Work layer imaging and analysis for implement monitoring, control and operator feedback

1. A soil imaging system comprising:

at least one work layer sensor on an agricultural implement, the work layer sensor generating an electromagnetic field through a seed trench as the agricultural implement traverses a field;

wherein the work layer sensor comprises a first transmitter, a second transmitter, a third transmitter, a first receiver, a second receiver, and a third receiver;

the second receiver rearward of the second transmitter over the seed trench in a first linear direction which is a direction of travel of the agricultural implement, the first transmitter and the third transmitter over opposite sides of the seed trench in a second linear direction with the second transmitter which is different than the first linear direction, the first receiver and the third receiver over opposite sides of the seed trench in a third linear direction with the second receiver which is different than the first linear direction, and the first receiver and the third receiver rearward of the first transmitter and the third transmitter, respectively, in the first linear direction;

a monitor in communication with the work layer sensor and adapted to generate a work layer image of a soil layer based on the generated electromagnetic field through the soil layer.

2. The soil imaging system of claim 1 wherein the work layer sensor is mounted to a planter row unit or a planter and the monitor is within a cab of a tractor attached to the planter.

3. The soil imaging system of claim 1 , wherein the work layer sensor is configured to generate a reference image by generating an electromagnetic field through undisturbed soil; wherein the monitor is configured to compare at least one characteristic of the reference image with at least one characteristic of the work layer image to generate a characterized image of the work layer of interest.

4. The soil imaging system of claim 3 , wherein the monitor is configured to affect operational control of the agricultural implement based on the characterized image using one or more actuators on the agricultural implement.

5. The soil imaging system of claim 4 , wherein the monitor is configured to affect operational control of the agricultural implement based on the characterized image by performing one or more of: actuating a row cleaner actuator to increase row cleaner downforce; actuating a downforce control system to increase downforce; actuating a depth adjustment actuator to increase or decrease trench depth; actuating a trench closing wheel assembly actuator to increase downforce on closing wheels; or actuating a packer wheel assembly actuator to increase downforce on a packer wheel.

6. The soil imaging system of claim 1 , wherein:

the monitor is configured to perform one or more operations of: identifying that a seed is irregularly spaced in the trench; identifying that a seed is not uniformly deposited in a base of the trench; identifying that spacing of a seed in the trench does not match an anticipated spacing of the seed;

the monitor is configured to perform, in response to any of the identification operations, displaying a recommendation to decrease planting speed or increase downforce.

7. The soil imaging system of claim 1 , wherein the work layer sensor comprises any of: a ground penetrating radar system, an ultrasound system, an audible range sound system, or an electrical current system.

8. The soil imaging system of claim 1 , wherein the monitor is adapted to generate the work layer image comprising one or more of: trench depth, trench shape, depth of seed, seed depth relative to trench depth, crop residue in the trench, or void spaces in the trench.

9. The soil imaging system of claim 1 , wherein at least the first transmitter has an operating frequency of 1 GHz to 100 GHz.

10. The soil imaging system of claim 1 , wherein at least one transmitter is over the seed trench and has a transmitting angle such that a signal from the at least one transmitter reaches each side of the seed trench.

11. The soil imaging system of claim 1 , wherein the work layer sensor is one of: a phased array radar and a Doppler radar.

12. A soil imaging system comprising:

at least one work layer sensor on an agricultural implement, the work layer sensor generating an electromagnetic field through a seed trench as the agricultural implement traverses a field;

wherein the work layer sensor comprises a transmitter, a first receiver, a second receiver, and a third receiver;

the second receiver rearward of and the transmitter over the seed trench in a first linear direction which is a direction of travel of the agricultural implement, the first receiver and the third receiver over opposite sides of the seed trench in a second linear direction with the second receiver that is different than the first linear direction, the first receiver rearward of the transmitter in a third linear direction that is different than the first linear direction and the third receiver rearward of the transmitter in a fourth linear direction that is different than the first linear direction;

a monitor in communication with the work layer sensor and adapted to generate a work layer image of the soil layer based on the generated electromagnetic field through the soil layer.

13. The soil imaging system of claim 12 , wherein at least one transmitter is over the seed trench and has a transmitting angle such that a signal from the at least one transmitter reaches each side of the seed trench.

14. The soil imaging system of claim 12 , wherein the work layer sensor is one of: a phased array radar and a Doppler radar.

15. A soil imaging system comprising:

a mobile agricultural implement;

a plurality of transmitters;

a plurality of receivers;

a digital monitor coupled to the mobile agricultural implement; and

a processor and main memory comprising instructions which, when executed, cause:

generating, by the plurality of transmitters, an electromagnetic field through a seed trench as the mobile agricultural implement traverses a field;

wherein the plurality of transmitters comprises a first transmitter, a second transmitter, and a third transmitter;

receiving, by the plurality of receivers, electromagnetic signals;

wherein the plurality of receivers comprises a first receiver, a second receiver, and a third receiver;

wherein the second receiver is rearward of the second transmitter over the seed trench in a first linear direction which is a direction of travel of the mobile agricultural implement, the first transmitter and the third transmitter are over opposite sides of the seed trench in a second linear direction with the second transmitter which is different than the first linear direction, the first receiver and the third receiver are over opposite sides of the seed trench in a third linear direction with the second receiver which is different than the first linear direction, and the first receiver and the third receiver are rearward of the first transmitter and the third transmitter, respectively, in the first linear direction;

generating a work layer image of a soil layer based on the generated electromagnetic field and the received electromagnetic signals.

16. The soil imaging system of claim 15 , the processor and main memory further comprising instructions which, when executed, cause generating an electromagnetic field through undisturbed soil; wherein the digital monitor is configured to compare at least one characteristic of the reference image with at least one characteristic of the work layer image to generate a characterized image of the work layer of interest.

17. The soil imaging system of claim 16 , wherein the digital monitor is configured to affect operational control of the mobile agricultural implement based on the characterized image using one or more actuators coupled to the mobile agricultural implement.

18. The soil imaging system of claim 17 , wherein the digital monitor is configured to affect operational control of the agricultural implement based on the characterized image by performing one or more of: actuating a row cleaner actuator to increase row cleaner downforce; actuating a downforce control system to increase downforce; actuating a depth adjustment actuator to increase or decrease trench depth; actuating a trench closing wheel assembly actuator to increase downforce on closing wheels; or actuating a packer wheel assembly actuator to increase downforce on a packer wheel.

19. The soil imaging system of claim 15 , wherein:

the digital monitor is configured to perform one or more operations of: identifying that a seed is irregularly spaced in the trench; identifying that a seed is not uniformly deposited in a base of the trench; identifying that spacing of a seed in the trench does not match an anticipated spacing of the seed;

the digital monitor is configured to perform, in response to any of the identification operations, displaying a recommendation to decrease planting speed or increase downforce.

20. The soil imaging system of claim 15 , wherein the plurality of transmitters and the plurality of receivers further comprise any of: a ground penetrating radar system, an ultrasound system, an audible range sound system, or an electrical current system.