System and method for determining soil levelness using spectral analysis

Patent metadata

Field	Value
Publication number	US-11503756-B2
Application number	US-201916582646-A
Country	US
Kind code	B2
Filing date	Sep 25, 2019
Priority date	Sep 25, 2019
Publication date	Nov 22, 2022
Grant date	Nov 22, 2022

Abstract

In one aspect, a system for determining soil levelness as an agricultural implement is being towed across a field by a work vehicle may include a vision-based sensor configured to capture vision data associated with a portion of the field present within a field of view of the vision-based sensor. A controller of the system may be configured to receive, from the vision-based sensor, the vision data associated with the portion of the field present within the field of view of the vision-based sensor. Additionally, the controller may be configured to determine a soil levelness of the portion of the field present within the field of view of the vision-based sensor based on a spectral analysis of the received vision data.

First claim

The invention claimed is:

1. A system for determining soil levelness as an agricultural implement is being towed across a field by a work vehicle, the system comprising:
a vision-based sensor provided in operative association with one of the work vehicle or the agricultural implement such that the vision-based sensor is configured to capture vision data associated with a portion of the field present within a field of view of the vision-based sensor; and
a controller communicatively coupled to the vision-based sensor, the controller including a processor and associated memory, the memory storing instructions that, when implemented by the processor, configure the controller to:
receive, from the vision-based sensor, the vision data associated with the portion of the field present within the field of view of the vision-based sensor, the vision data being in a spatial domain;
transform the vision data from the spatial domain to a frequency domain using a spectral analysis; and
determine a soil levelness of the portion of the field present within the field of view of the vision-based sensor based on the transformed vision data in the frequency domain.

2. The system of claim 1 , wherein, when determining the soil levelness, the controller is further configured to determine an amplitude of the transformed vision data in the frequency domain at a frequency corresponding to a lateral spacing of a plurality of ground engaging tools mounted on the agricultural implement.

3. The system of claim 2 , wherein, when determining the soil levelness, the controller is further configured to determine a phase of the transformed vision data in the frequency domain at the frequency corresponding to the lateral spacing of the plurality of ground engaging tools.

4. The system of claim 1 , wherein the spectral analysis comprises a Fourier transformation.

5. The system of claim 1 , wherein the controller is further configured to provide a notification to an operator of at least one of the work vehicle or the agricultural implement associated with the determined soil levelness of the field.

6. The system of claim 1 , wherein the controller is further configured to actively adjust an operating parameter of at least one of the work vehicle or the agricultural implement based on the determined soil levelness of the field.

7. The system of claim 6 , wherein, when actively adjusting the operating parameter, the controller is configured to:
compare the determined soil levelness to a predetermined soil levelness range; and when the determined soil levelness falls outside of the predetermined soil levelness range, actively adjust the operating parameter.

8. The system of claim 6 , wherein the operating parameter comprises at least of a ground speed of the work vehicle or a force being applied to a ground-engaging tool of the implement.

9. The system of claim 1 , wherein the vision-based sensor comprises a LIDAR sensor.

10. An agricultural implement, comprising:
a frame;
a plurality of first ground engaging tools mounted on the frame;
a plurality of second ground engaging tool mounted on the frame aft of the plurality of first ground engaging tools relative to a direction of travel of the agricultural implement;
a vision-based sensor mounted on the frame such that the vision-based sensor is configured to capture vision data associated with a portion of the field present within a field of view of the vision-based sensor; and
a controller communicatively coupled to the vision-based sensor, the controller including a processor and associated memory, the memory storing instructions that, when implemented by the processor, configure the controller to:
receive, from the vision-based sensor, the vision data associated with the portion of the field present within the field of view of the vision-based sensor, the vision data being in a spatial domain;
transform the vision data from the spatial domain to a frequency domain using a spectral analysis;
determine a soil levelness of the portion of the field present within the field of view of the vision-based sensor based on the transformed vision data in the frequency domain; and
actively adjust a force being applied to the plurality of second ground engaging tools based on the determined soil levelness.

11. The agricultural implement of claim 10 , wherein, when determining the soil levelness, the controller is further configured to determine an amplitude of the transformed vision data in the frequency domain at a frequency corresponding to a lateral spacing of the plurality of first ground engaging tools.

12. The agricultural implement of claim 10 , wherein the spectral analysis comprises a Fourier transformation.

13. The agricultural implement of claim 10 , wherein the vision-based sensor is installed on the frame such that the field of view of the vision-based sensor is directed towards a portion of the field aft of the agricultural implement relative to the direction of travel.

14. A method for determining soil levelness as an agricultural implement is being towed across a field by a work vehicle, the method comprising:
receiving, with one or more computing devices, vision data associated with a portion of the field as the agricultural implement is being towed across the field by a work vehicle, the vision data being in a spatial domain;
transforming, with the one or more computing devices, the vision data from the spatial domain to a frequency domain using a spectral analysis;
determining, with the one or more computing devices, a soil levelness of the portion of the field based on the transformed vision data in the frequency domain; and
providing, with the one or more computing devices, a notification to an operator of at least one of the work vehicle or the agricultural implement associated with the determined soil levelness of the field.

15. The method of claim 14 , wherein determining the soil levelness comprises determining, with the one or more computing devices, an amplitude of the transformed vision data in the frequency domain at a frequency corresponding to a lateral spacing of a plurality of ground engaging tools mounted on the agricultural implement.

16. The method of claim 15 , wherein determining the soil levelness comprises determining, with the one or more computing devices, a phase of the transformed vision data in the frequency domain at the frequency corresponding to the lateral spacing of the plurality of ground engaging tools.

17. The method of claim 14 , wherein the spectral analysis comprises a Fourier transformation.

18. The method of claim 17 , wherein the operating parameter comprises at least of a ground speed of the work vehicle or a force being applied to a ground-engaging tool of the implement.

19. The method of claim 14 , further comprising:
actively adjusting, with the one or more computing devices, an operating parameter of at least one of the work vehicle or the agricultural implement based on the determined soil levelness of the field.

20. The method of claim 19 , wherein actively adjusting the operating parameter comprises:
comparing, with the one or more computing devices, the determined soil levelness to a predetermined soil levelness range; and
when the determined soil levelness falls outside of the predetermined soil levelness range, actively adjusting, with the one or more computing devices, the operating parameter.

Assignees

• Cnh Ind America Llc

Inventors

• Cozza Michael R
• Lupu Mircea F
• Dasika Surya Saket
• Poosa Sai Raghavendra Prasad
• Alharbi Thamer Z

Classifications

• A01B63/24

  Tools or tool-holders adjustable relatively to the frame · CPC title

• G01S17/88

  Lidar systems specially adapted for specific applications · CPC title

• A01B79/005 Primary

  Precision agriculture · CPC title

• A01B63/1112 Primary

  using a non-tactile ground distance measurement, e.g. using reflection of waves · CPC title

• A01B49/027

  with a rotating, soil working support element, e.g. a roller · CPC title