System and method for detecting levelness of tools of a tillage implement based on material flow

Abstract

A system for detecting the levelness of ground engaging tools of a tillage implement including an agricultural implement including a frame and ground engaging tools supported relative to the frame. The system includes a first sensor and a second sensor configured to capture data indicative of a material flow past one or more first ground engaging tools and second ground engaging tools, respectively. The system includes a controller configured to monitor data received from the first sensor and the second sensor and compare one or more first monitored values and one or more second monitored values associated with the material flow past the first ground engaging tool(s) and the second ground engaging tool(s), respectively. The controller is further configured to identify that at least a portion of the ground engaging tools are not level when the first monitored value(s) differs from the second monitored value(s) by a predetermined threshold value.

1 . A system for detecting the levelness of ground engaging tools of a tillage implement, the system comprising:
 an agricultural implement including a frame and a plurality of ground engaging tools supported relative to the frame;   a first sensor coupled to the frame, the first sensor configured to capture data indicative of a material flow past at least one first ground engaging tool of the plurality ground engaging tools;   a second sensor coupled to the frame, the second sensor configured to capture data indicative of a material flow past at least one second ground engaging tool of the plurality ground engaging tools; and   a controller configured to monitor data received from the first sensor and the second sensor and compare at least one first monitored value associated with the material flow past the at least one first ground engaging tool to at least one second monitored value associated with the material flow past the at least one second ground engaging tool, the controller being configured to identify that at least a portion of the ground engaging tools are not level when the at least one first monitored value differs from the at least one second monitored value by a predetermined threshold value.   
     
     
         2 . The system of  claim 1 , wherein at least one of the first sensor or second sensor comprises a non-contact sensor. 
     
     
         3 . The system of  claim 2 , wherein the non-contact sensor comprises a camera, optical sensor, RADAR sensor, ultrasonic transceiver, or motion detector. 
     
     
         4 . The system of  claim 1 , wherein at least one of the first sensor or second sensor comprises a contact sensor. 
     
     
         5 . The system of  claim 1 , further comprising:
 a first ganged tool assembly, the first ganged tool assembly including a toolbar coupled to the frame and a plurality of the first ground engaging tools coupled to the toolbar; and   a second ganged tool assembly, the second ganged tool assembly including a toolbar coupled to the frame and a plurality of the second ground engaging tools coupled to the toolbar.   
     
     
         6 . The system of  claim 5 , wherein at least one of the first sensor or second sensor is coupled to the toolbar of the first ganged tool assembly or second ganged tool assembly, respectively. 
     
     
         7 . The system of  claim 1 , wherein the at least one first ground engaging tool or second ground engaging tool comprises a disc blade. 
     
     
         8 . The system of  claim 1 , wherein at least one of the first sensor or the second sensor is configured to capture data indicative of a height or density of soil lifted by the at least one first ground engaging tool or the at least one second ground engaging tool, respectively. 
     
     
         9 . The system of  claim 1 , wherein the at least one first ground engaging tool is located at a first side of the implement, and the at least one second ground engaging tool is located at a second side of the implement opposite the first side, wherein the controller is configured to identify that the at least portion of the ground engaging tools are not level between the first side and second side of the implement. 
     
     
         10 . The system of  claim 1 , wherein the at least one first ground engaging tool is located at a forward end of the implement, and the at least one second ground engaging tool is located at an aft end of the implement, wherein the controller is configured to identify that the at least portion of the ground engaging tools are not level relative to a forward direction of travel of the implement. 
     
     
         11 . The system of  claim 9 , wherein the at least one first ground engaging tool and the at least one second ground engaging tool are each further located at a forward end of the implement, the system further comprising:
 a third sensor coupled to the frame, the third sensor configured to capture data indicative of a material flow past at least one third ground engaging tool of the plurality ground engaging tools, wherein the at least one third ground engaging tool is located at an aft end of the implement and at the first side of the implement; and   a fourth sensor coupled to the frame, the fourth sensor configured to capture data indicative of a material flow past at least one fourth ground engaging tool of the plurality ground engaging tools, wherein the at least one fourth ground engaging tool is located at an aft end of the implement and at the second side of the implement; and   wherein the controller is further configured to monitor data received from the third sensor and the fourth sensor and identify that the at least portion of ground engaging tools are not level relative to the forward direction of travel of the implement.   
     
     
         12 . The system of  claim 1 , wherein the controller is further configured to initiate a control action when the controller identifies that the at least portion of the ground engaging tools are not level, wherein the control action comprises at least one of notifying an operator of the tillage implement that the at least portion of the ground engaging tools are not level, adjusting a position of the at least portion of the ground engaging tools relative to a ground surface, or adjusting a downforce being applied to the at least portion of the ground engaging tools. 
     
     
         13 . A method for detecting the levelness of ground engaging tools of a tillage implement, the implement including an implement frame and a plurality ground engaging tools supported relative to the frame, the method comprising:
 controlling, with a computing device, an operation of the tillage implement as the implement is being moved across the field;   monitoring, with the computing device, a material flow past at least one first ground engaging tool of the plurality ground engaging tools based on data received from a sensor associated with the at least one first ground engaging tool;   monitoring, with the computing device, a material flow past at least one second ground engaging tool of the plurality ground engaging tools based on data received from a sensor associated with the at least one second ground engaging tool;   comparing at least one first monitored value associated with the material flow past the at least one first ground engaging tool to at least one second monitored value associated with the material flow past the at least one second ground engaging tool; and   identifying that at least a portion of the ground engaging tools are not level when the at least one first monitored value differs from the at least one second monitored value by a predetermined threshold value for a predetermined length of time.   
     
     
         14 . The method of  claim 13 , wherein at least one of the sensors associated with the at least one first ground engaging tool or the at least one second ground engaging tool is configured to capture data indicative of a height or density of soil lifted by the at least one first ground engaging tool or the at least one second ground engaging tool, respectively. 
     
     
         15 . The method of  claim 13 , wherein the at least one first ground engaging tool is located at a first side of the implement, the at least one second ground engaging tool is located at a second side of the implement opposite the first side, wherein identifying that the at least portion of the ground engaging tools are not level comprises determining that the at least portion of the ground engaging tools are not level between the first side and second side of the implement when a difference between the first monitored value and the second monitored value exceeds the predetermined load threshold. 
     
     
         16 . The method of  claim 13 , wherein the at least one first ground engaging tool is located at a forward end of the implement, the at least one second ground engaging tool is located at an aft end of the implement, and wherein identifying that the at least portion of the ground engaging tools are not level comprises determining that the at least portion of the ground engaging tools are not level relative to a forward direction of travel of the implement when a difference between the first monitored value and the second monitored value exceeds the predetermined load threshold. 
     
     
         17 . The method of  claim 13 , further comprising:
 initiating, with the computing device, a control action when the at least one first monitored value differs from the at least one second monitored value by the predetermined threshold value for the predetermined length of time, the control action comprising at least one of notifying an operator of the tillage implement that the at least portion of the ground engaging tools are not level, adjusting a position of the at least portion of the ground engaging tools relative to a ground surface, or adjusting a downforce being applied to the at least portion of the ground engaging tools.   
     
     
         18 . A tillage system, the tillage system comprising:
 a work vehicle configured to move across a field;   an agricultural implement coupled to the work vehicle, the agricultural implement including a frame and a plurality of ground engaging tools supported relative to the frame; and   a system for detecting the levelness of at least a portion of the plurality of ground engaging tools, the system comprising;
 at least one sensor coupled to at least one of the frame or the work vehicle, the at least one sensor configured to capture data indicative of a material flow past at least one first ground engaging tool and at least one second ground engaging tool of the plurality ground engaging tools; and 
 a controller configured to monitor data received from the at least one sensor and compare at least one first monitored value associated with the material flow past the at least one first ground engaging tool to at least one second monitored value associated with the material flow past the at least one second ground engaging tool, the controller being configured to identify that the at least a portion of the ground engaging tools are not level when the at least one first monitored value differs from the at least one second monitored value by a predetermined threshold value. 
   
     
     
         19 . The tillage system of  claim 18 , wherein the at least one sensor comprises a first sensor coupled to the work vehicle, the first sensor configured to capture data indicative of the material flow past the at least one first ground engaging tool, and a second sensor coupled to the work vehicle, the second sensor configured to capture data indicative of the material flow past the at least one second ground engaging tool. 
     
     
         20 . The tillage system of  claim 18 , wherein the at least one sensor comprises a sensor coupled to the work vehicle, the sensor configured to capture data indicative of the material flow past the at least one first ground engaging tool and the at least one second ground engaging tool, wherein the controller is further configured to the monitor data received from the sensor and determine the first monitored value associated with the material flow past the at least one first ground engaging tool and determine the second monitored value associated with the material flow past the at least one second ground engaging tool based on the data received the sensor.