Fuente: Wipo "precision agriculture" Disclosed is a soil sensing system. The soil sensing system comprises: a ground-engaging or field-operated apparatus configured to move across soil; a laser-induced breakdown spectroscopy (LIBS) sensor including a pulsed laser and an optical collection assembly directed toward soil encountered during movement of the apparatus; a spectrometer configured to receive plasma emission generated by the pulsed laser and to produce spectral data indicative of elemental composition of the soil; and a processor configured to determine one or more soil properties from the spectral data in real time while the apparatus is in motion.