System and method for determining soil clod size within a field

Patent metadata

Field	Value
Publication number	US-11930730-B2
Application number	US-202117202891-A
Country	US
Kind code	B2
Filing date	Mar 16, 2021
Priority date	Mar 16, 2021
Publication date	Mar 19, 2024
Grant date	Mar 19, 2024

Abstract

A method for determining soil clod size within a field includes receiving an image depicting an imaged portion of the field. Furthermore, the method includes identifying a soil clod present within the imaged portion of the field. Additionally, the method includes determining a maximum height of the identified soil clod above a soil surface of the field. Moreover, the method includes determining a maximum length of the identified soil clod. In addition, the method includes determining a radius of a sphere based on the determined maximum height and the determined maximum length, with the sphere including a first portion approximating a portion of the identified soil clod positioned above the soil surface and a second portion approximating a portion of the identified soil clod positioned below the soil surface. Furthermore, the method includes determining a size of the identified soil clod based on the determined radius.

First claim

The invention claimed is:

1. A method for determining soil clod size within a field, the method comprising:
receiving, with a computing system, an image depicting an imaged portion of the field;
identifying, with the computing system, a soil clod present within the imaged portion of the field;
determining, with the computing system, a maximum height of the identified soil clod above a soil surface of the field;
determining, with the computing system, a maximum length of the identified soil clod;
determining, with the computing system, a radius of a sphere based on the determined maximum height and the determined maximum length, the sphere including a first portion approximating a portion of the identified soil clod positioned above the soil surface and a second portion approximating a portion of the identified soil clod positioned below the soil surface; and
determining, with the computing system, a size of the identified soil clod based on the determined radius,
wherein determining the radius of the sphere comprises determining, with the computing system, a volume of the first portion of sphere based on the determined maximum height and the determined maximum length.

2. The method of claim 1 , wherein determining the radius of the sphere comprises further comprises determining, with the computing system, the radius of the sphere based on the determined volume of the first portion of the sphere.

3. The method of claim 1 , wherein receiving the captured image comprises receiving, with the computing system, the captured image from an imaging device supported relative to an agricultural machine, the image being captured by the imaging device as the agricultural machine travels across the field.

4. The method of claim 3 , further comprising:
initiating, with the computing system, a control action associated with adjusting an operation of the agricultural machine based at least in part on the determined size of the identified soil clod.

5. The method of claim 4 , wherein the control action comprises adjusting at least one of a force being applied to or a position of a ground-engaging tool of the agricultural machine.

6. The method of claim 1 , further comprising:
generating, with the computing system, a soil clod map identifying the position of the identified soil clod within the field.

7. A system for determining soil clod size within a field, the system comprising:
an imaging device configured to capture an image of a field; and
a computing system communicatively coupled to the imaging device, the computing system including a processor and associated memory, the memory storing instructions that, when implemented by the processor, configure the computing system to:
receive an image depicting an imaged portion of the field;
identify a soil clod present within the imaged portion of the field;
determine a maximum height of the identified soil clod above a soil surface of the field;
determine a maximum length of the identified soil clod;
determine a radius of a sphere based on the determined maximum height and the determined maximum length, the sphere including a first portion approximating a portion of the identified soil clod positioned above the soil surface and a second portion approximating a portion of the identified soil clod positioned below the soil surface; and
determine the size of the identified soil clod based on the determined radius,
wherein, when determining the radius of the sphere, the computing system is further configured to determine a volume of the first portion of sphere based on the determined maximum height and the determined maximum length.

8. The system of claim 7 , wherein, when determining the radius of the sphere, the computing system is further configured to determine the radius of the sphere based on the determined volume of the first portion of the sphere.

9. The system of claim 7 , wherein the imaging device is supported relative to an agricultural machine such the image is captured by the imaging device as the agricultural machine travels across the field.

10. The system of claim 9 , wherein the computing system is further configured to initiate a control action associated with adjusting an operation of the agricultural machine based at least in part on the determined size of the identified soil clod.

11. The system of claim 10 , wherein the control action comprises adjusting at least one of a force being applied to or a position of a ground-engaging tool of the agricultural machine.

12. The system of claim 7 , wherein the computing system is further configured to generate a soil clod map identifying the position of the identified soil clod within the field.

13. A method for determining soil clod size within a field, the method comprising:
receiving, with a computing system, an image depicting an imaged portion of the field;
identifying, with the computing system, a soil clod present within the imaged portion of the field;
determining, with the computing system, a maximum height of the identified soil clod above a soil surface of the field;
determining, with the computing system, a maximum length of the identified soil clod;
determining, with the computing system, a radius of a sphere based on the determined maximum height and the determined maximum length, the sphere including a first portion approximating a portion of the identified soil clod positioned above the soil surface and a second portion approximating a portion of the identified soil clod positioned below the soil surface; and
determining, with the computing system, a size of the identified soil clod based on the determined radius,
wherein determining the radius of the sphere comprises defining, with the computing system, a curve within a vertical plane corresponding to a perimeter of a cross-section of the first portion of the sphere within the vertical plane based on the determined maximum height and the determined maximum length, the vertical plane being orthogonal to the soil surface.

14. The method of claim 13 , wherein determining the radius of the sphere further comprises extending, with the computing system, the curve below the soil surface to form a circle such that the portion of the formed circle positioned below the soil surface corresponds to a perimeter of a cross-section of the second portion of the sphere within the vertical plane.

15. The method of claim 14 , wherein determining the radius of the sphere further comprises determining, with the computing system, the radius of the sphere based on the formed circle.

Assignees

• Cnh Ind Canada Ltd

Inventors

• Henry James W

Classifications

• A01B79/005 Primary

  Precision agriculture · CPC title

• A01B76/00

  Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00 · CPC title

• G06V10/20

  Image preprocessing · CPC title

• G06V20/13

  Satellite images · CPC title

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title