# US 10,371,814 B2 · Systems and methods for detecting soil characteristics > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,371,814 B2 - Document ID: US10371814B2 - Status: Granted - Kind: B2 - Application number: 16/017,211 - Filed: 2018-06-25 - Published: 2018-10-25 - Granted: 2019-08-06 - Earliest claimed: 2013-05-20 - Assignees: Elwha LLC - Applicants: Elwha LLC - Inventors: Alistair K. Chan; William David Duncan; Roderick A. Hyde; Lowell L. Wood, Jr. - Web page: https://patentgrep.com/patent/US10371814B2 ## CPC - G01S 13/89: for mapping or imaging - A01B 69/00: Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track - A01B 79/005: {Precision agriculture} - A01C 7/085: {Broadcast seeders} - A01C 7/102: {Regulating or controlling the seed rate} - A01C 21/005: {Following a specific plan, e.g. pattern} - A01C 23/04: Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids - A01G 25/167: {Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors} - B64D 1/18: by spraying, e.g. insecticides - B64D 43/00: Arrangements or adaptations of instruments - G01S 13/885: {for ground probing (prospecting or detecting using electromagnetic waves G01V3/12)} - G01S 13/887: {for detection of concealed objects, e.g. contraband or weapons} - G01S 13/888: {through wall detection} - G01S 15/89: for mapping or imaging - G01S 7/412: {based on a comparison between measured values and known or stored values} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - A01C: PLANTING; SOWING; FERTILISING (parts, details or accessories of agricultural machines or implements, in general A01B51/00 - A01B75/00) - A01G: HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING (picking of fruits, vegetables, hops or the like A01D46/00; propagating unicellular algae C12N1/12) - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT ## Abstract A soil detection and planting apparatus. The apparatus includes a vehicle and a controller coupled to the vehicle. The apparatus further includes a planting device coupled to the vehicle, the planting device configured to plant seeds or plants into a soil material. The apparatus includes a ground penetrating radar sensor coupled to the vehicle. The ground penetrating radar soil sensor is configured to scan the soil material up to a designated depth beneath a surface of the soil material, wherein the ground penetrating radar soil sensor is further configured to provide a sensor feedback signal to the controller with respect to an intrinsic characteristic of the soil material. The controller is configured to instruct placement of a seed or a plant into the soil material based on the feedback signal. ## Claims ### Claim 1 An apparatus comprising: means for scanning soil material beneath a land-traversing vehicle up to a designated depth with a ground penetrating radar, the scanning including receiving a radar return signal responsive to an intrinsic characteristic of the soil material; means for determining a suitability of the soil material at a specific location for a particular type of seed or plant in response to the received radar return signal; means for selecting an optimal depth or density for the particular type of seed or plant in response to the determined suitability; and means for planting in the soil material at the specific location the particular type of seed or plant using the selected optimal depth or density. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the soil material scanning means, the soil suitability determining means, the optimal depth or density selecting means, and the material planting means are disposable on a land-traversing vehicle. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the soil material scanning means includes a ground penetrating radar configured to scan soil material beneath a land-traversing vehicle up to a designated depth, the scan including receiving a radar return signal responsive to an intrinsic characteristic of the soil material. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the soil suitability determining means includes a processing circuit configured to determine a suitability of the soil material at a specific location for a particular type of seed or plant in response to the received radar return signal responsive to the intrinsic characteristic of the soil material. ### Claim 5 (depends on 4) The apparatus of claim 4, wherein the optimal depth or density selecting means includes the processing circuit, the processing circuit being further configured to select an optimal depth or density for the particular type of seed or plant in response to the determined suitability. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the material planting means includes a planting device configured to plant in the soil material at the specific location the particular type of seed or plant using the selected optimal depth or density. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the intrinsic soil characteristic includes at least one characteristic chosen from a composition of the soil material, a moisture property of the soil material, a presence of humus in the soil material, a density of the soil material, or a soil material porosity. ### Claim 8 (depends on 6) The apparatus of claim 6, wherein determine a suitability of the soil includes determine a depth of water beneath the surface of the soil material. ### Claim 9 (depends on 6) The apparatus of claim 6, wherein determine a suitability of the soil includes determine a quantity of water beneath the surface of the soil material. ### Claim 10 (depends on 6) The apparatus of claim 6, wherein the ground penetrating radar unit includes a non-insertion ground penetrating radar unit. ### Claim 11 (depends on 6) The apparatus of claim 6, wherein the ground penetrating radar unit includes an insertion ground penetrating radar unit. ### Claim 12 (depends on 6) The apparatus of claim 6, wherein the processing circuit is further configured to create a map indicative of at least two specific locations, the map including the respective selected optimal depth or density of the planting of the particular seed or plant of each specific location of the at least two locations. ### Claim 13 (depends on 12) The apparatus of claim 12, wherein the map includes a correlation of a GPS-based location with each specific location of the at least two locations. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the apparatus further comprises a GPS-based location sensor. ### Claim 15 (depends on 6) The apparatus of claim 6, wherein the radar return signal is further responsive to an extrinsic characteristic of the soil material. ### Claim 16 (depends on 6) The apparatus of claim 6, wherein the radar return signal is further responsive to a presence of an irrigation system below the surface of the soil material. ### Claim 17 An apparatus comprising: a land-traversing vehicle; and a system disposed on the and-traversing vehicle, the system including: means for scanning soil material beneath the land-traversing vehicle up to a designated depth with a ground penetrating radar, the scanning including receiving a radar return signal responsive to an intrinsic characteristic of the soil material; means for determining a suitability of the soil material at a specific location for a particular type of seed or plant in response to the received radar return signal; means for selecting an optimal depth or density for the particular type of seed or plant in response to the determined suitability; and means for planting in the soil material at the specific location the particular type of seed or plant using the selected optimal depth or density. ### Claim 18 (depends on 17) The apparatus of claim 17, wherein the material planting means includes a planting device configured to plant in the soil material at the specific location the particular type of seed or plant using the selected optimal depth or density. ### Claim 19 (depends on 17) The apparatus of claim 17, wherein the intrinsic soil characteristic includes at least one characteristic chosen from a composition of the soil material, a moisture property of the soil material, a presence of humus in the soil material, a density of the soil material, or a soil material porosity. ### Claim 20 An apparatus comprising: a land-traversing vehicle; and a system disposed on the and-traversing vehicle, the system including: means for scanning soil material beneath the land-traversing vehicle up to a designated depth with a ground penetrating radar, the scanning including receiving a radar return signal responsive to an intrinsic characteristic of the soil material; means for determining a suitability of the soil material at a specific location for a particular type of seed or plant in response to the received radar return signal; means for selecting an optimal depth or density for the particular type of seed or plant in response to the determined suitability; means for creating a map indicative of at least two specific locations, the map including the respective selected optimal depth or density of the planting of the particular seed or plant of each specific location of the at least two locations; and means for planting in the soil material at the specific location the particular type of seed or plant using the selected optimal depth or density.