Systems and methods for soil clod detection

Patent metadata

Field	Value
Publication number	US-12408577-B2
Application number	US-202117564458-A
Country	US
Kind code	B2
Filing date	Dec 29, 2021
Priority date	Dec 29, 2021
Publication date	Sep 9, 2025
Grant date	Sep 9, 2025

Abstract

A methods for soil clod detection within a field is provided herein and can include receiving, with a computing system, data indicative of terrain variations within a region of an agricultural field. The region of the field is comprised of one or more adjacently positioned segments. The method can also include generating, with the computing system, a mean reference line. The method can further include calculating, with the computing system, a segment height for each of the one or more adjacently positioned segments. The method can also include determining, with the computing system, a presence of an object based on a deviation of one of the one or more segment heights being greater than a threshold height from the reference line.

First claim

What is claimed is:

1. A method for determining soil clods within a field, the method comprising:
receiving, with a computing system, data indicative of terrain variations within a region of an agricultural field, the region of the field being comprised of one or more adjacently positioned segments;
generating, with the computing system, a mean reference line, the mean reference line extending through a mean height of the region;
calculating, with the computing system, one or more segment heights for each of the one or more adjacently positioned segments;
determining, with the computing system, a presence of an object based on a deviation of one of the one or more segment heights being greater than a threshold height from the mean reference line; and
initiating, with the computing system, a control action associated with adjusting an operation of an agricultural machine based on the presence of the object, the control action configured to adjust one or more operating parameters associated with one or more ground-engaging tools.

2. The method of claim 1 , further comprising:
calculating, with the computing system, a width of the object based at least in part on a height variation of laterally adjacent segments.

3. The method of claim 2 , further comprising:
classifying, with the computing system, the object as a soil clod when one or more segment heights are greater than the threshold height from the mean reference line and the width of the object is greater than a width threshold.

4. The method of claim 3 , further comprising:
sorting, with the computing system, each of the soil clods into one of two or more bins based on a size of each object classified as the soil clod.

5. The method of claim 1 , further comprising:
generating, with the computing system, a slope-corrected mean reference line in which the mean reference line is corrected based on an estimated slope of the region of the field.

6. The method of claim 1 , wherein the control action is based at least in part on the determination that a quantity of soil clods or a size of soil clods within the region of the field exceeds a predefined threshold.

7. The method of claim 1 , wherein the data indicative of terrain variations comprises receiving the data from a lidar system supported relative to the agricultural machine, the data being captured by the lidar system as the agricultural machine travels across the field.

8. The method of claim 7 , further comprising:
detecting, with a position sensor, movement of an implement operably supporting a field sensor; and
regenerating, with the computing system, the mean reference line when movement of the implement exceeds a defined range.

9. The method of claim 8 , wherein movement of an implement includes changing a tilling depth of the implement.

10. The method of claim 1 , further comprising:
emitting a pulse of radiation from a housing of a field sensor; and
receiving a portion of the pulse of radiation within a photodetector from the region of the field.

11. A system for determining one or more soil clods within a field, the system comprising:
a field sensor configured to capture data of the field; and
a computing system communicatively coupled to the field sensor, 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 the captured data from the field sensor of a first region of the field, the first region of the field including one or more first segments;
determine a height between the field sensor and the field for each of the one or more first segments within the first region of the field;
generate a first terrain plot indicative of a distance between the field sensor and each of the one or more first segments within the first region of the field;
generate a first reference line based on the first terrain plot, wherein a first segment has a negative height relative to the reference line and a second segment has a positive height relative to the reference line;
identify an object within the one or more first segments of the first terrain plot as a soil clod based on the second height exceeding a defined threshold; and
control a user interface operably coupled with the computing system based on the identifying of the object.

12. The system of claim 11 , wherein the first reference line is a mean line of the first terrain plot.

13. The system of claim 11 , wherein the computing system is further configured to determine vertical movement of the field sensor.

14. The system of claim 13 , further comprising:
a position sensor operably coupled with an implement, the position sensor configured to capture data indicative of movement of the implement, wherein the field sensor is operably coupled with the implement.

15. The system of claim 13 , wherein the computing system is further configured to:
receive the captured data from the field sensor of a second region of the field, the second region of the field including one or more second segments;
determine a height between the field sensor and the field for each of the one or more second segments within the second region of the field;
generate a second terrain plot indicative of a distance between the field sensor and each of the one or more second segments within a second region of the field; and
generate a second reference line based on the terrain plot, wherein a second segment has a negative height relative to the reference line and a second segment has a positive height relative to the reference line,
wherein the vertical movement is a difference between the first reference line and the second reference line.

16. A system for an agricultural machine, the system comprising:
a field sensor configured to capture data of a region of a field; and
a computing system communicatively coupled to the field sensor, 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 the captured data from the field sensor of the region of the field, the region of the field including one or more segments;
generate a reference line, wherein a first segment has a negative height relative to the reference line and a second segment has a positive height relative to the reference line;
identify the one or more segments of the region as an object based on the second height exceeding a defined threshold from the reference line; and
alter an operation of the agricultural machine based on the identification of the object.

17. The system of claim 16 , wherein the field sensor is a lidar system including one or more radiation sources operative to emit a pulse of radiation and a photodetector configured to receive a portion of the pulse of radiation.

18. The system of claim 16 , wherein the region may generally extend a latitudinal width that is equal to a working width of an implement.

19. The system of claim 16 , wherein the region defines a longitudinal centerline, the longitudinal centerline being perpendicular to a direction of forward movement of the agricultural machine.

20. The system of claim 16 , further comprising:
a location device configured to store location data in association with the captured data from the field sensor.

Assignees

• Cnh Ind America Llc

Inventors

• Dasika Surya Saket
• Kusumba Srujan
• Ubale Hrudhansh

Classifications

• A01B63/002

  Devices for adjusting or regulating the position of tools or wheels (preventing overstrain A01B61/00; wheels adjustable relatively to the frame for drawn implements A01B3/16; tools or tool holders adjustable relatively to the frame for drawn implements A01B63/24) · CPC title

• A01B49/02

  with two or more soil-working tools of different kind · CPC title

• A01B27/005

  comprising roller-type tools moving on the ground · CPC title

• G01S17/894

  Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar · CPC title

• G01S7/4808

  Evaluating distance, position or velocity data · CPC title