Method and system for determining the mechanical state of an agricultural land

A system for determining the mechanical state of an agricultural land comprising:

• an agricultural machine with at least one tillage element;
• sensor means, wherein the sensor means comprises at least one accelerometer and a gyroscope, wherein the at least one accelerometer and the gyroscope are arranged in at least one tillage element and configured to measure a vibratory signal which is produced as a result of the contact of the tillage element with the agricultural land during a tillage operation;
• a main communication node, arranged in the agricultural machine, configured to receive measurements of the sensor means;
• and
• a remote central server, wherein the remote control server is configured to receive information based on the measurements sent from a main node of each agricultural machine and store the information in a database, wherein the database is configured to store a plurality of energy patterns;
• and
• a processor module, in communication with the sensor means through the main node, wherein be processor module is configured to:
• group, into data packets, the measurements obtained from the vibratory signal;
• transform the measurements of the vibratory signal grouped into the data packets into a frequency signal;
• obtain a power spectral density PSD starting from the frequency signal;
• compare a first energy pattern, corresponding to amplitude measurements of the power spectral density PSD signal in a certain frequency band, with the plurality of energy patterns from the database, wherein the plurality of energy patterns from the database are associated with different mechanical states of the land assigned as a function of prior measurements by means of a penetrometer;
• and
• determine the mechanical state of the agricultural land as a result of the comparison of the first energy pattern with the plurality of energy patterns stored in the database.