Systems and methods for tillage optimization using non-invasive multimodal sensors

Abstract

Methods, systems and devices for determining optimized tillage of a soil area are provided. Operations include transmitting, using at least one sensor, a data set regarding a physical, chemical and/or biological aspect of the soil area. Operations include receiving, using at least one computing device, the data set regarding the physical, chemical and/or biological aspect of the soil area. The at least one computing device removes a set of redundant data and the at least one computing device enhances a set of data that is not the set of redundant data. Operations include generating a visualization of the set of data that is not redundant data. The data that is not redundant data provides a data set reflecting a soil compaction measurement within the soil area and the soil area is not deeper than 36 inches from a surface of the soil area.

1 . A system comprising:
 a vehicle that is configured to travel over a soil area;   a location device that is configured to provide geographic location data corresponding to the vehicle;   at least one sensor that is caused to move above a surface of the soil area as the vehicle travels thereon and to generate data relating to a physical, chemical and/or biological characteristic of the soil corresponding to the soil area; and   a computer that is communicatively coupled to the at least one sensor and to the location device, that is configured to receive the geographic location data and the data relating to the physical, chemical and/or biological characteristic of the soil, and to generate location associated data relating to the physical, chemical and/or biological characteristic of the soil corresponding to the soil area.   
     
     
         2 . The system of  claim 1 , wherein the data relating to the physical, chemical and/or biological characteristic of the soil correlates to a degree of soil compaction. 
     
     
         3 . The system of  claim 1 , wherein the data relating to the physical, chemical and/or biological characteristic of the soil comprises soil moisture. 
     
     
         4 . The system of  claim 1 , wherein the soil area comprises a plurality of soil area elements, wherein each soil area element corresponds to a specific geographic location and a corresponding location associated soil compaction data value. 
     
     
         5 . The system of  claim 4 , wherein each soil area element includes an area that is in a range from about one square foot to about ten acres. 
     
     
         6 . The system of  claim 1 , wherein the at least one sensor comprises a ground penetrating radar (GPR). 
     
     
         7 . The system of  claim 6 , wherein the GPR is configured to operate in a frequency range of about 10 MHz to about 5 GHz. 
     
     
         8 . The system of  claim 6 , wherein the GPR is configured to operate in a frequency range of about 100 MHz to about 800 MHz. 
     
     
         9 . The system of  claim 6 , wherein the GPR is configured to operate in a plurality of frequency ranges. 
     
     
         10 . The system of  claim 9 , wherein the GPR is configured to simultaneously operate in the plurality of frequency ranges. 
     
     
         11 . The system of  claim 6 , wherein the GPR comprises a non ground-coupled antenna. 
     
     
         12 . The system of  claim 11 , wherein the non ground-coupled antenna comprises a horn antenna and/or an array antenna. 
     
     
         13 . The system of  claim 1 , wherein the at least one sensor comprises a non-invasive sensor relative to the surface of the soil area. 
     
     
         14 . The system of  claim 1 , wherein the at least one sensor is configured to move in a range from at the surface of the soil area to about six feet above the surface of the soil area. 
     
     
         15 . The system of  claim 1 , further comprising a sensor support that is configured to physically support the at least one sensor and to be pulled across the surface of the soil area by the vehicle,
 wherein the sensor support comprises a self-propelled vehicle that is separate from the vehicle or towed vehicle that is coupled to the vehicle.   
     
     
         16 . The system of  claim 1 , wherein the location associated soil compaction data comprises elevation data corresponding to the soil compaction. 
     
     
         17 . The system of  claim 1 , wherein the vehicle comprises a self-driving vehicle and is configured to traverse the soil area in a path that is defined by a coverage plan that is based on the geographic location data. 
     
     
         18 . The system of  claim 1 , wherein the vehicle comprises an airborne vehicle and is configured to fly over the soil area based on self-generated lift. 
     
     
         19 . The system of  claim 18 , wherein the airborne vehicle is configured to fly over the soil area in a pattern that is defined by a coverage plan that is based on the geographic location data. 
     
     
         20 . The system of  claim 1 , wherein the computer is further configured to generate a tillage prescription plan for the soil area that is based on the location associated soil compaction data. 
     
     
         21 .- 122 . (canceled)