System and method for determining surface finish within an agricultural field
An agricultural machine includes a LiDAR sensor configured to generate a three-dimensional point cloud depicting a portion of a field surface present within a field of view of the LiDAR sensor. Furthermore, the agricultural machine includes a computing system configured to receive the generated three-dimensional point cloud from the LiDAR sensor. Additionally, the computing system is configured to generate a plurality of two-dimensional point cloud slices from the received three-dimensional point cloud, with the plurality of two-dimensional point cloud slices being spaced apart from each other such that each of two-dimensional point cloud slices corresponds to a different two-dimensional plane within the received three-dimensional point cloud. Moreover, the computing system is configured to determine a surface finish parameter associated with the portion of the field surface present within the field of view of the LiDAR sensor based on the generated plurality of two-dimensional point cloud slices.
1 . An agricultural machine, comprising:
a frame;
a LiDAR sensor supported on the frame, the LiDAR sensor configured to generate a three-dimensional point cloud depicting a portion of a field surface present within a field of view of the LiDAR sensor; and
a computing system communicatively coupled to the LiDAR sensor, wherein the computing system:
receives the generated three-dimensional point cloud from the LiDAR sensor;
generates a plurality of two-dimensional point cloud slices from the received three-dimensional point cloud, the plurality of two-dimensional point cloud slices being spaced apart from each other such that each of the plurality of spaced apart two-dimensional point cloud slices corresponds to a different two-dimensional plane within the received three-dimensional point cloud; and
determines a surface finish parameter associated with the portion of the field surface present within the field of view of the LiDAR sensor based on the generated plurality of two-dimensional point cloud slices.
2 . The agricultural machine of claim 1 , wherein the computing system is further configured to:
identify one or more objects depicted within each of the generated plurality of two-dimensional point cloud slices; and
determine the surface finish parameter based on the identified one or more objects.
3 . The agricultural machine of claim 2 , wherein, when identifying the one or more objects, the computing system is configured to classify each of the identified one or more objects as one of a soil clod or a residue piece.
4 . The agricultural machine of claim 1 , wherein the determined surface finish parameter comprises a soil clod parameter.
5 . The agricultural machine of claim 1 , wherein the determined surface finish parameter comprises a residue parameter.
6 . A system for determining surface finish within an agricultural field, the system comprising:
a LiDAR configured to generate a three-dimensional point cloud depicting a portion of a field surface present within a field of view of the LiDAR sensor; and
a computing system communicatively coupled to the LiDAR sensor, wherein the computing system:
receives the generated three-dimensional point cloud from the LiDAR sensor;
generates a plurality of two-dimensional point cloud slices from the received three-dimensional point cloud, the plurality of two-dimensional point cloud slices being spaced apart from each other such that each of the plurality of spaced apart two-dimensional point cloud slices corresponds to a different two-dimensional plane within the received three-dimensional point cloud; and
determines a surface finish parameter associated with the portion of the field surface present within the field of view of the LiDAR sensor based on the generated plurality of two-dimensional point cloud slices.
7 . The system of claim 6 , wherein the computing system is further configured to:
identify one or more objects depicted within each of the generated plurality of two-dimensional point cloud slices; and
determine the surface finish parameter based on the identified one or more objects.
8 . The system of claim 7 , wherein, when identifying the one or more objects, the computing system is configured to classify each of the identified one or more objects as one of a soil clod or a residue piece.
9 . The system of claim 8 , wherein, when classifying each of the identified one or more objects, the computing system is configured to classify each of the identified one or more objects as one of a soil clod or a residue piece based on a shape of the corresponding object.
10 . The system of claim 7 , wherein, when identifying the one or more objects, the computing system is further configured to identify the one or more objects depicted within each of the plurality of generated two-dimensional point cloud slices based on a relative positioning of data points present with the corresponding two-dimensional point cloud slice.
11 . The system of claim 6 , wherein the determined surface finish parameter comprises a soil clod parameter.
12 . The system of claim 6 , wherein the determined surface finish parameter comprises a residue parameter.
13 . The system of claim 6 , wherein the computing system is further configured to initiate a control action associated with adjusting an operation of the agricultural machine based on the determined surface finish parameter.
14 . The system of claim 13 , wherein the control action comprises adjusting a ground speed of the agricultural machine.
15 . The system of claim 13 , wherein the control action comprises adjusting at least one of a force being applied to or a position of a ground-engaging tool supported on the agricultural machine.
16 . A method for determining surface finish within an agricultural field, the method comprising:
receiving, with a computing system, a three-dimensional point cloud from a LiDAR sensor supported on an agricultural machine, the three-dimensional point cloud depicting a portion of a field surface present within a field of view of the LiDAR sensor;
generating, with the computing system, a plurality of two-dimensional point cloud slices from the received three-dimensional point cloud, the plurality of two-dimensional point cloud slices being spaced apart from each other such that each of the plurality of spaced apart two-dimensional point cloud slices corresponds to a different two-dimensional plane within the received three-dimensional point cloud;
determining, with the computing system, a surface finish parameter associated with the portion of the field surface present within the field of view of the LiDAR sensor based on the generated plurality of two-dimensional point cloud slices; and
initiating, with the computing system, a control action associated with adjusting an operation of the agricultural machine based on the determined surface finish parameter.
17 . The method of claim 16 , further comprising:
identifying, with the computing system, one or more objects depicted within each of the plurality of generated two-dimensional point cloud slices,
wherein determining the surface finish parameter comprises determining, with the computing system, the surface finish parameter based on the identified one or more objects.
18 . The method of claim 17 , wherein identifying the one or more objects comprises identifying, with the computing system, classify each of the identified one or more objects as one of a soil clod or a residue piece.
19 . The method of claim 18 , wherein classifying each of the identified one or more objects comprises classifying, with the computing system, each of the identified one or more objects as one of a soil clod or a residue piece based on a shape of the corresponding object.
20 . The method of claim 17 , wherein identifying the one or more objects comprises identifying, with the computing system, the one or more objects depicted within each of the plurality of generated two-dimensional point cloud slices based on a relative positioning of data points present with the corresponding two-dimensional point cloud slice.