US-12622339-B2 - Agricultural systems and methods for monitoring field conditions

Abstract

A system for monitoring field conditions includes a sensor arm pivotably coupled proximate its first end to an agricultural implement and proximate its second end to a sensor configured to generate data indicative of a field condition. Moreover, the system includes an actuator configured to actuate the sensor arm relative to the agricultural implement such that a field of view of the sensor is directed towards a first lateral region of the aft portion of the field when the sensor arm is in a first position and a second lateral region of the aft portion of the field when the sensor arm is in a second position. Additionally, the system includes a computing system configured to control an operation of the actuator to actuate the sensor arm, receive the data generated by the sensor, and determine the field condition of at least the first and second lateral regions.

Inventors

• David Long
• James W. Henry

Assignees

• CNH INDUSTRIAL AMERICA LLC
• CNH INDUSTRIAL CANADA, LTD.

Dates

Publication Date

20260512

Application Date

20230707

Claims (20)

1. 1 . An agricultural system for monitoring field conditions, the agricultural system comprising: an agricultural implement supporting a plurality of ground-engaging tools configured to engage a field to perform an agricultural operation as the agricultural implement moves across the field along a direction of travel; a sensor configured to generate data indicative of a field condition associated with an aft portion of a field disposed rearward of the agricultural implement relative to the direction of travel of the agricultural implement; a sensor arm extending between a first end and a second end, the sensor arm being pivotably coupled at a pivot joint proximate the first end to the agricultural implement such that the sensor arm is movable relative to the agricultural implement, the sensor arm being coupled proximate the second end to the sensor; an actuator configured to actuate the sensor arm relative to the agricultural implement between a first position and a second position such that a field of view of the sensor is directed towards a first lateral region of the aft portion of the field when the sensor arm is in the first position and a second lateral region of the aft portion of the field when the sensor arm is in the second position, the second lateral region being at least partially separate of the first lateral region along a lateral direction; and a computing system, configured to: control an operation of the actuator to actuate the sensor arm between the first and second positions; receive the data generated by the sensor; and determine the field condition of at least the first and second lateral regions of the aft portion of the field based at least in part on the data generated by the sensor.
2. 2 . The agricultural system of claim 1 , wherein the agricultural implement includes a first frame section and a second frame section, the first frame section being movable relative to the second frame section, the plurality of ground-engaging tools being supported on the first and second frame sections of the agricultural implement, wherein the sensor arm is coupled proximate the first end to the first frame section.
3. 3 . The agricultural system of claim 2 , wherein the first lateral region of the aft portion of the field is at least partially aligned with the first frame section along the direction of travel and the second lateral region of the field is at least partially aligned with the second frame section along the direction of travel.
4. 4 . The agricultural system of claim 1 , further comprising a rotational member, the rotational member being rotatably coupled to the agricultural implement about a rotational axis, the pivot joint pivotably coupling the sensor arm to the rotational member, the actuator being configured to rotate the rotational member about the rotational axis such that the sensor arm moves between the first and second positions.
5. 5 . The agricultural system of claim 4 , wherein a radial distance between the pivot joint and the rotational axis is adjustable.
6. 6 . The agricultural system of claim 1 , further comprising a fulcrum member coupled to the agricultural implement and the sensor arm at a location between the pivot joint and the second end.
7. 7 . The agricultural system of claim 6 , wherein a distance between the pivot joint and the fulcrum member along the direction of travel is adjustable.
8. 8 . The agricultural system of claim 1 , wherein the sensor arm is a first link of a parallel linkage assembly.
9. 9 . The agricultural system of claim 1 , wherein the field of view of the sensor extends across a first width, the first width being less than a lateral width of the agricultural implement.
10. 10 . The agricultural system of claim 1 , wherein the field condition comprises at least one of a surface roughness, clod size, residue coverage, soil compaction, soil composition, or a tillage floor.
11. 11 . An agricultural method for monitoring field conditions of a field during the performance of an agricultural operation by ground-engaging tools supported on an agricultural implement, the agricultural method comprising: controlling, with a computing system, an operation of an actuator to actuate a sensor arm between a first position and a second position, the sensor arm extending between a first end and a second end, the sensor arm being pivotably coupled at a pivot joint proximate the first end to the agricultural implement such that the sensor arm is movable relative to the agricultural implement; receiving, with the computing system, data generated by a sensor coupled to the sensor arm proximate the second end, the data being indicative of a field condition associated with a first lateral region of an aft portion of the field when the sensor arm is in the first position and a second lateral region of the aft portion of the field when the sensor arm is in the second position, the second lateral region being at least partially separate of the first lateral region along a lateral direction, the aft portion of the field being disposed rearward of the agricultural implement relative to a direction of travel of the agricultural implement; and determining, with the computing system, the field condition of at least the first and second lateral regions of the aft portion of the field based at least in part on the data generated by the sensor.
12. 12 . The agricultural method of claim 11 , wherein the agricultural implement includes a first frame section and a second frame section, the first frame section being movable relative to the second frame section, the ground-engaging tools being supported on the first and second frame sections of the agricultural implement, the first lateral region of the aft portion of the field being at least partially aligned with the first frame section along the direction of travel and the second lateral region of the field being at least partially aligned with the second frame section along the direction of travel, wherein the sensor arm is coupled proximate the first end to the first frame section.
13. 13 . The agricultural method of claim 12 , further comprising adjusting, with the computing system, an operation of one or more components of the agricultural implement based at least in part on the field condition of the at least the first and second lateral regions of the aft portion of the field.
14. 14 . The agricultural method of claim 13 , wherein adjusting the operation of the one or more components of the agricultural implement comprises: comparing, with the computing system, the field condition of the first lateral region and the field condition of the second lateral region to an expected field condition; adjusting, with the computing system, the operation of the one or more components of the agricultural implement associated with the first frame section when the field condition of the first lateral region differs from the expected field condition by at least a predetermined amount; and adjusting, with the computing system, the operation of the one or more components of the agricultural implement associated with the second frame section when the field condition of the second lateral region differs from the expected field condition by at least a predetermined amount.
15. 15 . The agricultural method of claim 11 , wherein controlling the operation of the actuator to actuate the sensor arm between the first position and the second position comprises controlling the operation of the actuator to oscillate the sensor arm between the first position and the second position.
16. 16 . The agricultural method of claim 11 , further comprising a rotational member, the rotational member being rotatably coupled to the agricultural implement about a rotational axis, the pivot joint pivotably coupling the sensor arm to the rotational member, the actuator being configured to rotate the rotational member about the rotational axis such that the sensor arm moves between the first and second positions.
17. 17 . The agricultural method of claim 11 , further comprising a fulcrum member coupled to the agricultural implement and the sensor arm at a location between the pivot joint and the second end.
18. 18 . The agricultural method of claim 11 , wherein the sensor arm is a first link of a parallel linkage assembly.
19. 19 . The agricultural method of claim 11 , wherein the field of view of the sensor extends across a first width, the first width being less than a lateral width of the agricultural implement.
20. 20 . The agricultural method of claim 11 , wherein the field condition comprises at least one of a surface roughness, clod size, residue coverage, soil compaction, soil composition, or a tillage floor.

Description

FIELD OF THE INVENTION The present disclosure relates generally to agricultural systems and methods for monitoring field conditions and, more particularly, to systems for monitoring field conditions as an agricultural implement moves across a field. BACKGROUND OF THE INVENTION It is well known that, to attain the best agricultural performance from a field, a farmer must cultivate the soil, such as 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 after a tillage operation, such as surface roughness and residue coverage, impact subsequent farming operations within the field. In this regard, sensor systems have been developed that allow field conditions to be detected along a portion of the field behind the tillage implement during the tillage operation. However, conventional sensor systems typically include a fixed sensor having a limited field of view. As such, field conditions may only be captured for a small portion of the field behind the implement. Such issue can potentially be addressed with the use of multiple fixed sensors. However, multi-sensor system arrangements are often prohibitively expensive. Accordingly, improved agricultural systems and methods for monitoring field conditions as an agricultural implement is moved across a field would be welcomed in the technology. BRIEF DESCRIPTION OF THE INVENTION Aspects and advantages of the invention will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the invention. In one aspect, the present subject matter is directed to an agricultural system for monitoring field conditions. The agricultural system may include an agricultural implement supporting a plurality of ground-engaging tools configured to engage a field to perform an agricultural operation as the agricultural implement moves across the field along a direction of travel. The agricultural system may further include a sensor configured to generate data indicative of a field condition associated with an aft portion of a field disposed rearward of the agricultural implement relative to the direction of travel of the agricultural implement. Furthermore, the agricultural system may include a sensor arm extending between a first end and a second end, with the sensor arm being pivotably coupled at a pivot joint proximate the first end to the agricultural implement such that the sensor arm is movable relative to the agricultural implement, and with the sensor arm being coupled proximate the second end to the sensor. Moreover, the agricultural system may include an actuator configured to actuate the sensor arm relative to the agricultural implement between a first position and a second position such that a field of view of the sensor is directed towards a first lateral region of the aft portion of the field when the sensor arm is in the first position and a second lateral region of the aft portion of the field when the sensor arm is in the second position, where the second lateral region may be at least partially separate of the first lateral region along a lateral direction. Additionally, the agricultural system may include a computing system, where the computing system may be configured to control an operation of the actuator to actuate the sensor arm between the first and second positions, receive the data generated by the sensor, and determine the field condition of at least the first and second lateral regions of the aft portion of the field based at least in part on the data generated by the sensor. In an additional aspect, the present subject matter is directed to an agricultural method for monitoring field conditions of a field during the performance of an agricultural operation by ground-engaging tools supported on an agricultural implement. The agricultural method may include controlling, with a computing system, an operation of an actuator to actuate a sensor arm between a first position and a second position, with the sensor arm extending between a first end and a second end, and with the sensor arm being pivotably coupled at a pivot joint proximate the first end to the agricultural implement such that the sensor arm is movable relative to the agricultural implement. The agricultural method may further include receiving, with the computing system, data generated by a sensor coupled to the sensor arm proximate the second end, where the data may be indicative of a field condition associated with a first lateral region of an aft portion of the field when the sensor arm is in the first position and a second lateral region of the aft portion of the field when the sensor arm is in the second position. The second lateral