A method includes: launching an unmanned aerial vehicle (UAV) parallel to a buried pipeline; sending a plurality of transmitted ground penetrating radar (GPR) waves to the buried pipeline using a GPR antenna of the UAV; receiving a received GPR wave from the buried pipeline such that the received GPR wave is a combination of a reflected GPR wave with a ringing noise signal from the one or more scrapers; measuring one or more parameters of the received GPR wave and determining if values of the one or more parameters are within a predefined threshold region; recording location coordinates and a time stamp of the one or more scrapers by analyzing the received GPR wave; and sending the location coordinates and the time stamp of the one or more scrapers to a controller unit for continuous and real-time locating and tracking movement of the one or more scrapers.

In one aspect, a system for determining subsurface soil layer characteristics as an agricultural implement is towed across a field by a work vehicle may include a RADAR sensor configured to capture data indicative of a subsurface soil layer characteristic of the field. Furthermore, the system may include a load sensor configured to capture data indicative of a load applied to the agricultural implement by soil within the field, with the load being indicative of the subsurface soil layer characteristic. Additionally, a controller of the system may be configured to determine a first value of the subsurface soil layer characteristic based on the data received from the RADAR and a second value of the subsurface soil layer characteristic based on the data received from the load sensor. Moreover, the controller may be configured to determine a differential between the first value and the second value.

An agricultural harvester includes a frame configured to support a crop processing system and a sensor supported on the frame, with the sensor configured to capture data indicative of one or more subsurface soil layers present within the field across which the agricultural harvester is traveling. Furthermore, the agricultural harvester includes a computing system communicatively coupled to the sensor. The computing system is configured to identify the one or more subsurface soil layers within the field based on the data captured by the sensor and generate a tillage prescription map for use during a subsequent tillage operation based on the identified one or more subsurface soil layers. The tillage prescription map, in turn, prescribes a penetration depth for a tillage tool at a plurality of locations within the field.

Surface-penetrating radar (SPR) systems provide localization information for provision to a blockchain application. SPR can be used in environments, such as cities, where multipath or shadowing degrades GPS accuracy, or as an alternative to optical sensing approaches that cannot tolerate darkness or changing scene illumination or whose performance can be adversely affected by variations in weather conditions. In particular, SPR can be used to acquire scans containing surface and subsurface features as a vehicle traverses terrain, and the acquired data scans may be compared to reference scan data that was previously acquired within the same environment in order to localize vehicle position within the environment. If the reference scan data has been labeled with geographic location information, a vehicle's absolute location can thereby be determined.

A rhizome-growth monitoring device of a clonal plate is provided, including a supporting frame. A first adjustment rack is fixed above a side of the supporting frame, a side end of which is movably connected to a second adjustment rack. A connection sleeve is movably connected to a bottom end of the second adjustment rack. A lifting cylinder is fixed in the connection sleeve. A camera group is fixed to the lifting cylinder through a connection plate. A rhizome growth monitoring sleeve is fixed at a bottom end of the connection plate, and includes an outer sleeve, an inner sleeve, and a radar monitoring head. The outer sleeve is fixed onto the bottom end of the connection plate. The inner sleeve is screwed to an inner side of the outer sleeve. The radar monitoring head is installed in the inner sleeve and close to a bottom surface thereof.

An apparatus for ground penetrating radar includes an antenna disposed within a sleeve. The sleeve includes a radar-absorbing material for attenuating the amplitude of incident radar waves. The sleeve has an aperture for permitting radar waves ω pass into and out of the sleeve. A method for surveying a formation using ground penetrating radar includes rotating the antenna and sleeve while keeping the antenna and sleeve longitudinally stationary, and recording data including the amplitude of waves received by the antenna and the position of the aperture when such waves are received.

A ground penetrating radar and deep learning-based underground pipeline detection method and system. Said method comprises: acquiring sample data of known underground pipelines by means of a ground penetrating radar, and establishing an GPR B-scan dataset according to the sample data; performing training according to the GPR B-scan dataset to obtain a YOLOv3 model, the YOLOv3 model being used for identifying hyperbolic data of the underground pipelines; detecting underground pipeline targets in a real radar image by means of the YOLOv3 model; and precisely locating the positions of pipelines by means of an RTK measurement instrument. Said method is based on a ground penetrating radar and a YOLOv3 model, and can accurately identify hyperbolic targets of pipelines in ground penetrating radar images, thereby improving the detection efficiency and reducing time costs. The present invention can be widely applied to the field of engineering non-destructive testing.

An excavator system for locating an underground utility line, the system comprising: a signal transmitter installed on the excavator; a signal receiver installed on the excavator; a monitor; and a control unit, in communication with the receiver, wherein the control unit is adapted (a) to analyze a vicinity of the receiver from the underground utility line by an intensity of a received signal by the receiver, and (b) to display indication of the vicinity on the monitor.

Apparatus and methods useful in surveying to provide information rich models. In particular, information not readily or possibly provided by conventional survey techniques can be provided. In some versions targets provide reference for baseline positioning or improving position information otherwise acquired. Scanning may be carried out in multiple locations and merged to form a single image. Machine mounted and hand mounted scanning apparatus is disclosed.

The approach relates to a method for locating roadway markings by a motor vehicle, wherein the motor vehicle has a camera, the image data from which are evaluated into roadway marking data describing the presence and the position of roadway markings. At least one ground penetrating radar sensor of the motor vehicle is directed at the ground being driven over, the radar data from which sensor is evaluated to determine ground data describing the ground structure of the ground being driven over. A mapping database is used in which roadway marking data indicating the presence of roadway markings and ground data assigned to the same recording location are stored in association with one another. At least on detection of a ground covering obscuring roadway markings in the camera data using the ground data, a current ground structure is compared on the basis of the ground data with at least one or more ground structures in the database and, in the event of a match, the roadway marking data associated with the ground data of the matching ground structure are used.