This is an approach to the prediction of soil density and subsoil crop growth. The approach may include subsoil sensor which can monitor changes in soil pressure and moisture conditions. The sensor data can be sent to a computer module which can process the data using a machine learning model predicting the soil density around a subsoil crop and the yield of the subsoil crop. A soil maintenance plan can be generated from the soil density prediction and/or the crop yield prediction. The soil maintenance plan can be sent to soil management robots, which can execute the soil maintenance plan.