools. For instance, in the illustrated embodiment, the frame <NUM> is configured to support a plurality of shanks <NUM> or tines (not shown) configured to rip or otherwise till the soil as the implement <NUM> is towed across the field. Furthermore, in the illustrated embodiment, the frame <NUM> is also configured to support a plurality of leveling blades <NUM> and rolling (or crumbler) basket assemblies <NUM>. The implement <NUM> may further include shank frame actuator(s) 50A and/or basket assembly actuator(s) 54A configured to move or otherwise adjust the orientation or position of the shanks <NUM> and the basket assemblies <NUM>, respectively, relative to the implement frame <NUM>. It should be appreciated that, in other embodiments, any other suitable ground-engaging tools may be coupled to and supported by the implement frame <NUM>, such as a plurality closing disks.

Additionally, in accordance with aspects of the present subject matter, the implement <NUM> may be configured to support a sensing assembly <NUM>, as shown in <FIG>. The sensing assembly <NUM> may generally include one or more sensors <NUM> supported on the implement <NUM>, with each sensor <NUM> having a field of view 152A directed towards the field. In particular, each sensor <NUM> may be supported relative to the implement <NUM> such that the field of view 152A of the sensor <NUM> is directed towards an aft portion of the field disposed generally rearward of the associated tool relative to the direction of travel <NUM>. As shown in <FIG>, in several embodiments, each sensor <NUM> may be supported on one of the frame members <NUM>, <NUM> of the implement <NUM> described above. For example, in the embodiment shown, a first sensor <NUM>(<NUM>) is positioned at or adjacent to the aft end <NUM> of the implement <NUM>, such that a field of view 152A of the first sensor <NUM>(<NUM>) is directed aft of the basket assemblies <NUM>. As such, the first sensor <NUM>(<NUM>) may be configured to generate data indicative of one or more field conditions associated with the aft portion of the field located behind or aft of the implement <NUM>. However, the sensor(s) <NUM> may be positioned elsewhere on the implement such that the field of view 152A of the sensor(s) <NUM> is directed towards a portion of the field aft of any suitable portion of the implement <NUM>. For instance, a second sensor <NUM>(<NUM>) is positioned at or adjacent to one of the disk gangs <NUM> of the implement <NUM> such that the second sensor <NUM>(<NUM>) may be configured to generate data indicative of one or more field conditions associated with the aft portion of the field located behind or aft of the associated disk gang <NUM>.

Generally, the sensor(s) <NUM> may be configured to generate data indicative of field conditions within the aft portion of the field, such as clod sizes, field levelness, and/or the like. Particularly, as will be described in greater detail below, the sensor <NUM> may, in several embodiments, be configured to detect one or more cloud characteristics of a field material cloud, often referred to as a "rooster tail," formed by ground engaging tools of the implement <NUM>, which may be indicative of the performance of the implement during the execution of an agricultural operation and, thus, the field conditions generated within the field as a result of the operation. Accordingly, the sensor(s) <NUM> may be supported relative to the implement <NUM> such that the field of view 152A of the sensor(s) <NUM> is directed towards such field material cloud(s). The sensor <NUM> may be configured as any suitable device, such as a camera(s) (including a stereo camera(s), and/or the like), LIDAR device(s), and/or the like) such that the sensor <NUM> generates image data, point- cloud data, and/or the like indicative of one or more characteristics of the field material cloud(s).

It should be appreciated that, while the sensing assembly <NUM> is shown as including only two sensors <NUM>, the sensing assembly <NUM> may include any other suitable number of sensors <NUM>, such as a single sensor <NUM> or three or more sensors <NUM>. It should further be appreciated that the configuration of the implement <NUM> and work vehicle <NUM> described above are 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 implement or work vehicle configurations.

Referring now to <FIG>, exemplary views of a field material cloud generated by the implement <NUM> shown in <FIG> and <FIG> are illustrated in accordance with aspects of the present subject matter. Particularly, <FIG> shows a side view of the aft end <NUM> of the implement <NUM>, particularly illustrating a field material cloud generated aft of the implement <NUM>. Additionally, <FIG> illustrates a sectional view of a field material cloud generated aft of the implement <NUM>.

As indicated above, when the ground engaging tools (e.g., the basket assemblies <NUM> or disk gangs <NUM>) engage a ground surface GS of the field, a cloud of field materials or a "rooster tail" <NUM> is created by the ground engaging tools, generally rearward or aft of such tools. In one embodiment, the sensor <NUM> is positioned relative to one of the basket assemblies <NUM> such that the field of view 152A of the sensor <NUM> is directed aft of the basket assembly <NUM> towards the field material cloud <NUM> created by the basket assembly <NUM>. The sensor <NUM> may thus be able to detect characteristics of the field material cloud <NUM>, such as the size of particles 154P within the field material cloud <NUM> and/or a height <NUM> of the field material cloud <NUM>. Further, in some embodiments, the sensor <NUM> may be able to detect other characteristics of the field material cloud <NUM>, such as a lateral width of the field material cloud <NUM>, a density or distribution of the particles 154P within the field material cloud <NUM>, and/or the like.

It has been determined that the characteristics of the field material cloud <NUM> may generally be indicative of the field conditions within the field following the execution of an agricultural operation, such as an average clod size of soil clods, field levelness, etc. For instance, with regard to average clod size, an average particle size of the particles 154P within the field material cloud <NUM> generally increases as the average clod size of clods within the field increases. In contrast, a height <NUM> of the field material cloud <NUM> generally increases as the clod size of clods within the field decreases. For example, as shown in <FIG>, the size of the particles 154P generally decreases with increasing distance from the ground surface GS, as smaller particles 154P may be thrown by the basket assembly <NUM> further than larger particles 154P, which leads to taller field material cloud heights <NUM>. Similarly, when an average density of the field material cloud <NUM> increases, the clod size generally decreases.

With regard to field levelness, when the height <NUM> of the field material cloud <NUM> varies significantly across the lateral width of the implement <NUM> the field may be unlevel. Similarly, if a width of the field material cloud <NUM> significantly changes or does not extend across an entire width of the implement <NUM>, the field may be unlevel due to localized mounds or trenches formed by the implement <NUM>. For example, with reference to <FIG>, a trench <NUM> is formed in the ground surface GS such that a gap or break is formed within the field material cloud <NUM> along its width corresponding to the width of the trench <NUM>.

The field conditions estimated using characteristics of the field material cloud <NUM> may be used as an indicator of the overall effectiveness of the implement <NUM> when executing an operation (e.g., a tillage operation) within the field. For instance, if the resulting soil clods within the fields are too large, the implement <NUM> is not set aggressive enough to sufficiently break-up the clods. Similarly, if the resulting soil clods within the field are too small, the implement <NUM> may be set too aggressively. Further, if the field is unlevel, the implement <NUM> is most likely unlevel.

Referring now to <FIG>, a schematic view of a system <NUM> for monitoring field conditions as an agricultural implement is moved across a field is illustrated in accordance with aspects of the present subject matter. In general, the system <NUM> will be described herein with reference to the implement <NUM> and the work vehicle <NUM> described above with reference to <FIG>, as well as the sensing assembly <NUM> described above with reference to <FIG>. However, it should be appreciated by those of ordinary skill in the art that the disclosed system <NUM> may generally be utilized with work vehicles having any suitable vehicle configuration, implements having any suitable implement configuration, and/or with sensing assemblies having any other suitable assembly configuration. Additionally, it should be appreciated that, for purposes of illustration, communicative links or electrical couplings of the system <NUM> shown in <FIG> are indicated by dashed lines.

As shown in <FIG>, the system <NUM> may include a controller <NUM> configured to electronically control the operation of one or more components of the agricultural implement <NUM>. In general, the controller <NUM> may comprise any suitable processor-based device known in the art, such as a computing device or any suitable combination of computing devices. Thus, in several embodiments, the controller <NUM> may include one or more processor(s) <NUM>, and associated memory device(s) <NUM> configured to perform a variety of computer-implemented functions. As used herein, the term "processor" refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic circuit (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) <NUM> of the controller <NUM> may generally comprise memory element(s) including, but not limited to, a computer readable medium (e.g., random access memory RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disc-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disc (DVD) and/or other suitable memory elements. Such memory device(s) <NUM> may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) <NUM>, configure the controller <NUM> to perform various computer-implemented functions, such as one or more aspects of the methods and algorithms that will be described herein. In addition, the controller <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.

It should be appreciated that, in several embodiments, the controller <NUM> may correspond to an existing controller of the agricultural implement <NUM> and/or of the work vehicle to which the implement <NUM> is coupled. However, it should be appreciated that, in other embodiments, the controller <NUM> may instead correspond to a separate processing device. For instance, in one embodiment, the controller <NUM> may form all or part of a separate plug-in module that may be installed within the agricultural implement <NUM> and/or the associated work vehicle to allow for the disclosed system and method to be implemented without requiring additional software to be uploaded onto existing control devices of the implement/vehicle.

In some embodiments, the controller <NUM> may include a communications module or interface <NUM> to allow for the controller <NUM> to communicate with any of the various other system components described herein. For instance, in several embodiments, the controller <NUM> may be configured to receive data from one or more sensors of the agricultural implement <NUM> that are used to monitor the characteristics of the field material cloud(s) <NUM> formed aft of the implement <NUM>, such as one or more of the sensors <NUM> described above with reference to <FIG>. The controller <NUM> may be communicatively coupled to the sensor(s) <NUM> via any suitable connection, such as a wired or wireless connection, to allow data indicative of the characteristic(s) of the field material cloud(s) <NUM> to be transmitted from the sensor(s) <NUM> to the controller <NUM>.

Specifically, referring back to <FIG>, each sensing assembly <NUM> may, for example, include or be associated with one or more sensors <NUM> installed or otherwise positioned relative to one or more of the ground engaging tools of the implement <NUM> to collect data indicative of a characteristic of a field material cloud <NUM> formed aft of the respective ground engaging tools. Particularly, the sensors <NUM> may be configured to collect size data, height data, width data, density data, etc. indicative of particle sizes, a height <NUM>, a width, a density, etc. of the field material cloud <NUM>. The characteristics of the field material cloud <NUM> may be used to infer or estimate a field characteristic, such as an average clod size within the field and/or a field levelness, which may in turn be used as an indicator of the overall performance of the implement <NUM> within the field. Thus, in several embodiments, the controller <NUM> may be configured to determine the effectiveness of the implement <NUM> or, more particularly, the performance of current settings of the implement <NUM>, based at least in part on the data received from the sensor(s) <NUM>. For example, the controller <NUM> may include one or more suitable algorithms stored within its memory <NUM> that, when executed by the processor <NUM>, allow the controller <NUM> to infer or estimate an average clod size within the field and/or the field levelness, and thus an effectiveness of the tillage implement in executing the associated operation, based at least in part on the data received from the sensor(s) <NUM>.

For instance, the controller <NUM> may include one or more algorithms that compare the cloud characteristic(s) (e.g., the average particle size, average cloud height <NUM>, cloud width, cloud density, etc.) estimated based on the data received from the sensor(s) <NUM> to one or more predetermined ranges associated with the an acceptable or desired field condition. For example, the controller <NUM> may compare the average particle size within the field material cloud <NUM> to a predetermined particle size range, the height <NUM> of the field material cloud <NUM> to a predetermined height range or a predetermined height gradient range, the width of the field material cloud <NUM> to a predetermined width range, and/or the density of the field material cloud <NUM> to a predetermined density range. Each predetermined cloud characteristic range(s) may correspond to a range of values (e.g., a range of average particle sizes or a range of cloud heights) across which the associated field conditions or output parameters of the implement should be is acceptable. For example, each range may be bound by upper and lower end values between which the associated field condition or output parameter should be acceptable based on a predetermined relationship defined between the specific cloud characteristic and the field condition or output parameter. In one embodiment, the ranges may be selected from ranges that are predetermined and stored in the memory <NUM> of the controller <NUM>. In some embodiments, the ranges may be selected based at least in part on a current ground speed of the implement <NUM>. For instance, the height <NUM> of the field material cloud <NUM> may be expected to increase with an increase in the speed of the implement <NUM>. In some embodiments, the predetermined range(s) may also be selected based at least in part on a desired clod size or other field condition requested or input by a user, e.g., via the user interface <NUM>. Additionally, in some embodiments, the predetermined range(s) may be selected based at least in part on a moisture content of the soil and/or a soil type.

It should be appreciated that, in some embodiments, only one of the characteristics (particle size, the height <NUM>, width, density, etc.) of the field material cloud <NUM> is evaluated to estimate the field condition(s). However, in other embodiments, multiple cloud characteristics of the field material cloud <NUM> may be evaluated to estimate the field condition(s) with higher certainty. For instance, in one embodiment, both the particle size and the height <NUM> of the field material cloud <NUM> may be evaluated to estimate the average clod size of the soil clods resulting from an agricultural operation with higher certainty.

By continuously monitoring the cloud characteristic(s) of the field material cloud being generated by ground engaging tool(s) and comparing such detected characteristic(s) to its predetermined characteristic range(s), the controller <NUM> may estimate or infer when the associated field condition or output parameter similarly falls outside an acceptable or desired range. For instance, with regard to soil clod size, when the average particle size within the field material cloud <NUM> exceeds an upper end of the predetermined particle size range and/or when the height <NUM> of the field material cloud <NUM> falls below a lower end of the predetermined height range, the controller <NUM> may, for example, estimate or infer that the average clod size within the field is too large, and, thus, that the current performance of the implement is likely not acceptable. Similarly, when the average particle size within the field material cloud <NUM> falls below a lower end of the predetermined particle size range, when the height <NUM> of the field material cloud <NUM> exceeds an upper end of the predetermined height range, and/or when the density of the field material cloud <NUM> exceeds an upper end of the predetermined density range, the controller <NUM> may infer that the average clod size within the field is too small, and, thus, that the current performance of the implement is likely not acceptable.

Similarly, regarding field levelness, when the width of the field material cloud <NUM> falls below a lower end of the predetermined width range and/or when the gradient of the height <NUM> of the field material cloud <NUM> across the width of the implement <NUM> exceeds a predetermined gradient range, the controller <NUM> may infer that the field is unlevel, and, thus, that the current performance of the implement is likely not acceptable.

In several embodiments, the controller <NUM> may further be configured to perform one or more implement-related control actions based on the data received from the sensor(s) <NUM>. Specifically, the controller <NUM> may be configured to control one or more components of the agricultural implement <NUM> based on the inference that the field conditions are not acceptable. More particularly, the controller <NUM> may be configured to control one or more components of the agricultural implement <NUM> to adjust the aggressiveness of the implement <NUM> when the inferred or estimated average clod size is too large or too small and/or to adjust the levelness of the implement <NUM> when it is estimated or inferred that the implement is not level. For example, as shown in <FIG>, the controller <NUM> may be configured to control the basket assembly actuator(s) 54A associated with the baskets <NUM> to adjust an aggressiveness of the baskets <NUM> in breaking up or removing clods within the field and/or adjust a levelness of the implement <NUM>. Further, the controller <NUM> may be configured to control the disk gang actuator(s) <NUM> associated with the disk gang <NUM>. For instance, the controller <NUM> may be configured to control the down force on the disk gang <NUM> to adjust a penetration depth of the disk blades <NUM> of the disk gang <NUM> and/or a levelness of the implement <NUM>. The controller <NUM> may similarly be configured to control the shank frame actuator(s) 50A associated with the shanks <NUM> to adjust a penetration depth of the shanks <NUM> and/or a levelness of the implement <NUM>.

Further, in some embodiments, the controller <NUM> may be configured to indicate to an operator the current field condition and/or one or more parameters associated with the current field condition. For example, in the embodiment shown in <FIG>, the communications module <NUM> may allow the controller <NUM> to communicate with a user interface <NUM> having a display device configured to display information regarding the field condition (e.g., the average clod size, the field levelness, etc.). However, it should be appreciated that the controller <NUM> may instead be communicatively coupled to any number of other indicators, such as lights, alarms, and/or the like to provide an indicator to the operator regarding the field condition.

Additionally or alternatively, in some embodiments, the controller <NUM> may be configured to perform one or more vehicle-related control actions based on the estimation of unacceptable field conditions (e.g., unacceptable clod sizes and/or field levelness). For example, as shown in <FIG>, in some embodiments, the controller <NUM> may be configured to control the operation of one or more vehicle drive components configured to drive the vehicle <NUM> coupled to the implement <NUM>, such as the engine <NUM> and/or the transmission <NUM> of the vehicle <NUM>. In such embodiments, the controller <NUM> may be configured to control the operation of the vehicle drive component(s) <NUM>, <NUM> based on the estimated field conditions, for example, to slow down the vehicle and implement <NUM> or bring the vehicle and implement <NUM> to a stop when it is estimated that the field conditions are unacceptable.

It should be appreciated that, depending on the type of controller <NUM> being used, the above-described control actions may be executed directly by the controller <NUM> or indirectly via communications with a separate controller. For instance, when the controller <NUM> corresponds to an implement controller of the implement <NUM>, the controller <NUM> may be configured to execute the implement-related control actions directly while being configured to execute the vehicle-related control actions by transmitting suitable instructions or requests to a vehicle-based controller of the vehicle <NUM> towing the implement <NUM> (e.g., using an ISObus communications protocol). Similarly, when the controller <NUM> corresponds to a vehicle controller of the vehicle towing the implement <NUM>, the controller <NUM> may be configured to execute the vehicle-related control actions directly while being configured to execute the implement-related control actions by transmitting suitable instructions or requests to an implement-based controller of the implement <NUM> (e.g., using an ISObus communications protocol). In other embodiments, the controller <NUM> may be configured to execute both the implement-based control actions and the vehicle-based control actions directly or the controller <NUM> may be configured to execute both of such control action types indirectly via communications with a separate controller.

Referring now to <FIG>, a flow diagram of one embodiment of a method <NUM> for monitoring field conditions as an agricultural operation is performed within a field is illustrated in accordance with aspects of the present subject matter. In general, the method <NUM> will be described herein with reference to the implement <NUM> and the work vehicle <NUM> shown in <FIG>, as well as the sensing assembly <NUM> shown in <FIG> and the various system components shown in <FIG>. However, it should be appreciated that the disclosed method <NUM> may be implemented with work vehicles and/or implements having any other suitable configurations, with sensing assemblies having any other suitable configurations, and/or within systems having any other 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 data indicative of a cloud characteristic of a field material cloud created aft of a ground engaging tool of an implement in a direction of travel of the implement during the performance of an agricultural operation. For instance, as indicated above, the controller <NUM> may be configured to receive input(s) from one or more sensors configured to provide an indication of characteristics of a field material cloud <NUM> formed aft of the implement <NUM>, such as by receiving data indicative of a particle size, height, width, density, and/or the like from one or more sensors <NUM> provided in operative association with the implement <NUM>.

Further, at (<NUM>), the method <NUM> includes comparing the cloud characteristic to a predetermined characteristic range defined for the cloud characteristic. As described above, for example, the controller <NUM> may compare the characteristic(s) of the field material cloud <NUM> to an associated predetermined characteristic range(s) to determine when the characteristic(s) are outside of a desired range.

Additionally, at (<NUM>), the method <NUM> may include, when the cloud characteristic falls outside the predetermined characteristic range, initiating a control action to adjust the cloud characteristic of the field material cloud back within the predetermined characteristic range. For instance, as described above, the controller <NUM> may initiate a control action when the detected characteristic of the field material cloud <NUM> falls outside the predetermined characteristic range. For example, the controller <NUM> may adjust an operation of the implement and/or generate a notification for an operator of the implement indicative of the effectiveness of the agricultural implement performing the agricultural operation based at least in part on the cloud characteristic.

It is to be understood that, in several embodiments, the steps of the method <NUM> are performed by the controller <NUM> upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disc, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, in several embodiments, any of the functionality performed by the controller <NUM> described herein, such as the method <NUM>, are implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The controller <NUM> loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the controller <NUM>, the controller <NUM> may perform any of the functionality of the controller <NUM> described herein, including any steps of the method <NUM> described herein.

Claim 1:
A system (<NUM>) for assessing the performance of an agricultural implement (<NUM>), the system comprising a ground engaging tool (<NUM>) configured to engage soil within a field as the agricultural implement (<NUM>) is moved across the field such that the ground engaging tool (<NUM>) creates a field material cloud (<NUM>) aft of the ground engaging tool (<NUM>) in a direction of travel (<NUM>) of the agricultural implement (<NUM>), the system comprising
a sensor (<NUM>) configured to detect a cloud characteristic of the field material cloud (<NUM>); and
a controller (<NUM>) communicatively coupled to the sensor (<NUM>), the controller (<NUM>) being configured to monitor data received from the sensor (<NUM>) and assess the agricultural operation being performed based at least in part on the cloud characteristic, wherein the cloud characteristic corresponds to at least one of particle sizes of particles within the field material cloud (<NUM>), a cloud height (<NUM>) of the field material cloud (<NUM>), cloud width of the field material cloud (<NUM>) or a density of the field material cloud (<NUM>);
wherein
the controller (<NUM>) is configured to compare the cloud characteristic to a predetermined characteristic range defined for the cloud characteristic; and
the controller (<NUM>) is configured to assess whether field conditions or outputs of the agricultural operation are acceptable based on the comparison of the detected cloud characteristic to the predetermined range.