Wheel-mounted field sensing

A computer system for sensing soil characteristics, comprising:

• a multi-sensor wheel comprising:
• a circular wheel frame that is capable of rotation in an agricultural field;
• at least one first arcuate tread segment that is affixed to an outer rim of the wheel frame and constitutes a soil contacting bearing surface when the apparatus is in contact with soil;
• at least one recess in the outer rim of the wheel frame;
• a circuit board within the wheel frame and having at least a first receptacle that is radially aligned with the at least one recesses;
• at least one removable sensor comprising one or more first sensing elements, a first plug that mates to the first receptacle of the circuit board, and a second arcuate tread segment and configured to mount in the at least one recess with the second arcuate tread segment aligned with the first arcuate tread segment to form a continuous tread;
• at least a second removable sensor comprising one or more second sensing elements, a second plug that mates to a second receptacle of the circuit board, and a third arcuate tread segment and configured to mount in a second recess of the wheel frame with the third arcuate tread segment aligned with the first arcuate tread segment to form a continuous tread;
• wherein the first sensing elements and the second sensing elements are configured to sense different characteristics of soil;
• a power supply coupled to the at least one removable sensor through the connector;
• and
• means coupled to the power supply for wirelessly transmitting sensor data obtained from the at least one removable sensor;
• a host computer that is separate from the apparatus and configured to wirelessly connect to the multi-sensor wheel and to receive the sensor data.